diff --git a/.github/workflows/ci-tests.yml b/.github/workflows/ci-tests.yml index db24bea..1a3fd51 100644 --- a/.github/workflows/ci-tests.yml +++ b/.github/workflows/ci-tests.yml @@ -8,100 +8,77 @@ on: jobs: # =========================================================================== - # Job 0: Ruff Lint (all maintained Python files) - # Covers: active GUI files, v6+ GUIs, v7/ module, FPGA cosim scripts - # Excludes: legacy GUI_V1-V5, schematics, simulation, 8_Utils - # =========================================================================== - lint: - name: Ruff Lint - runs-on: ubuntu-latest - - steps: - - name: Checkout repository - uses: actions/checkout@v4 - - - name: Set up Python 3.12 - uses: actions/setup-python@v5 - with: - python-version: "3.12" - - - name: Install ruff - run: pip install ruff - - - name: Run ruff on maintained files - run: | - ruff check \ - 9_Firmware/9_3_GUI/radar_protocol.py \ - 9_Firmware/9_3_GUI/radar_dashboard.py \ - 9_Firmware/9_3_GUI/smoke_test.py \ - 9_Firmware/9_3_GUI/test_radar_dashboard.py \ - 9_Firmware/9_3_GUI/GUI_V6.py \ - 9_Firmware/9_3_GUI/GUI_V6_Demo.py \ - 9_Firmware/9_3_GUI/GUI_PyQt_Map.py \ - 9_Firmware/9_3_GUI/GUI_V7_PyQt.py \ - 9_Firmware/9_3_GUI/v7/ \ - 9_Firmware/9_2_FPGA/tb/cosim/ \ - 9_Firmware/9_2_FPGA/tb/gen_mf_golden_ref.py - - # =========================================================================== - # Job 1: Python Host Software Tests (58 tests) - # radar_protocol, radar_dashboard, FT2232H connection, replay, opcodes, e2e + # Python: lint (ruff), syntax check (py_compile), unit tests (pytest) + # CI structure proposed by hcm444 — uses uv for dependency management # =========================================================================== python-tests: - name: Python Dashboard Tests (58) + name: Python Lint + Tests runs-on: ubuntu-latest steps: - - name: Checkout repository - uses: actions/checkout@v4 + - uses: actions/checkout@v4 - - name: Set up Python 3.12 - uses: actions/setup-python@v5 + - uses: actions/setup-python@v5 with: python-version: "3.12" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install pytest numpy h5py + - uses: astral-sh/setup-uv@v5 - - name: Run test suite - run: python -m pytest 9_Firmware/9_3_GUI/test_radar_dashboard.py -v --tb=short + - name: Install dependencies + run: uv sync --group dev + + - name: Ruff lint (whole repo) + run: uv run ruff check . + + - name: Syntax check (py_compile) + run: | + uv run python - <<'PY' + import py_compile + from pathlib import Path + + skip = {".git", "__pycache__", ".venv", "venv", "docs"} + for p in Path(".").rglob("*.py"): + if skip & set(p.parts): + continue + py_compile.compile(str(p), doraise=True) + PY + + - name: Unit tests + run: > + uv run pytest + 9_Firmware/9_3_GUI/test_radar_dashboard.py -v --tb=short # =========================================================================== - # Job 2: MCU Firmware Unit Tests (20 tests) + # MCU Firmware Unit Tests (20 tests) # Bug regression (15) + Gap-3 safety tests (5) # =========================================================================== mcu-tests: - name: MCU Firmware Tests (20) + name: MCU Firmware Tests runs-on: ubuntu-latest steps: - - name: Checkout repository - uses: actions/checkout@v4 + - uses: actions/checkout@v4 - name: Install build tools run: sudo apt-get update && sudo apt-get install -y build-essential - name: Build and run MCU tests - working-directory: 9_Firmware/9_1_Microcontroller/tests run: make test + working-directory: 9_Firmware/9_1_Microcontroller/tests # =========================================================================== - # Job 3: FPGA RTL Regression (23 testbenches + lint) - # Phase 0: Vivado-style lint, Phase 1-4: unit + integration + e2e + # FPGA RTL Regression (23 testbenches + lint) # =========================================================================== fpga-regression: - name: FPGA Regression (23 TBs + lint) + name: FPGA Regression runs-on: ubuntu-latest steps: - - name: Checkout repository - uses: actions/checkout@v4 + - uses: actions/checkout@v4 - name: Install Icarus Verilog run: sudo apt-get update && sudo apt-get install -y iverilog - name: Run full FPGA regression - working-directory: 9_Firmware/9_2_FPGA run: bash run_regression.sh + working-directory: 9_Firmware/9_2_FPGA diff --git a/5_Simulations/Antenna/Quartz_Waveguide.py b/5_Simulations/Antenna/Quartz_Waveguide.py index d38751c..3b37b39 100644 --- a/5_Simulations/Antenna/Quartz_Waveguide.py +++ b/5_Simulations/Antenna/Quartz_Waveguide.py @@ -106,7 +106,8 @@ mesh.SmoothMeshLines('all', mesh_res, ratio=1.4) # Materials # ------------------------- pec = CSX.AddMetal('PEC') -quartz = CSX.AddMaterial('QUARTZ'); quartz.SetMaterialProperty(epsilon=er_quartz) +quartz = CSX.AddMaterial('QUARTZ') +quartz.SetMaterialProperty(epsilon=er_quartz) air = CSX.AddMaterial('AIR') # explicit for slot holes # ------------------------- @@ -191,13 +192,19 @@ Zin = ports[0].uf_tot / ports[0].if_tot plt.figure(figsize=(7.6,4.6)) plt.plot(freq*1e-9, 20*np.log10(np.abs(S11)), lw=2, label='|S11|') plt.plot(freq*1e-9, 20*np.log10(np.abs(S21)), lw=2, ls='--', label='|S21|') -plt.grid(True); plt.legend(); plt.xlabel('Frequency (GHz)'); plt.ylabel('Magnitude (dB)') +plt.grid(True) +plt.legend() +plt.xlabel('Frequency (GHz)') +plt.ylabel('Magnitude (dB)') plt.title('S-Parameters: Slotted Quartz-Filled WG') plt.figure(figsize=(7.6,4.6)) plt.plot(freq*1e-9, np.real(Zin), lw=2, label='Re{Zin}') plt.plot(freq*1e-9, np.imag(Zin), lw=2, ls='--', label='Im{Zin}') -plt.grid(True); plt.legend(); plt.xlabel('Frequency (GHz)'); plt.ylabel('Ohms') +plt.grid(True) +plt.legend() +plt.xlabel('Frequency (GHz)') +plt.ylabel('Ohms') plt.title('Input Impedance (Port 1)') # ------------------------- @@ -237,19 +244,26 @@ ax = fig.add_subplot(111, projection='3d') ax.plot_surface(X, Y, Z, rstride=2, cstride=2, linewidth=0, antialiased=True, alpha=0.92) ax.set_title(f'Normalized 3D Pattern @ {f0/1e9:.2f} GHz\n(peak ≈ {Gmax_dBi:.1f} dBi)') ax.set_box_aspect((1,1,1)) -ax.set_xlabel('x'); ax.set_ylabel('y'); ax.set_zlabel('z') +ax.set_xlabel('x') +ax.set_ylabel('y') +ax.set_zlabel('z') plt.tight_layout() # Quick 2D geometry preview (top view at y=b) plt.figure(figsize=(8.4,2.8)) -plt.fill_between([0,a], [0,0], [L,L], color='#dddddd', alpha=0.5, step='pre', label='WG aperture (top)') +plt.fill_between( + [0, a], [0, 0], [L, L], color='#dddddd', alpha=0.5, step='pre', label='WG aperture (top)' +) for zc, xc in zip(z_centers, x_centers): plt.gca().add_patch(plt.Rectangle((xc - slot_w/2.0, zc - slot_L/2.0), slot_w, slot_L, fc='#3355ff', ec='k')) -plt.xlim(-2, a+2); plt.ylim(-5, L+5) +plt.xlim(-2, a + 2) +plt.ylim(-5, L + 5) plt.gca().invert_yaxis() -plt.xlabel('x (mm)'); plt.ylabel('z (mm)') +plt.xlabel('x (mm)') +plt.ylabel('z (mm)') plt.title('Top-view slot layout (y=b plane)') -plt.grid(True); plt.legend() +plt.grid(True) +plt.legend() plt.show() diff --git a/5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py b/5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py index fa7d35d..fbdabae 100644 --- a/5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py +++ b/5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py @@ -137,7 +137,9 @@ Ncells = Nx*Ny*Nz print(f"[mesh] cells: {Nx} × {Ny} × {Nz} = {Ncells:,}") mem_fields_bytes = Ncells * 6 * 8 # rough ~ (Ex,Ey,Ez,Hx,Hy,Hz) doubles print(f"[mesh] rough field memory: ~{mem_fields_bytes/1e9:.2f} GB (solver overhead extra)") -dx_min = min(np.diff(x_lines)); dy_min = min(np.diff(y_lines)); dz_min = min(np.diff(z_lines)) +dx_min = min(np.diff(x_lines)) +dy_min = min(np.diff(y_lines)) +dz_min = min(np.diff(z_lines)) print(f"[mesh] min steps (mm): dx={dx_min:.3f}, dy={dy_min:.3f}, dz={dz_min:.3f}") # Optional smoothing to limit max cell size @@ -147,7 +149,8 @@ mesh.SmoothMeshLines('all', mesh_res, ratio=1.4) # MATERIALS & SOLIDS # ================= pec = CSX.AddMetal('PEC') -quartzM = CSX.AddMaterial('QUARTZ'); quartzM.SetMaterialProperty(epsilon=er_quartz) +quartzM = CSX.AddMaterial('QUARTZ') +quartzM.SetMaterialProperty(epsilon=er_quartz) airM = CSX.AddMaterial('AIR') # Quartz full block @@ -157,7 +160,9 @@ quartzM.AddBox([0, 0, 0], [a, b, guide_length_mm]) pec.AddBox([-t_metal, 0, 0], [0, b, guide_length_mm]) # left pec.AddBox([a, 0, 0], [a+t_metal,b, guide_length_mm]) # right pec.AddBox([-t_metal,-t_metal,0],[a+t_metal,0, guide_length_mm]) # bottom -pec.AddBox([-t_metal, b, 0], [a+t_metal,b+t_metal,guide_length_mm]) # top (slots will pierce) +pec.AddBox( + [-t_metal, b, 0], [a + t_metal, b + t_metal, guide_length_mm] +) # top (slots will pierce) # Slots (AIR) overriding top metal for zc, xc in zip(z_centers, x_centers): @@ -215,16 +220,16 @@ print(f"[timing] FDTD solve elapsed: {t1 - t0:.2f} s") # ... right before NF2FF (far-field): t2 = time.time() try: - res = nf2ff.CalcNF2FF(Sim_Path, [f0], theta, phi) -except AttributeError: - res = FDTD.CalcNF2FF(nf2ff, Sim_Path, [f0], theta, phi) + res = nf2ff.CalcNF2FF(Sim_Path, [f0], theta, phi) # noqa: F821 +except AttributeError: + res = FDTD.CalcNF2FF(nf2ff, Sim_Path, [f0], theta, phi) # noqa: F821 t3 = time.time() print(f"[timing] NF2FF (far-field) elapsed: {t3 - t2:.2f} s") # ... S-parameters postproc timing (optional): t4 = time.time() -for p in ports: - p.CalcPort(Sim_Path, freq) +for p in ports: # noqa: F821 + p.CalcPort(Sim_Path, freq) # noqa: F821 t5 = time.time() print(f"[timing] Port/S-params postproc elapsed: {t5 - t4:.2f} s") @@ -250,13 +255,19 @@ Zin = ports[0].uf_tot / ports[0].if_tot plt.figure(figsize=(7.6,4.6)) plt.plot(freq*1e-9, 20*np.log10(np.abs(S11)), lw=2, label='|S11|') plt.plot(freq*1e-9, 20*np.log10(np.abs(S21)), lw=2, ls='--', label='|S21|') -plt.grid(True); plt.legend(); plt.xlabel('Frequency (GHz)'); plt.ylabel('Magnitude (dB)') +plt.grid(True) +plt.legend() +plt.xlabel('Frequency (GHz)') +plt.ylabel('Magnitude (dB)') plt.title(f'S-Parameters (profile: {PROFILE})') plt.figure(figsize=(7.6,4.6)) plt.plot(freq*1e-9, np.real(Zin), lw=2, label='Re{Zin}') plt.plot(freq*1e-9, np.imag(Zin), lw=2, ls='--', label='Im{Zin}') -plt.grid(True); plt.legend(); plt.xlabel('Frequency (GHz)'); plt.ylabel('Ohms') +plt.grid(True) +plt.legend() +plt.xlabel('Frequency (GHz)') +plt.ylabel('Ohms') plt.title('Input Impedance (Port 1)') # ========================== @@ -295,22 +306,35 @@ ax = fig.add_subplot(111, projection='3d') ax.plot_surface(X, Y, Z, rstride=2, cstride=2, linewidth=0, antialiased=True, alpha=0.92) ax.set_title(f'Normalized 3D Pattern @ {f0/1e9:.2f} GHz\n(peak ≈ {Gmax_dBi:.1f} dBi)') ax.set_box_aspect((1,1,1)) -ax.set_xlabel('x'); ax.set_ylabel('y'); ax.set_zlabel('z') +ax.set_xlabel('x') +ax.set_ylabel('y') +ax.set_zlabel('z') plt.tight_layout() # ========================== # QUICK 2D GEOMETRY PREVIEW # ========================== plt.figure(figsize=(8.4,2.8)) -plt.fill_between([0,a], [0,0], [guide_length_mm, guide_length_mm], color='#dddddd', alpha=0.5, step='pre', label='WG top aperture') +plt.fill_between( + [0, a], + [0, 0], + [guide_length_mm, guide_length_mm], + color='#dddddd', + alpha=0.5, + step='pre', + label='WG top aperture', +) for zc, xc in zip(z_centers, x_centers): plt.gca().add_patch(plt.Rectangle((xc - slot_w/2.0, zc - slot_L/2.0), slot_w, slot_L, fc='#3355ff', ec='k')) -plt.xlim(-2, a+2); plt.ylim(-5, guide_length_mm+5) +plt.xlim(-2, a + 2) +plt.ylim(-5, guide_length_mm + 5) plt.gca().invert_yaxis() -plt.xlabel('x (mm)'); plt.ylabel('z (mm)') +plt.xlabel('x (mm)') +plt.ylabel('z (mm)') plt.title(f'Top-view slot layout (N={Nslots}, profile={PROFILE})') -plt.grid(True); plt.legend() +plt.grid(True) +plt.legend() diff --git a/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py b/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py index 6907b6f..c264832 100644 --- a/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py +++ b/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py @@ -69,7 +69,10 @@ def generate_multi_ramp_csv(Fs=125e6, Tb=1e-6, Tau=2e-6, fmax=30e6, fmin=10e6, df = pd.DataFrame({"time(s)": t_csv, "voltage(V)": y_csv}) df.to_csv(filename, index=False, header=False) print(f"CSV saved: {filename}") - print(f"Total raw samples: {total_samples} | Ramps inserted: {ramps_inserted} | CSV points: {len(y_csv)}") + print( + f"Total raw samples: {total_samples} | Ramps inserted: {ramps_inserted} " + f"| CSV points: {len(y_csv)}" + ) # --- Plot (staircase) if show_plot or save_plot_png: diff --git a/5_Simulations/Fencing/Via_fencing.py b/5_Simulations/Fencing/Via_fencing.py index 8b7cfdc..6ad51ca 100644 --- a/5_Simulations/Fencing/Via_fencing.py +++ b/5_Simulations/Fencing/Via_fencing.py @@ -27,10 +27,20 @@ ax.axhline(polygon_y2, color="blue", linestyle="--") via_positions = [2, 4, 6, 8] # x positions for visualization for x in via_positions: # Case A - ax.add_patch(plt.Circle((x, polygon_y1), via_pad_A/2, facecolor="green", alpha=0.5, label="Via pad A" if x==2 else "")) + ax.add_patch( + plt.Circle( + (x, polygon_y1), via_pad_A / 2, facecolor="green", alpha=0.5, + label="Via pad A" if x == 2 else "" + ) + ) ax.add_patch(plt.Circle((x, polygon_y2), via_pad_A/2, facecolor="green", alpha=0.5)) # Case B - ax.add_patch(plt.Circle((-x, polygon_y1), via_pad_B/2, facecolor="red", alpha=0.3, label="Via pad B" if x==2 else "")) + ax.add_patch( + plt.Circle( + (-x, polygon_y1), via_pad_B / 2, facecolor="red", alpha=0.3, + label="Via pad B" if x == 2 else "" + ) + ) ax.add_patch(plt.Circle((-x, polygon_y2), via_pad_B/2, facecolor="red", alpha=0.3)) # Add dimensions text diff --git a/5_Simulations/Fencing/Via_fencing2.py b/5_Simulations/Fencing/Via_fencing2.py index 0435bce..0fe75ae 100644 --- a/5_Simulations/Fencing/Via_fencing2.py +++ b/5_Simulations/Fencing/Via_fencing2.py @@ -26,10 +26,20 @@ ax.axhline(polygon_y2, color="blue", linestyle="--") via_positions = [2, 2 + via_pitch] # two vias for showing spacing for x in via_positions: # Case A - ax.add_patch(plt.Circle((x, polygon_y1), via_pad_A/2, facecolor="green", alpha=0.5, label="Via pad A" if x==2 else "")) + ax.add_patch( + plt.Circle( + (x, polygon_y1), via_pad_A / 2, facecolor="green", alpha=0.5, + label="Via pad A" if x == 2 else "" + ) + ) ax.add_patch(plt.Circle((x, polygon_y2), via_pad_A/2, facecolor="green", alpha=0.5)) # Case B - ax.add_patch(plt.Circle((-x, polygon_y1), via_pad_B/2, facecolor="red", alpha=0.3, label="Via pad B" if x==2 else "")) + ax.add_patch( + plt.Circle( + (-x, polygon_y1), via_pad_B / 2, facecolor="red", alpha=0.3, + label="Via pad B" if x == 2 else "" + ) + ) ax.add_patch(plt.Circle((-x, polygon_y2), via_pad_B/2, facecolor="red", alpha=0.3)) # Add text annotations @@ -48,7 +58,9 @@ line_edge_y = rf_line_y + line_width/2 via_center_y = polygon_y1 ax.annotate("", xy=(2.4, line_edge_y), xytext=(2.4, via_center_y), arrowprops=dict(arrowstyle="<->", color="brown")) -ax.text(2.5, (line_edge_y + via_center_y)/2, f"{via_center_offset:.2f} mm", color="brown", va="center") +ax.text( + 2.5, (line_edge_y + via_center_y) / 2, f"{via_center_offset:.2f} mm", color="brown", va="center" +) # Formatting ax.set_xlim(-5, 5) diff --git a/5_Simulations/array_pattern_Kaiser25dB_like.py b/5_Simulations/array_pattern_Kaiser25dB_like.py index 84e3a6c..df06583 100644 --- a/5_Simulations/array_pattern_Kaiser25dB_like.py +++ b/5_Simulations/array_pattern_Kaiser25dB_like.py @@ -106,4 +106,7 @@ plt.tight_layout() plt.savefig('Heatmap_Kaiser25dB_like.png', bbox_inches='tight') plt.show() -print('Saved: E_plane_Kaiser25dB_like.png, H_plane_Kaiser25dB_like.png, Heatmap_Kaiser25dB_like.png') +print( + 'Saved: E_plane_Kaiser25dB_like.png, H_plane_Kaiser25dB_like.png, ' + 'Heatmap_Kaiser25dB_like.png' +) diff --git a/8_Utils/Python/CSV_radar.py b/8_Utils/Python/CSV_radar.py index aa3a1fc..7e85ffb 100644 --- a/8_Utils/Python/CSV_radar.py +++ b/8_Utils/Python/CSV_radar.py @@ -15,12 +15,20 @@ def generate_radar_csv(filename="pulse_compression_output.csv"): timestamp_ns = 0 # Target parameters - targets = [ - {'range': 3000, 'velocity': 25, 'snr': 30, 'azimuth': 10, 'elevation': 5}, # Fast moving target - {'range': 5000, 'velocity': -15, 'snr': 25, 'azimuth': 20, 'elevation': 2}, # Approaching target - {'range': 8000, 'velocity': 5, 'snr': 20, 'azimuth': 30, 'elevation': 8}, # Slow moving target - {'range': 12000, 'velocity': -8, 'snr': 18, 'azimuth': 45, 'elevation': 3}, # Distant target - ] + targets = [ + { + 'range': 3000, 'velocity': 25, 'snr': 30, 'azimuth': 10, 'elevation': 5 + }, # Fast moving target + { + 'range': 5000, 'velocity': -15, 'snr': 25, 'azimuth': 20, 'elevation': 2 + }, # Approaching target + { + 'range': 8000, 'velocity': 5, 'snr': 20, 'azimuth': 30, 'elevation': 8 + }, # Slow moving target + { + 'range': 12000, 'velocity': -8, 'snr': 18, 'azimuth': 45, 'elevation': 3 + }, # Distant target + ] # Noise parameters noise_std = 5 @@ -38,7 +46,7 @@ def generate_radar_csv(filename="pulse_compression_output.csv"): q_val = np.random.normal(0, noise_std) # Add clutter (stationary targets) - clutter_range = 2000 # Fixed clutter at 2km + _clutter_range = 2000 # Fixed clutter at 2km if sample < 100: # Simulate clutter in first 100 samples i_val += np.random.normal(0, clutter_std) q_val += np.random.normal(0, clutter_std) @@ -47,7 +55,9 @@ def generate_radar_csv(filename="pulse_compression_output.csv"): for target in targets: # Calculate range bin (simplified) range_bin = int(target['range'] / 20) # ~20m per bin - doppler_phase = 2 * math.pi * target['velocity'] * chirp / 100 # Doppler phase shift + doppler_phase = ( + 2 * math.pi * target['velocity'] * chirp / 100 + ) # Doppler phase shift # Target appears around its range bin with some spread if abs(sample - range_bin) < 10: @@ -96,7 +106,9 @@ def generate_radar_csv(filename="pulse_compression_output.csv"): for target in targets: # Range bin calculation (different for short chirps) range_bin = int(target['range'] / 40) # Different range resolution - doppler_phase = 2 * math.pi * target['velocity'] * (chirp + 5) / 80 # Different Doppler + doppler_phase = ( + 2 * math.pi * target['velocity'] * (chirp + 5) / 80 + ) # Different Doppler # Target appears around its range bin if abs(sample - range_bin) < 8: diff --git a/8_Utils/Python/Gen_Triangular.py b/8_Utils/Python/Gen_Triangular.py index 5842c21..64d5550 100644 --- a/8_Utils/Python/Gen_Triangular.py +++ b/8_Utils/Python/Gen_Triangular.py @@ -1,5 +1,5 @@ import numpy as np -from numpy.fft import fft, ifft +from numpy.fft import fft import matplotlib.pyplot as plt @@ -15,7 +15,10 @@ theta_n= 2*np.pi*(pow(N,2)*pow(Ts,2)*(fmax-fmin)/(2*Tb)+fmin*N*Ts) # instantaneo y = 1 + np.sin(theta_n) # ramp signal in time domain M = np.arange(n, 2*n, 1) -theta_m= 2*np.pi*(pow(M,2)*pow(Ts,2)*(-fmax+fmin)/(2*Tb)+(-fmin+2*fmax)*M*Ts)-2*np.pi*((fmin-fmax)*Tb/2+(2*fmax-fmin)*Tb) # instantaneous phase +theta_m= ( + 2*np.pi*(pow(M,2)*pow(Ts,2)*(-fmax+fmin)/(2*Tb)+(-fmin+2*fmax)*M*Ts) + - 2*np.pi*((fmin-fmax)*Tb/2+(2*fmax-fmin)*Tb) +) # instantaneous phase z = 1 + np.sin(theta_m) # ramp signal in time domain x = np.concatenate((y, z)) @@ -23,9 +26,9 @@ x = np.concatenate((y, z)) t = Ts*np.arange(0,2*n,1) X = fft(x) L =len(X) -l = np.arange(L) +freq_indices = np.arange(L) T = L*Ts -freq = l/T +freq = freq_indices/T plt.figure(figsize = (12, 6)) diff --git a/8_Utils/Python/Generic_Triangular_Frequency.py b/8_Utils/Python/Generic_Triangular_Frequency.py index d559538..f027403 100644 --- a/8_Utils/Python/Generic_Triangular_Frequency.py +++ b/8_Utils/Python/Generic_Triangular_Frequency.py @@ -15,7 +15,10 @@ theta_n= 2*np.pi*(pow(N,2)*pow(Ts,2)*(fmax-fmin)/(2*Tb)+fmin*N*Ts) # instantaneo y = 1 + np.sin(theta_n) # ramp signal in time domain M = np.arange(n, 2*n, 1) -theta_m= 2*np.pi*(pow(M,2)*pow(Ts,2)*(-fmax+fmin)/(2*Tb)+(-fmin+2*fmax)*M*Ts)-2*np.pi*((fmin-fmax)*Tb/2+(2*fmax-fmin)*Tb) # instantaneous phase +theta_m= ( + 2*np.pi*(pow(M,2)*pow(Ts,2)*(-fmax+fmin)/(2*Tb)+(-fmin+2*fmax)*M*Ts) + - 2*np.pi*((fmin-fmax)*Tb/2+(2*fmax-fmin)*Tb) +) # instantaneous phase z = 1 + np.sin(theta_m) # ramp signal in time domain x = np.concatenate((y, z)) @@ -24,9 +27,9 @@ t = Ts*np.arange(0,2*n,1) plt.plot(t, x) X = fft(x) L =len(X) -l = np.arange(L) +freq_indices = np.arange(L) T = L*Ts -freq = l/T +freq = freq_indices/T print("The Array is: ", x) #printing the array diff --git a/8_Utils/Python/RADAR_eq.py b/8_Utils/Python/RADAR_eq.py index 1020b31..60ce3a7 100644 --- a/8_Utils/Python/RADAR_eq.py +++ b/8_Utils/Python/RADAR_eq.py @@ -221,7 +221,10 @@ class RadarCalculatorGUI: temp = self.get_float_value(self.entries["Temperature (K):"]) # Validate inputs - if None in [f_ghz, pulse_duration_us, prf, p_dbm, g_dbi, sens_dbm, rcs, losses_db, nf_db, temp]: + if None in [ + f_ghz, pulse_duration_us, prf, p_dbm, g_dbi, + sens_dbm, rcs, losses_db, nf_db, temp, + ]: messagebox.showerror("Error", "Please enter valid numeric values for all fields") return @@ -235,7 +238,7 @@ class RadarCalculatorGUI: g_linear = 10 ** (g_dbi / 10) sens_linear = 10 ** ((sens_dbm - 30) / 10) losses_linear = 10 ** (losses_db / 10) - nf_linear = 10 ** (nf_db / 10) + _nf_linear = 10 ** (nf_db / 10) # Calculate receiver noise power if k is None: @@ -298,11 +301,14 @@ class RadarCalculatorGUI: messagebox.showinfo("Success", "Calculation completed successfully!") except Exception as e: - messagebox.showerror("Calculation Error", f"An error occurred during calculation:\n{str(e)}") + messagebox.showerror( + "Calculation Error", + f"An error occurred during calculation:\n{str(e)}", + ) def main(): root = tk.Tk() - app = RadarCalculatorGUI(root) + _app = RadarCalculatorGUI(root) root.mainloop() if __name__ == "__main__": diff --git a/8_Utils/Python/patch_antenna.py b/8_Utils/Python/patch_antenna.py index bc0f094..85dd886 100644 --- a/8_Utils/Python/patch_antenna.py +++ b/8_Utils/Python/patch_antenna.py @@ -12,13 +12,22 @@ def calculate_patch_antenna_parameters(frequency, epsilon_r, h_sub, h_cu, array) lamb = c /(frequency * 1e9) # Calculate the effective dielectric constant - epsilon_eff = (epsilon_r + 1) / 2 + (epsilon_r - 1) / 2 * (1 + 12 * h_sub_m / (array[1] * h_cu_m)) ** (-0.5) + epsilon_eff = ( + (epsilon_r + 1) / 2 + + (epsilon_r - 1) / 2 * (1 + 12 * h_sub_m / (array[1] * h_cu_m)) ** (-0.5) + ) # Calculate the width of the patch W = c / (2 * frequency * 1e9) * np.sqrt(2 / (epsilon_r + 1)) # Calculate the effective length - delta_L = 0.412 * h_sub_m * (epsilon_eff + 0.3) * (W / h_sub_m + 0.264) / ((epsilon_eff - 0.258) * (W / h_sub_m + 0.8)) + delta_L = ( + 0.412 + * h_sub_m + * (epsilon_eff + 0.3) + * (W / h_sub_m + 0.264) + / ((epsilon_eff - 0.258) * (W / h_sub_m + 0.8)) + ) # Calculate the length of the patch L = c / (2 * frequency * 1e9 * np.sqrt(epsilon_eff)) - 2 * delta_L @@ -31,7 +40,10 @@ def calculate_patch_antenna_parameters(frequency, epsilon_r, h_sub, h_cu, array) # Calculate the feeding line width (W_feed) Z0 = 50 # Characteristic impedance of the feeding line (typically 50 ohms) - A = Z0 / 60 * np.sqrt((epsilon_r + 1) / 2) + (epsilon_r - 1) / (epsilon_r + 1) * (0.23 + 0.11 / epsilon_r) + A = ( + Z0 / 60 * np.sqrt((epsilon_r + 1) / 2) + + (epsilon_r - 1) / (epsilon_r + 1) * (0.23 + 0.11 / epsilon_r) + ) W_feed = 8 * h_sub_m / np.exp(A) - 2 * h_cu_m # Convert results back to mm @@ -50,7 +62,9 @@ h_sub = 0.102 # Height of substrate in mm h_cu = 0.07 # Height of copper in mm array = [2, 2] # 2x2 array -W_mm, L_mm, dx_mm, dy_mm, W_feed_mm = calculate_patch_antenna_parameters(frequency, epsilon_r, h_sub, h_cu, array) +W_mm, L_mm, dx_mm, dy_mm, W_feed_mm = calculate_patch_antenna_parameters( + frequency, epsilon_r, h_sub, h_cu, array +) print(f"Width of the patch: {W_mm:.4f} mm") print(f"Length of the patch: {L_mm:.4f} mm") diff --git a/9_Firmware/9_2_FPGA/tb/cosim/compare.py b/9_Firmware/9_2_FPGA/tb/cosim/compare.py index 9290954..7913670 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/compare.py +++ b/9_Firmware/9_2_FPGA/tb/cosim/compare.py @@ -358,7 +358,10 @@ def compare_scenario(scenario_name): # ---- First/last sample comparison ---- print("\nFirst 10 samples (after alignment):") - print(f" {'idx':>4s} {'RTL_I':>8s} {'Py_I':>8s} {'Err_I':>6s} {'RTL_Q':>8s} {'Py_Q':>8s} {'Err_Q':>6s}") + print( + f" {'idx':>4s} {'RTL_I':>8s} {'Py_I':>8s} {'Err_I':>6s} " + f"{'RTL_Q':>8s} {'Py_Q':>8s} {'Err_Q':>6s}" + ) for k in range(min(10, aligned_len)): ei = aligned_rtl_i[k] - aligned_py_i[k] eq = aligned_rtl_q[k] - aligned_py_q[k] diff --git a/9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py b/9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py index 876d1f0..ad98042 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py +++ b/9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py @@ -199,14 +199,17 @@ class NCO: # Wait - let me re-derive. The Verilog is: # phase_accumulator <= phase_accumulator + frequency_tuning_word; # phase_accum_reg <= phase_accumulator; // OLD value (NBA) - # phase_with_offset <= phase_accum_reg + {phase_offset, 16'b0}; // OLD phase_accum_reg + # phase_with_offset <= phase_accum_reg + {phase_offset, 16'b0}; + # // OLD phase_accum_reg # Since all are NBA (<=), they all read the values from BEFORE this edge. # So: new_phase_accumulator = old_phase_accumulator + ftw # new_phase_accum_reg = old_phase_accumulator # new_phase_with_offset = old_phase_accum_reg + offset old_phase_accumulator = (self.phase_accumulator - ftw) & 0xFFFFFFFF # reconstruct self.phase_accum_reg = old_phase_accumulator - self.phase_with_offset = (old_phase_accum_reg + ((phase_offset << 16) & 0xFFFFFFFF)) & 0xFFFFFFFF + self.phase_with_offset = ( + old_phase_accum_reg + ((phase_offset << 16) & 0xFFFFFFFF) + ) & 0xFFFFFFFF # phase_accumulator was already updated above # ---- Stage 3a: Register LUT address + quadrant ---- @@ -607,8 +610,14 @@ class FIRFilter: if (old_valid_pipe >> 0) & 1: for i in range(16): # Sign-extend products to ACCUM_WIDTH - a = sign_extend(mult_results[2*i] & ((1 << self.PRODUCT_WIDTH) - 1), self.PRODUCT_WIDTH) - b = sign_extend(mult_results[2*i+1] & ((1 << self.PRODUCT_WIDTH) - 1), self.PRODUCT_WIDTH) + a = sign_extend( + mult_results[2 * i] & ((1 << self.PRODUCT_WIDTH) - 1), + self.PRODUCT_WIDTH, + ) + b = sign_extend( + mult_results[2 * i + 1] & ((1 << self.PRODUCT_WIDTH) - 1), + self.PRODUCT_WIDTH, + ) self.add_l0[i] = a + b # ---- Stage 2 (Level 1): 8 pairwise sums ---- @@ -1365,7 +1374,10 @@ def _self_test(): mag_sq = s * s + c * c expected = 32767 * 32767 error_pct = abs(mag_sq - expected) / expected * 100 - print(f" Quadrature check: sin^2+cos^2={mag_sq}, expected~{expected}, error={error_pct:.2f}%") + print( + f" Quadrature check: sin^2+cos^2={mag_sq}, " + f"expected~{expected}, error={error_pct:.2f}%" + ) print(" NCO: OK") # --- Mixer test --- diff --git a/9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py b/9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py index 3f44726..dc7d732 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py +++ b/9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py @@ -218,7 +218,8 @@ def generate_long_chirp_test(): if seg == 0: buffer_write_ptr = 0 else: - # Overlap-save: copy buffer[SEGMENT_ADVANCE:SEGMENT_ADVANCE+OVERLAP] -> buffer[0:OVERLAP] + # Overlap-save: copy + # buffer[SEGMENT_ADVANCE:SEGMENT_ADVANCE+OVERLAP] -> buffer[0:OVERLAP] for i in range(OVERLAP_SAMPLES): input_buffer_i[i] = input_buffer_i[i + SEGMENT_ADVANCE] input_buffer_q[i] = input_buffer_q[i + SEGMENT_ADVANCE] diff --git a/9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py b/9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py index 008d325..b8b8347 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py +++ b/9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py @@ -335,7 +335,9 @@ def run_ddc(adc_samples): for n in range(n_samples): integrators[0][n + 1] = (integrators[0][n] + mixed_i[n]) & ((1 << CIC_ACC_WIDTH) - 1) for s in range(1, CIC_STAGES): - integrators[s][n + 1] = (integrators[s][n] + integrators[s - 1][n + 1]) & ((1 << CIC_ACC_WIDTH) - 1) + integrators[s][n + 1] = ( + integrators[s][n] + integrators[s - 1][n + 1] + ) & ((1 << CIC_ACC_WIDTH) - 1) # Downsample by 4 n_decimated = n_samples // CIC_DECIMATION @@ -580,8 +582,11 @@ def run_range_bin_decimator(range_fft_i, range_fft_q, decimated_i = np.zeros((n_chirps, output_bins), dtype=np.int64) decimated_q = np.zeros((n_chirps, output_bins), dtype=np.int64) - print(f"[DECIM] Decimating {n_in}→{output_bins} bins, mode={'peak' if mode==1 else 'avg' if mode==2 else 'simple'}, " - f"start_bin={start_bin}, {n_chirps} chirps") + mode_str = 'peak' if mode == 1 else 'avg' if mode == 2 else 'simple' + print( + f"[DECIM] Decimating {n_in}→{output_bins} bins, mode={mode_str}, " + f"start_bin={start_bin}, {n_chirps} chirps" + ) for c in range(n_chirps): # Index into input, skip start_bin @@ -678,7 +683,9 @@ def run_doppler_fft(range_data_i, range_data_q, twiddle_file_16=None): if twiddle_file_16 and os.path.exists(twiddle_file_16): cos_rom_16 = load_twiddle_rom(twiddle_file_16) else: - cos_rom_16 = np.round(32767 * np.cos(2 * np.pi * np.arange(n_fft // 4) / n_fft)).astype(np.int64) + cos_rom_16 = np.round( + 32767 * np.cos(2 * np.pi * np.arange(n_fft // 4) / n_fft) + ).astype(np.int64) LOG2N_16 = 4 doppler_map_i = np.zeros((n_range, n_total), dtype=np.int64) @@ -835,7 +842,10 @@ def run_dc_notch(doppler_i, doppler_q, width=2): notched_i = doppler_i.copy() notched_q = doppler_q.copy() - print(f"[DC NOTCH] width={width}, {n_range} range bins x {n_doppler} Doppler bins (dual sub-frame)") + print( + f"[DC NOTCH] width={width}, {n_range} range bins x " + f"{n_doppler} Doppler bins (dual sub-frame)" + ) if width == 0: print(" Pass-through (width=0)") @@ -1167,7 +1177,12 @@ def main(): parser = argparse.ArgumentParser(description="AERIS-10 FPGA golden reference model") parser.add_argument('--frame', type=int, default=0, help='Frame index to process') parser.add_argument('--plot', action='store_true', help='Show plots') - parser.add_argument('--threshold', type=int, default=10000, help='Detection threshold (L1 magnitude)') + parser.add_argument( + '--threshold', + type=int, + default=10000, + help='Detection threshold (L1 magnitude)' + ) args = parser.parse_args() # Paths @@ -1175,7 +1190,11 @@ def main(): fpga_dir = os.path.abspath(os.path.join(script_dir, '..', '..', '..')) data_base = os.path.expanduser("~/Downloads/adi_radar_data") amp_data = os.path.join(data_base, "amp_radar", "phaser_amp_4MSPS_500M_300u_256_m3dB.npy") - amp_config = os.path.join(data_base, "amp_radar", "phaser_amp_4MSPS_500M_300u_256_m3dB_config.npy") + amp_config = os.path.join( + data_base, + "amp_radar", + "phaser_amp_4MSPS_500M_300u_256_m3dB_config.npy" + ) twiddle_1024 = os.path.join(fpga_dir, "fft_twiddle_1024.mem") output_dir = os.path.join(script_dir, "hex") @@ -1290,7 +1309,10 @@ def main(): q_val = int(fc_doppler_q[rbin, dbin]) & 0xFFFF packed = (q_val << 16) | i_val f.write(f"{packed:08X}\n") - print(f" Wrote {fc_doppler_packed_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)") + print( + f" Wrote {fc_doppler_packed_file} (" + f"{DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)" + ) # Save numpy arrays for the full-chain path np.save(os.path.join(output_dir, "decimated_range_i.npy"), decim_i) @@ -1336,7 +1358,10 @@ def main(): q_val = int(notched_q[rbin, dbin]) & 0xFFFF packed = (q_val << 16) | i_val f.write(f"{packed:08X}\n") - print(f" Wrote {fc_notched_packed_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)") + print( + f" Wrote {fc_notched_packed_file} (" + f"{DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)" + ) # CFAR on DC-notched data CFAR_GUARD = 2 @@ -1385,7 +1410,10 @@ def main(): with open(cfar_det_list_file, 'w') as f: f.write("# AERIS-10 Full-Chain CFAR Detection List\n") f.write(f"# Chain: decim -> MTI -> Doppler -> DC notch(w={DC_NOTCH_WIDTH}) -> CA-CFAR\n") - f.write(f"# CFAR: guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X}, mode={CFAR_MODE}\n") + f.write( + f"# CFAR: guard={CFAR_GUARD}, train={CFAR_TRAIN}, " + f"alpha=0x{CFAR_ALPHA:02X}, mode={CFAR_MODE}\n" + ) f.write("# Format: range_bin doppler_bin magnitude threshold\n") for det in cfar_detections: r, d = det @@ -1481,12 +1509,18 @@ def main(): print(f" Chirps processed: {DOPPLER_CHIRPS}") print(f" Samples/chirp: {FFT_SIZE}") print(f" Range FFT: {FFT_SIZE}-point → {snr_range:.1f} dB vs float") - print(f" Doppler FFT (direct): {DOPPLER_FFT_SIZE}-point Hamming → {snr_doppler:.1f} dB vs float") + print( + f" Doppler FFT (direct): {DOPPLER_FFT_SIZE}-point Hamming " + f"→ {snr_doppler:.1f} dB vs float" + ) print(f" Detections (direct): {len(detections)} (threshold={args.threshold})") print(" Full-chain decimator: 1024→64 peak detection") print(f" Full-chain detections: {len(fc_detections)} (threshold={args.threshold})") print(f" MTI+CFAR chain: decim → MTI → Doppler → DC notch(w={DC_NOTCH_WIDTH}) → CA-CFAR") - print(f" CFAR detections: {len(cfar_detections)} (guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X})") + print( + f" CFAR detections: {len(cfar_detections)} " + f"(guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X})" + ) print(f" Hex stimulus files: {output_dir}/") print(" Ready for RTL co-simulation with Icarus Verilog") diff --git a/9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py b/9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py index d9e71dc..4ccd6d0 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py +++ b/9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py @@ -199,7 +199,10 @@ def test_long_chirp(): avg_mag = sum(magnitudes) / len(magnitudes) print(f" Magnitude: min={min_mag:.1f}, max={max_mag:.1f}, avg={avg_mag:.1f}") - print(f" Max magnitude as fraction of Q15 range: {max_mag/32767:.4f} ({max_mag/32767*100:.2f}%)") + print( + f" Max magnitude as fraction of Q15 range: " + f"{max_mag/32767:.4f} ({max_mag/32767*100:.2f}%)" + ) # Check if this looks like it came from generate_reference_chirp_q15 # That function uses 32767 * 0.9 scaling => max magnitude ~29490 @@ -262,7 +265,10 @@ def test_long_chirp(): # Check if bandwidth roughly matches expected bw_match = abs(f_range - CHIRP_BW) / CHIRP_BW < 0.5 # within 50% if bw_match: - print(f" Bandwidth {f_range/1e6:.2f} MHz roughly matches expected {CHIRP_BW/1e6:.2f} MHz") + print( + f" Bandwidth {f_range/1e6:.2f} MHz roughly matches expected " + f"{CHIRP_BW/1e6:.2f} MHz" + ) else: warn(f"Bandwidth {f_range/1e6:.2f} MHz does NOT match expected {CHIRP_BW/1e6:.2f} MHz") @@ -415,8 +421,11 @@ def test_chirp_vs_model(): print(f" Max phase diff: {max_phase_diff:.4f} rad ({math.degrees(max_phase_diff):.2f} deg)") phase_match = max_phase_diff < 0.5 # within 0.5 rad - check(phase_match, - f"Phase shape match: max diff = {math.degrees(max_phase_diff):.1f} deg (tolerance: 28.6 deg)") + check( + phase_match, + f"Phase shape match: max diff = {math.degrees(max_phase_diff):.1f} deg " + f"(tolerance: 28.6 deg)", + ) # ============================================================================ @@ -521,8 +530,11 @@ def test_memory_addressing(): addr_from_concat = (seg << 10) | 0 # {seg[1:0], 10'b0} addr_end = (seg << 10) | 1023 - check(addr_from_concat == base, - f"Seg {seg} base address: {{{seg}[1:0], 10'b0}} = {addr_from_concat} (expected {base})") + check( + addr_from_concat == base, + f"Seg {seg} base address: {{{seg}[1:0], 10'b0}} = {addr_from_concat} " + f"(expected {base})", + ) check(addr_end == end, f"Seg {seg} end address: {{{seg}[1:0], 10'h3FF}} = {addr_end} (expected {end})") diff --git a/9_Firmware/9_3_GUI/GUI_PyQt_Map.py b/9_Firmware/9_3_GUI/GUI_PyQt_Map.py index 703e58c..798fb33 100644 --- a/9_Firmware/9_3_GUI/GUI_PyQt_Map.py +++ b/9_Firmware/9_3_GUI/GUI_PyQt_Map.py @@ -33,7 +33,8 @@ from enum import Enum from PyQt6.QtWidgets import ( QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QTabWidget, QLabel, QPushButton, QComboBox, QSpinBox, QDoubleSpinBox, - QGroupBox, QGridLayout, QSplitter, QFrame, QStatusBar, QCheckBox, QTableWidget, QTableWidgetItem, + QGroupBox, QGridLayout, QSplitter, QFrame, QStatusBar, QCheckBox, + QTableWidget, QTableWidgetItem, QHeaderView ) from PyQt6.QtCore import ( @@ -554,11 +555,20 @@ class RadarMapWidget(QWidget): if (!radarMarker) return; var content = '
Radar System
' + - '
Latitude:' + + ( + '
Latitude:' + + '' + ) + radarMarker.getLatLng().lat.toFixed(6) + '
' + - '
Longitude:' + + ( + '
Longitude:' + + '' + ) + radarMarker.getLatLng().lng.toFixed(6) + '
' + - '
Status:Active
'; + ( + '
Status:' + + 'Active
' + ); radarMarker.bindPopup(content); }} @@ -570,10 +580,22 @@ class RadarMapWidget(QWidget): var div = L.DomUtil.create('div', 'legend'); div.innerHTML = '
Target Legend
' + - '
Approaching
' + - '
Receding
' + - '
Stationary
' + - '
Radar
'; + ( + '
Approaching
' + ) + + ( + '
Receding
' + ) + + ( + '
Stationary
' + ) + + ( + '
Radar
' + ); return div; }}; @@ -590,7 +612,9 @@ class RadarMapWidget(QWidget): updateRadarPopup(); if (bridge) {{ - bridge.logFromJS('Radar position updated: ' + lat.toFixed(4) + ', ' + lon.toFixed(4)); + bridge.logFromJS( + 'Radar position updated: ' + lat.toFixed(4) + ', ' + lon.toFixed(4) + ); }} }} @@ -717,19 +741,40 @@ class RadarMapWidget(QWidget): (target.velocity < -1 ? 'Receding' : 'Stationary'); var content = '
Target #' + target.id + '
' + - '
Range:' + + ( + '
Range:' + + '' + ) + target.range.toFixed(1) + ' m
' + - '
Velocity:' + + ( + '
Velocity:' + + '' + ) + target.velocity.toFixed(1) + ' m/s
' + - '
Azimuth:' + + ( + '
Azimuth:' + + '' + ) + target.azimuth.toFixed(1) + '°
' + - '
Elevation:' + + ( + '
Elevation:' + + '' + ) + target.elevation.toFixed(1) + '°
' + - '
SNR:' + + ( + '
SNR:' + + '' + ) + target.snr.toFixed(1) + ' dB
' + - '
Track ID:' + + ( + '
Track ID:' + + '' + ) + target.track_id + '
' + - '
Status:Status:' + + '' + statusText + '
'; targetMarkers[target.id].bindPopup(content); @@ -770,7 +815,11 @@ class RadarMapWidget(QWidget): if (visible) {{ // Create trails for all existing markers using stored history for (var id in targetMarkers) {{ - if (!targetTrails[id] && targetTrailHistory[id] && targetTrailHistory[id].length > 1) {{ + if ( + !targetTrails[id] && + targetTrailHistory[id] && + targetTrailHistory[id].length > 1 + ) {{ // Get color from current marker position (approximate) var color = '#4CAF50'; // Default green targetTrails[id] = L.polyline(targetTrailHistory[id], {{ diff --git a/9_Firmware/9_3_GUI/GUI_V1.py b/9_Firmware/9_3_GUI/GUI_V1.py index 9df2966..e740882 100644 --- a/9_Firmware/9_3_GUI/GUI_V1.py +++ b/9_Firmware/9_3_GUI/GUI_V1.py @@ -1,37 +1,52 @@ - - def update_gps_display(self): - """Step 18: Update GPS display and center map""" - try: - while not self.gps_data_queue.empty(): - gps_data = self.gps_data_queue.get_nowait() - self.current_gps = gps_data - - # Update GPS label - self.gps_label.config( - text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") - - # Update map - self.update_map_display(gps_data) - - except queue.Empty: - pass - - def update_map_display(self, gps_data): - """Step 18: Update map display with current GPS position""" - try: - self.map_label.config(text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" - f"Altitude: {gps_data.altitude:.1f}m\n" - f"Coverage: 50km radius\n" - f"Map centered on GPS coordinates") - - except Exception as e: - logging.error(f"Error updating map display: {e}") +import logging +import queue +import tkinter as tk +from tkinter import messagebox + + +class RadarGUI: + def update_gps_display(self): + """Step 18: Update GPS display and center map""" + try: + while not self.gps_data_queue.empty(): + gps_data = self.gps_data_queue.get_nowait() + self.current_gps = gps_data + + # Update GPS label + self.gps_label.config( + text=( + f"GPS: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m" + ) + ) + + # Update map + self.update_map_display(gps_data) + + except queue.Empty: + pass + + def update_map_display(self, gps_data): + """Step 18: Update map display with current GPS position""" + try: + self.map_label.config( + text=( + f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" + f"Altitude: {gps_data.altitude:.1f}m\n" + f"Coverage: 50km radius\n" + f"Map centered on GPS coordinates" + ) + ) + + except Exception as e: + logging.error(f"Error updating map display: {e}") -def main(): +def main(): """Main application entry point""" try: root = tk.Tk() - app = RadarGUI(root) + _app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") diff --git a/9_Firmware/9_3_GUI/GUI_V2.py b/9_Firmware/9_3_GUI/GUI_V2.py index 8f7a16a..b6c913b 100644 --- a/9_Firmware/9_3_GUI/GUI_V2.py +++ b/9_Firmware/9_3_GUI/GUI_V2.py @@ -5,21 +5,18 @@ import queue import time import struct import numpy as np -import matplotlib.pyplot as plt from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from matplotlib.figure import Figure import logging from dataclasses import dataclass -from typing import Dict, List, Tuple, Optional -from scipy import signal from sklearn.cluster import DBSCAN from filterpy.kalman import KalmanFilter import crcmod -import math try: import usb.core import usb.util + USB_AVAILABLE = True except ImportError: USB_AVAILABLE = False @@ -28,13 +25,15 @@ except ImportError: try: from pyftdi.ftdi import Ftdi from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True except ImportError: FTDI_AVAILABLE = False logging.warning("pyftdi not available. FTDI functionality will be disabled.") # Configure logging -logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') +logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") + @dataclass class RadarTarget: @@ -47,6 +46,7 @@ class RadarTarget: timestamp: float track_id: int = -1 + @dataclass class RadarSettings: system_frequency: float = 10e9 @@ -58,6 +58,7 @@ class RadarSettings: prf2: float = 2000 max_distance: float = 50000 + @dataclass class GPSData: latitude: float @@ -65,19 +66,20 @@ class GPSData: altitude: float timestamp: float + class STM32USBInterface: def __init__(self): self.device = None self.is_open = False self.ep_in = None self.ep_out = None - + def list_devices(self): """List available STM32 USB CDC devices""" if not USB_AVAILABLE: logging.warning("USB not available - please install pyusb") return [] - + try: devices = [] # STM32 USB CDC devices typically use these vendor/product IDs @@ -89,82 +91,98 @@ class STM32USBInterface: (0x0483, 0x374E), # STM32 CDC (0x0483, 0x3752), # STM32 CDC ] - + for vid, pid in stm32_vid_pids: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: - product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" - devices.append({ - 'description': f"{product} ({serial})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - except: - devices.append({ - 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - + product = ( + usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + ) + serial = ( + usb.util.get_string(dev, dev.iSerialNumber) + if dev.iSerialNumber + else "Unknown" + ) + devices.append( + { + "description": f"{product} ({serial})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + except Exception: + devices.append( + { + "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + return devices except Exception as e: logging.error(f"Error listing USB devices: {e}") # Return mock devices for testing - return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] - + return [ + {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} + ] + def open_device(self, device_info): """Open STM32 USB CDC device""" if not USB_AVAILABLE: logging.error("USB not available - cannot open device") return False - + try: - self.device = device_info['device'] - + self.device = device_info["device"] + # Detach kernel driver if active if self.device.is_kernel_driver_active(0): self.device.detach_kernel_driver(0) - + # Set configuration self.device.set_configuration() - + # Get CDC endpoints cfg = self.device.get_active_configuration() - intf = cfg[(0,0)] - + intf = cfg[(0, 0)] + # Find bulk endpoints (CDC data interface) self.ep_out = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ), ) - + self.ep_in = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ), ) - + if self.ep_out is None or self.ep_in is None: logging.error("Could not find CDC endpoints") return False - + self.is_open = True logging.info(f"STM32 USB device opened: {device_info['description']}") return True - + except Exception as e: logging.error(f"Error opening USB device: {e}") return False - + def send_start_flag(self): """Step 12: Send start flag to STM32 via USB""" start_packet = bytes([23, 46, 158, 237]) logging.info("Sending start flag to STM32 via USB...") return self._send_data(start_packet) - + def send_settings(self, settings): """Step 13: Send radar settings to STM32 via USB""" try: @@ -174,12 +192,12 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error sending settings via USB: {e}") return False - + def read_data(self, size=64, timeout=1000): """Read data from STM32 via USB""" if not self.is_open or self.ep_in is None: return None - + try: data = self.ep_in.read(size, timeout=timeout) return bytes(data) @@ -191,41 +209,41 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error reading from USB: {e}") return None - + def _send_data(self, data): """Send data to STM32 via USB""" if not self.is_open or self.ep_out is None: return False - + try: # USB CDC typically uses 64-byte packets packet_size = 64 for i in range(0, len(data), packet_size): - chunk = data[i:i + packet_size] + chunk = data[i : i + packet_size] # Pad to packet size if needed if len(chunk) < packet_size: - chunk += b'\x00' * (packet_size - len(chunk)) + chunk += b"\x00" * (packet_size - len(chunk)) self.ep_out.write(chunk) - + return True except Exception as e: logging.error(f"Error sending data via USB: {e}") return False - + def _create_settings_packet(self, settings): """Create binary settings packet for USB transmission""" - packet = b'SET' - packet += struct.pack('>d', settings.system_frequency) - packet += struct.pack('>d', settings.chirp_duration) - packet += struct.pack('>I', settings.chirps_per_position) - packet += struct.pack('>d', settings.freq_min) - packet += struct.pack('>d', settings.freq_max) - packet += struct.pack('>d', settings.prf1) - packet += struct.pack('>d', settings.prf2) - packet += struct.pack('>d', settings.max_distance) - packet += b'END' + packet = b"SET" + packet += struct.pack(">d", settings.system_frequency) + packet += struct.pack(">d", settings.chirp_duration) + packet += struct.pack(">I", settings.chirps_per_position) + packet += struct.pack(">d", settings.freq_min) + packet += struct.pack(">d", settings.freq_max) + packet += struct.pack(">d", settings.prf1) + packet += struct.pack(">d", settings.prf2) + packet += struct.pack(">d", settings.max_distance) + packet += b"END" return packet - + def close(self): """Close USB device""" if self.device and self.is_open: @@ -235,63 +253,63 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error closing USB device: {e}") + class FTDIInterface: def __init__(self): self.ftdi = None self.is_open = False - + def list_devices(self): """List available FTDI devices using pyftdi""" if not FTDI_AVAILABLE: logging.warning("FTDI not available - please install pyftdi") return [] - + try: devices = [] # Get list of all FTDI devices for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append({ - 'description': f"FTDI Device {device}", - 'url': f"ftdi://{device}/1" - }) + devices.append( + {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} + ) return devices except Exception as e: logging.error(f"Error listing FTDI devices: {e}") # Return mock devices for testing - return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] - + return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] + def open_device(self, device_url): """Open FTDI device using pyftdi""" if not FTDI_AVAILABLE: logging.error("FTDI not available - cannot open device") return False - + try: self.ftdi = Ftdi() self.ftdi.open_from_url(device_url) - + # Configure for synchronous FIFO mode self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - + # Set latency timer self.ftdi.set_latency_timer(2) - + # Purge buffers self.ftdi.purge_buffers() - + self.is_open = True logging.info(f"FTDI device opened: {device_url}") return True - + except Exception as e: logging.error(f"Error opening FTDI device: {e}") return False - + def read_data(self, bytes_to_read): """Read data from FTDI""" if not self.is_open or self.ftdi is None: return None - + try: data = self.ftdi.read_data(bytes_to_read) if data: @@ -300,13 +318,14 @@ class FTDIInterface: except Exception as e: logging.error(f"Error reading from FTDI: {e}") return None - + def close(self): """Close FTDI device""" if self.ftdi and self.is_open: self.ftdi.close() self.is_open = False + class RadarProcessor: def __init__(self): self.range_doppler_map = np.zeros((1024, 32)) @@ -314,73 +333,75 @@ class RadarProcessor: self.track_id_counter = 0 self.tracks = {} self.frame_count = 0 - + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): """Dual-CPI fusion for better detection""" fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) return fused_profile - + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): """Multi-PRF velocity unwrapping""" lambda_wavelength = 3e8 / 10e9 v_max1 = prf1 * lambda_wavelength / 2 v_max2 = prf2 * lambda_wavelength / 2 - + unwrapped_velocities = [] for doppler in doppler_measurements: v1 = doppler * lambda_wavelength / 2 v2 = doppler * lambda_wavelength / 2 - + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) unwrapped_velocities.append(velocity) - + return unwrapped_velocities - + def _solve_chinese_remainder(self, v1, v2, max1, max2): for k in range(-5, 6): candidate = v1 + k * max1 if abs(candidate - v2) < max2 / 2: return candidate return v1 - + def clustering(self, detections, eps=100, min_samples=2): """DBSCAN clustering of detections""" if len(detections) == 0: return [] - + points = np.array([[d.range, d.velocity] for d in detections]) clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - + clusters = [] for label in set(clustering.labels_): if label != -1: cluster_points = points[clustering.labels_ == label] - clusters.append({ - 'center': np.mean(cluster_points, axis=0), - 'points': cluster_points, - 'size': len(cluster_points) - }) - + clusters.append( + { + "center": np.mean(cluster_points, axis=0), + "points": cluster_points, + "size": len(cluster_points), + } + ) + return clusters - + def association(self, detections, clusters): """Association of detections to tracks""" associated_detections = [] - + for detection in detections: best_track = None - min_distance = float('inf') - + min_distance = float("inf") + for track_id, track in self.tracks.items(): distance = np.sqrt( - (detection.range - track['state'][0])**2 + - (detection.velocity - track['state'][2])**2 + (detection.range - track["state"][0]) ** 2 + + (detection.velocity - track["state"][2]) ** 2 ) - + if distance < min_distance and distance < 500: min_distance = distance best_track = track_id - + if best_track is not None: detection.track_id = best_track associated_detections.append(detection) @@ -388,147 +409,150 @@ class RadarProcessor: detection.track_id = self.track_id_counter self.track_id_counter += 1 associated_detections.append(detection) - + return associated_detections - + def tracking(self, associated_detections): """Kalman filter tracking""" current_time = time.time() - + for detection in associated_detections: if detection.track_id not in self.tracks: kf = KalmanFilter(dim_x=4, dim_z=2) kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], - [0, 1, 0, 0], - [0, 0, 1, 1], - [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], - [0, 0, 1, 0]]) + kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) kf.P *= 1000 kf.R = np.diag([10, 1]) kf.Q = np.eye(4) * 0.1 - + self.tracks[detection.track_id] = { - 'filter': kf, - 'state': kf.x, - 'last_update': current_time, - 'hits': 1 + "filter": kf, + "state": kf.x, + "last_update": current_time, + "hits": 1, } else: track = self.tracks[detection.track_id] - track['filter'].predict() - track['filter'].update([detection.range, detection.velocity]) - track['state'] = track['filter'].x - track['last_update'] = current_time - track['hits'] += 1 - - stale_tracks = [tid for tid, track in self.tracks.items() - if current_time - track['last_update'] > 5.0] + track["filter"].predict() + track["filter"].update([detection.range, detection.velocity]) + track["state"] = track["filter"].x + track["last_update"] = current_time + track["hits"] += 1 + + stale_tracks = [ + tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 + ] for tid in stale_tracks: del self.tracks[tid] + class USBPacketParser: def __init__(self): self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_gps_data(self, data): """Parse GPS data from STM32 USB CDC""" if not data: return None - + try: # Try text format first: "GPS:lat,lon,alt\r\n" - text_data = data.decode('utf-8', errors='ignore').strip() - if text_data.startswith('GPS:'): - parts = text_data.split(':')[1].split(',') + text_data = data.decode("utf-8", errors="ignore").strip() + if text_data.startswith("GPS:"): + parts = text_data.split(":")[1].split(",") if len(parts) == 3: lat = float(parts[0]) lon = float(parts[1]) alt = float(parts[2]) return GPSData(latitude=lat, longitude=lon, altitude=alt, timestamp=time.time()) - + # Try binary format - if len(data) >= 26 and data[0:4] == b'GPSB': + if len(data) >= 26 and data[0:4] == b"GPSB": return self._parse_binary_gps(data) - + except Exception as e: logging.error(f"Error parsing GPS data: {e}") - + return None - + def _parse_binary_gps(self, data): """Parse binary GPS format""" try: # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][CRC 2] if len(data) < 26: return None - + # Verify CRC (simple checksum) crc_received = (data[24] << 8) | data[25] crc_calculated = sum(data[0:24]) & 0xFFFF - + if crc_received != crc_calculated: logging.warning("GPS CRC mismatch") return None - + # Parse latitude (double, big-endian) lat_bits = 0 for i in range(8): lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] - + latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] + # Parse longitude (double, big-endian) lon_bits = 0 for i in range(8): lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] - + longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] + # Parse altitude (float, big-endian) alt_bits = 0 for i in range(4): alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] - - return GPSData(latitude=latitude, longitude=longitude, altitude=altitude, timestamp=time.time()) - + altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] + + return GPSData( + latitude=latitude, longitude=longitude, altitude=altitude, timestamp=time.time() + ) + except Exception as e: logging.error(f"Error parsing binary GPS: {e}") return None + class RadarPacketParser: def __init__(self): - self.sync_pattern = b'\xA5\xC3' + self.sync_pattern = b"\xa5\xc3" self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_packet(self, data): if len(data) < 6: return None - + sync_index = data.find(self.sync_pattern) if sync_index == -1: return None - + packet = data[sync_index:] - + if len(packet) < 6: return None - - sync = packet[0:2] + + _sync = packet[0:2] packet_type = packet[2] length = packet[3] - + if len(packet) < (4 + length + 2): return None - - payload = packet[4:4+length] - crc_received = struct.unpack('I', payload[0:4])[0] + range_value = struct.unpack(">I", payload[0:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'range', - 'range': range_value, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "range", + "range": range_value, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing range packet: {e}") return None - + def parse_doppler_packet(self, payload): if len(payload) < 12: return None - + try: - doppler_real = struct.unpack('>h', payload[0:2])[0] - doppler_imag = struct.unpack('>h', payload[2:4])[0] + doppler_real = struct.unpack(">h", payload[0:2])[0] + doppler_imag = struct.unpack(">h", payload[2:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'doppler', - 'doppler_real': doppler_real, - 'doppler_imag': doppler_imag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "doppler", + "doppler_real": doppler_real, + "doppler_imag": doppler_imag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing Doppler packet: {e}") return None - + def parse_detection_packet(self, payload): if len(payload) < 8: return None - + try: detection_flag = (payload[0] & 0x01) != 0 elevation = payload[1] & 0x1F azimuth = payload[2] & 0x3F chirp_counter = payload[3] & 0x1F - + return { - 'type': 'detection', - 'detected': detection_flag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "detection", + "detected": detection_flag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing detection packet: {e}") return None + class RadarGUI: def __init__(self, root): self.root = root self.root.title("Advanced Radar System GUI - USB CDC") self.root.geometry("1400x900") - + # Initialize interfaces self.stm32_usb_interface = STM32USBInterface() self.ftdi_interface = FTDIInterface() @@ -623,172 +648,180 @@ class RadarGUI: self.usb_packet_parser = USBPacketParser() self.radar_packet_parser = RadarPacketParser() self.settings = RadarSettings() - + # Data queues self.radar_data_queue = queue.Queue() self.gps_data_queue = queue.Queue() - + # Thread control self.running = False self.radar_thread = None self.gps_thread = None - + # Counters self.received_packets = 0 self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, timestamp=0) - + self.create_gui() self.start_background_threads() - + def create_gui(self): """Create the main GUI with tabs""" self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill='both', expand=True, padx=10, pady=10) - + self.notebook.pack(fill="both", expand=True, padx=10, pady=10) + self.tab_main = ttk.Frame(self.notebook) self.tab_map = ttk.Frame(self.notebook) self.tab_diagnostics = ttk.Frame(self.notebook) self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text='Main View') - self.notebook.add(self.tab_map, text='Map View') - self.notebook.add(self.tab_diagnostics, text='Diagnostics') - self.notebook.add(self.tab_settings, text='Settings') - + + self.notebook.add(self.tab_main, text="Main View") + self.notebook.add(self.tab_map, text="Map View") + self.notebook.add(self.tab_diagnostics, text="Diagnostics") + self.notebook.add(self.tab_settings, text="Settings") + self.setup_main_tab() self.setup_map_tab() self.setup_settings_tab() - + def setup_main_tab(self): """Setup the main radar display tab""" # Control frame control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill='x', padx=10, pady=5) - + control_frame.pack(fill="x", padx=10, pady=5) + # USB Device selection ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) self.stm32_usb_combo.grid(row=0, column=1, padx=5) - + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", - command=self.refresh_devices).grid(row=0, column=4, padx=5) - - self.start_button = ttk.Button(control_frame, text="Start Radar", - command=self.start_radar) + + ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( + row=0, column=4, padx=5 + ) + + self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button(control_frame, text="Stop Radar", - command=self.stop_radar, state="disabled") + + self.stop_button = ttk.Button( + control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" + ) self.stop_button.grid(row=0, column=6, padx=5) - + # GPS info self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) - + self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) + # Status info self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=4, columnspan=3, sticky='e', padx=5, pady=2) - + self.status_label.grid(row=1, column=4, columnspan=3, sticky="e", padx=5, pady=2) + # Main display area display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill='both', expand=True, padx=10, pady=5) - + display_frame.pack(fill="both", expand=True, padx=10, pady=5) + # Range-Doppler Map fig = Figure(figsize=(10, 6)) self.range_doppler_ax = fig.add_subplot(111) self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect='auto', cmap='hot', - extent=[0, 32, 0, 1024]) - self.range_doppler_ax.set_title('Range-Doppler Map') - self.range_doppler_ax.set_xlabel('Doppler Bin') - self.range_doppler_ax.set_ylabel('Range Bin') - + np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] + ) + self.range_doppler_ax.set_title("Range-Doppler Map") + self.range_doppler_ax.set_xlabel("Doppler Bin") + self.range_doppler_ax.set_ylabel("Range Bin") + self.canvas = FigureCanvasTkAgg(fig, display_frame) self.canvas.draw() - self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) - + self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) + # Targets list targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets") - targets_frame.pack(side='right', fill='y', padx=5) - - self.targets_tree = ttk.Treeview(targets_frame, - columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'SNR'), - show='headings', height=20) - self.targets_tree.heading('ID', text='Track ID') - self.targets_tree.heading('Range', text='Range (m)') - self.targets_tree.heading('Velocity', text='Velocity (m/s)') - self.targets_tree.heading('Azimuth', text='Azimuth') - self.targets_tree.heading('Elevation', text='Elevation') - self.targets_tree.heading('SNR', text='SNR (dB)') - - self.targets_tree.column('ID', width=80) - self.targets_tree.column('Range', width=100) - self.targets_tree.column('Velocity', width=100) - self.targets_tree.column('Azimuth', width=80) - self.targets_tree.column('Elevation', width=80) - self.targets_tree.column('SNR', width=80) - - self.targets_tree.pack(fill='both', expand=True, padx=5, pady=5) - + targets_frame.pack(side="right", fill="y", padx=5) + + self.targets_tree = ttk.Treeview( + targets_frame, + columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "SNR"), + show="headings", + height=20, + ) + self.targets_tree.heading("ID", text="Track ID") + self.targets_tree.heading("Range", text="Range (m)") + self.targets_tree.heading("Velocity", text="Velocity (m/s)") + self.targets_tree.heading("Azimuth", text="Azimuth") + self.targets_tree.heading("Elevation", text="Elevation") + self.targets_tree.heading("SNR", text="SNR (dB)") + + self.targets_tree.column("ID", width=80) + self.targets_tree.column("Range", width=100) + self.targets_tree.column("Velocity", width=100) + self.targets_tree.column("Azimuth", width=80) + self.targets_tree.column("Elevation", width=80) + self.targets_tree.column("SNR", width=80) + + self.targets_tree.pack(fill="both", expand=True, padx=5, pady=5) + def setup_map_tab(self): """Setup the map display tab""" self.map_frame = ttk.Frame(self.tab_map) - self.map_frame.pack(fill='both', expand=True, padx=10, pady=10) - + self.map_frame.pack(fill="both", expand=True, padx=10, pady=10) + # Map placeholder - self.map_label = ttk.Label(self.map_frame, text="Map will be displayed here after GPS data is received", - font=('Arial', 12)) + self.map_label = ttk.Label( + self.map_frame, + text="Map will be displayed here after GPS data is received", + font=("Arial", 12), + ) self.map_label.pack(expand=True) - + def setup_settings_tab(self): """Setup the settings tab""" settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill='both', expand=True, padx=10, pady=10) - + settings_frame.pack(fill="both", expand=True, padx=10, pady=10) + entries = [ - ('System Frequency (Hz):', 'system_frequency', 10e9), - ('Chirp Duration (s):', 'chirp_duration', 30e-6), - ('Chirps per Position:', 'chirps_per_position', 32), - ('Frequency Min (Hz):', 'freq_min', 10e6), - ('Frequency Max (Hz):', 'freq_max', 30e6), - ('PRF1 (Hz):', 'prf1', 1000), - ('PRF2 (Hz):', 'prf2', 2000), - ('Max Distance (m):', 'max_distance', 50000) + ("System Frequency (Hz):", "system_frequency", 10e9), + ("Chirp Duration (s):", "chirp_duration", 30e-6), + ("Chirps per Position:", "chirps_per_position", 32), + ("Frequency Min (Hz):", "freq_min", 10e6), + ("Frequency Max (Hz):", "freq_max", 30e6), + ("PRF1 (Hz):", "prf1", 1000), + ("PRF2 (Hz):", "prf2", 2000), + ("Max Distance (m):", "max_distance", 50000), ] - + self.settings_vars = {} - + for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) var = tk.StringVar(value=str(default)) entry = ttk.Entry(settings_frame, textvariable=var, width=20) entry.grid(row=i, column=1, padx=5, pady=5) self.settings_vars[attr] = var - - ttk.Button(settings_frame, text="Apply Settings", - command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) - + + ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( + row=len(entries), column=0, columnspan=2, pady=10 + ) + def refresh_devices(self): """Refresh available USB devices""" # STM32 USB devices stm32_devices = self.stm32_usb_interface.list_devices() - stm32_names = [dev['description'] for dev in stm32_devices] - self.stm32_usb_combo['values'] = stm32_names - + stm32_names = [dev["description"] for dev in stm32_devices] + self.stm32_usb_combo["values"] = stm32_names + # FTDI devices ftdi_devices = self.ftdi_interface.list_devices() - ftdi_names = [dev['description'] for dev in ftdi_devices] - self.ftdi_combo['values'] = ftdi_names - + ftdi_names = [dev["description"] for dev in ftdi_devices] + self.ftdi_combo["values"] = ftdi_names + if stm32_names: self.stm32_usb_combo.current(0) if ftdi_names: self.ftdi_combo.current(0) - + def start_radar(self): """Step 11: Start button pressed - Begin radar operation""" try: @@ -797,119 +830,121 @@ class RadarGUI: if stm32_index == -1: messagebox.showerror("Error", "Please select an STM32 USB device") return - + stm32_devices = self.stm32_usb_interface.list_devices() if stm32_index >= len(stm32_devices): messagebox.showerror("Error", "Invalid STM32 device selection") return - + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): messagebox.showerror("Error", "Failed to open STM32 USB device") return - + # Open FTDI device if FTDI_AVAILABLE: ftdi_index = self.ftdi_combo.current() if ftdi_index != -1: ftdi_devices = self.ftdi_interface.list_devices() if ftdi_index < len(ftdi_devices): - device_url = ftdi_devices[ftdi_index]['url'] + device_url = ftdi_devices[ftdi_index]["url"] if not self.ftdi_interface.open_device(device_url): - logging.warning("Failed to open FTDI device, continuing without radar data") + logging.warning( + "Failed to open FTDI device, continuing without radar data" + ) else: logging.warning("No FTDI device selected, continuing without radar data") else: logging.warning("FTDI not available, continuing without radar data") - + # Step 12: Send start flag to STM32 via USB if not self.stm32_usb_interface.send_start_flag(): messagebox.showerror("Error", "Failed to send start flag to STM32") return - + # Step 13: Send settings to STM32 via USB self.apply_settings() - + # Start radar operation self.running = True self.start_button.config(state="disabled") self.stop_button.config(state="normal") self.status_label.config(text="Status: Radar running - Waiting for GPS data...") - + logging.info("Radar system started successfully via USB CDC") - + except Exception as e: messagebox.showerror("Error", f"Failed to start radar: {e}") logging.error(f"Start radar error: {e}") - + def stop_radar(self): """Stop radar operation""" self.running = False self.start_button.config(state="normal") self.stop_button.config(state="disabled") self.status_label.config(text="Status: Radar stopped") - + self.stm32_usb_interface.close() self.ftdi_interface.close() - + logging.info("Radar system stopped") - + def apply_settings(self): """Step 13: Apply and send radar settings via USB""" try: - self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) - self.settings.chirp_duration = float(self.settings_vars['chirp_duration'].get()) - self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) - self.settings.freq_min = float(self.settings_vars['freq_min'].get()) - self.settings.freq_max = float(self.settings_vars['freq_max'].get()) - self.settings.prf1 = float(self.settings_vars['prf1'].get()) - self.settings.prf2 = float(self.settings_vars['prf2'].get()) - self.settings.max_distance = float(self.settings_vars['max_distance'].get()) - + self.settings.system_frequency = float(self.settings_vars["system_frequency"].get()) + self.settings.chirp_duration = float(self.settings_vars["chirp_duration"].get()) + self.settings.chirps_per_position = int(self.settings_vars["chirps_per_position"].get()) + self.settings.freq_min = float(self.settings_vars["freq_min"].get()) + self.settings.freq_max = float(self.settings_vars["freq_max"].get()) + self.settings.prf1 = float(self.settings_vars["prf1"].get()) + self.settings.prf2 = float(self.settings_vars["prf2"].get()) + self.settings.max_distance = float(self.settings_vars["max_distance"].get()) + if self.stm32_usb_interface.is_open: self.stm32_usb_interface.send_settings(self.settings) - + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") logging.info("Radar settings applied via USB") - + except ValueError as e: messagebox.showerror("Error", f"Invalid setting value: {e}") - + def start_background_threads(self): """Start background data processing threads""" self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) self.radar_thread.start() - + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) self.gps_thread.start() - + self.root.after(100, self.update_gui) - + def process_radar_data(self): """Step 39: Process incoming radar data from FTDI""" - buffer = b'' + buffer = b"" while True: if self.running and self.ftdi_interface.is_open: try: data = self.ftdi_interface.read_data(4096) if data: buffer += data - + while len(buffer) >= 6: packet = self.radar_packet_parser.parse_packet(buffer) if packet: self.process_radar_packet(packet) - packet_length = 4 + len(packet.get('payload', b'')) + 2 + packet_length = 4 + len(packet.get("payload", b"")) + 2 buffer = buffer[packet_length:] self.received_packets += 1 else: break - + except Exception as e: logging.error(f"Error processing radar data: {e}") time.sleep(0.1) else: time.sleep(0.1) - + def process_gps_data(self): """Step 16/17: Process GPS data from STM32 via USB CDC""" while True: @@ -921,139 +956,169 @@ class RadarGUI: gps_data = self.usb_packet_parser.parse_gps_data(data) if gps_data: self.gps_data_queue.put(gps_data) - logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + logging.info( + "GPS Data received via USB: " + f"Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m" + ) except Exception as e: logging.error(f"Error processing GPS data via USB: {e}") time.sleep(0.1) - + def process_radar_packet(self, packet): """Step 40: Process radar data and update displays""" try: - if packet['type'] == 'range': - range_meters = packet['range'] * 0.1 - + if packet["type"] == "range": + range_meters = packet["range"] * 0.1 + target = RadarTarget( - id=packet['chirp'], + id=packet["chirp"], range=range_meters, velocity=0, - azimuth=packet['azimuth'], - elevation=packet['elevation'], + azimuth=packet["azimuth"], + elevation=packet["elevation"], snr=20.0, - timestamp=packet['timestamp'] + timestamp=packet["timestamp"], ) - + self.update_range_doppler_map(target) - - elif packet['type'] == 'doppler': + + elif packet["type"] == "doppler": lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + velocity = (packet["doppler_real"] / 32767.0) * ( + self.settings.prf1 * lambda_wavelength / 2 + ) self.update_target_velocity(packet, velocity) - - elif packet['type'] == 'detection': - if packet['detected']: - logging.info(f"CFAR Detection: Elevation {packet['elevation']}, Azimuth {packet['azimuth']}") - + + elif packet["type"] == "detection": + if packet["detected"]: + logging.info( + f"CFAR Detection: Elevation {packet['elevation']}, " + f"Azimuth {packet['azimuth']}" + ) + except Exception as e: logging.error(f"Error processing radar packet: {e}") - + def update_range_doppler_map(self, target): """Update range-Doppler map with new target""" range_bin = min(int(target.range / 50), 1023) doppler_bin = min(abs(int(target.velocity)), 31) - + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 - + self.radar_processor.detected_targets.append(target) - + if len(self.radar_processor.detected_targets) > 100: self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] - + def update_target_velocity(self, packet, velocity): """Update target velocity information""" for target in self.radar_processor.detected_targets: - if (target.azimuth == packet['azimuth'] and - target.elevation == packet['elevation'] and - target.id == packet['chirp']): + if ( + target.azimuth == packet["azimuth"] + and target.elevation == packet["elevation"] + and target.id == packet["chirp"] + ): target.velocity = velocity break - + def update_gui(self): """Step 40: Update all GUI displays""" try: # Update status if self.running: - self.status_label.config( - text=f"Status: Running - Packets: {self.received_packets} - GPS: {self.current_gps.latitude:.4f}, {self.current_gps.longitude:.4f}") - + self.status_label.config( + text=( + f"Status: Running - Packets: {self.received_packets} - " + f"GPS: {self.current_gps.latitude:.4f}, " + f"{self.current_gps.longitude:.4f}" + ) + ) + # Update range-Doppler map - if hasattr(self, 'range_doppler_plot'): + if hasattr(self, "range_doppler_plot"): display_data = np.log10(self.radar_processor.range_doppler_map + 1) self.range_doppler_plot.set_array(display_data) self.canvas.draw_idle() - + # Update targets list self.update_targets_list() - + # Update GPS display self.update_gps_display() - + except Exception as e: logging.error(f"Error updating GUI: {e}") - + self.root.after(100, self.update_gui) - + def update_targets_list(self): """Update the targets list display""" for item in self.targets_tree.get_children(): self.targets_tree.delete(item) - + for target in self.radar_processor.detected_targets[-20:]: - self.targets_tree.insert('', 'end', values=( - target.track_id, - f"{target.range:.1f}", - f"{target.velocity:.1f}", - target.azimuth, - target.elevation, - f"{target.snr:.1f}" - )) - + self.targets_tree.insert( + "", + "end", + values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + target.elevation, + f"{target.snr:.1f}", + ), + ) + def update_gps_display(self): """Step 18: Update GPS display and center map""" try: while not self.gps_data_queue.empty(): gps_data = self.gps_data_queue.get_nowait() self.current_gps = gps_data - + # Update GPS label - self.gps_label.config( - text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") - + self.gps_label.config( + text=( + f"GPS: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m" + ) + ) + # Update map self.update_map_display(gps_data) - + except queue.Empty: pass - + def update_map_display(self, gps_data): """Step 18: Update map display with current GPS position""" try: - self.map_label.config(text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" - f"Altitude: {gps_data.altitude:.1f}m\n" - f"Coverage: 50km radius\n" - f"Map centered on GPS coordinates") - + self.map_label.config( + text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" + f"Altitude: {gps_data.altitude:.1f}m\n" + f"Coverage: 50km radius\n" + f"Map centered on GPS coordinates" + ) + except Exception as e: logging.error(f"Error updating map display: {e}") + def main(): """Main application entry point""" try: root = tk.Tk() - app = RadarGUI(root) + _app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + if __name__ == "__main__": main() diff --git a/9_Firmware/9_3_GUI/GUI_V3.py b/9_Firmware/9_3_GUI/GUI_V3.py index f519804..cda7da5 100644 --- a/9_Firmware/9_3_GUI/GUI_V3.py +++ b/9_Firmware/9_3_GUI/GUI_V3.py @@ -5,13 +5,10 @@ import queue import time import struct import numpy as np -import matplotlib.pyplot as plt from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from matplotlib.figure import Figure import logging from dataclasses import dataclass -from typing import Dict, List, Tuple, Optional -from scipy import signal from sklearn.cluster import DBSCAN from filterpy.kalman import KalmanFilter import crcmod @@ -20,6 +17,7 @@ import math try: import usb.core import usb.util + USB_AVAILABLE = True except ImportError: USB_AVAILABLE = False @@ -28,13 +26,15 @@ except ImportError: try: from pyftdi.ftdi import Ftdi from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True except ImportError: FTDI_AVAILABLE = False logging.warning("pyftdi not available. FTDI functionality will be disabled.") # Configure logging -logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') +logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") + @dataclass class RadarTarget: @@ -47,6 +47,7 @@ class RadarTarget: timestamp: float track_id: int = -1 + @dataclass class RadarSettings: system_frequency: float = 10e9 @@ -58,6 +59,7 @@ class RadarSettings: prf2: float = 2000 max_distance: float = 50000 + @dataclass class GPSData: latitude: float @@ -66,19 +68,20 @@ class GPSData: pitch: float # Pitch angle in degrees timestamp: float + class STM32USBInterface: def __init__(self): self.device = None self.is_open = False self.ep_in = None self.ep_out = None - + def list_devices(self): """List available STM32 USB CDC devices""" if not USB_AVAILABLE: logging.warning("USB not available - please install pyusb") return [] - + try: devices = [] # STM32 USB CDC devices typically use these vendor/product IDs @@ -90,82 +93,98 @@ class STM32USBInterface: (0x0483, 0x374E), # STM32 CDC (0x0483, 0x3752), # STM32 CDC ] - + for vid, pid in stm32_vid_pids: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: - product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" - devices.append({ - 'description': f"{product} ({serial})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - except: - devices.append({ - 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - + product = ( + usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + ) + serial = ( + usb.util.get_string(dev, dev.iSerialNumber) + if dev.iSerialNumber + else "Unknown" + ) + devices.append( + { + "description": f"{product} ({serial})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + except Exception: + devices.append( + { + "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + return devices except Exception as e: logging.error(f"Error listing USB devices: {e}") # Return mock devices for testing - return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] - + return [ + {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} + ] + def open_device(self, device_info): """Open STM32 USB CDC device""" if not USB_AVAILABLE: logging.error("USB not available - cannot open device") return False - + try: - self.device = device_info['device'] - + self.device = device_info["device"] + # Detach kernel driver if active if self.device.is_kernel_driver_active(0): self.device.detach_kernel_driver(0) - + # Set configuration self.device.set_configuration() - + # Get CDC endpoints cfg = self.device.get_active_configuration() - intf = cfg[(0,0)] - + intf = cfg[(0, 0)] + # Find bulk endpoints (CDC data interface) self.ep_out = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ), ) - + self.ep_in = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ), ) - + if self.ep_out is None or self.ep_in is None: logging.error("Could not find CDC endpoints") return False - + self.is_open = True logging.info(f"STM32 USB device opened: {device_info['description']}") return True - + except Exception as e: logging.error(f"Error opening USB device: {e}") return False - + def send_start_flag(self): """Step 12: Send start flag to STM32 via USB""" start_packet = bytes([23, 46, 158, 237]) logging.info("Sending start flag to STM32 via USB...") return self._send_data(start_packet) - + def send_settings(self, settings): """Step 13: Send radar settings to STM32 via USB""" try: @@ -175,12 +194,12 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error sending settings via USB: {e}") return False - + def read_data(self, size=64, timeout=1000): """Read data from STM32 via USB""" if not self.is_open or self.ep_in is None: return None - + try: data = self.ep_in.read(size, timeout=timeout) return bytes(data) @@ -192,41 +211,41 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error reading from USB: {e}") return None - + def _send_data(self, data): """Send data to STM32 via USB""" if not self.is_open or self.ep_out is None: return False - + try: # USB CDC typically uses 64-byte packets packet_size = 64 for i in range(0, len(data), packet_size): - chunk = data[i:i + packet_size] + chunk = data[i : i + packet_size] # Pad to packet size if needed if len(chunk) < packet_size: - chunk += b'\x00' * (packet_size - len(chunk)) + chunk += b"\x00" * (packet_size - len(chunk)) self.ep_out.write(chunk) - + return True except Exception as e: logging.error(f"Error sending data via USB: {e}") return False - + def _create_settings_packet(self, settings): """Create binary settings packet for USB transmission""" - packet = b'SET' - packet += struct.pack('>d', settings.system_frequency) - packet += struct.pack('>d', settings.chirp_duration) - packet += struct.pack('>I', settings.chirps_per_position) - packet += struct.pack('>d', settings.freq_min) - packet += struct.pack('>d', settings.freq_max) - packet += struct.pack('>d', settings.prf1) - packet += struct.pack('>d', settings.prf2) - packet += struct.pack('>d', settings.max_distance) - packet += b'END' + packet = b"SET" + packet += struct.pack(">d", settings.system_frequency) + packet += struct.pack(">d", settings.chirp_duration) + packet += struct.pack(">I", settings.chirps_per_position) + packet += struct.pack(">d", settings.freq_min) + packet += struct.pack(">d", settings.freq_max) + packet += struct.pack(">d", settings.prf1) + packet += struct.pack(">d", settings.prf2) + packet += struct.pack(">d", settings.max_distance) + packet += b"END" return packet - + def close(self): """Close USB device""" if self.device and self.is_open: @@ -236,63 +255,63 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error closing USB device: {e}") + class FTDIInterface: def __init__(self): self.ftdi = None self.is_open = False - + def list_devices(self): """List available FTDI devices using pyftdi""" if not FTDI_AVAILABLE: logging.warning("FTDI not available - please install pyftdi") return [] - + try: devices = [] # Get list of all FTDI devices for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append({ - 'description': f"FTDI Device {device}", - 'url': f"ftdi://{device}/1" - }) + devices.append( + {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} + ) return devices except Exception as e: logging.error(f"Error listing FTDI devices: {e}") # Return mock devices for testing - return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] - + return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] + def open_device(self, device_url): """Open FTDI device using pyftdi""" if not FTDI_AVAILABLE: logging.error("FTDI not available - cannot open device") return False - + try: self.ftdi = Ftdi() self.ftdi.open_from_url(device_url) - + # Configure for synchronous FIFO mode self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - + # Set latency timer self.ftdi.set_latency_timer(2) - + # Purge buffers self.ftdi.purge_buffers() - + self.is_open = True logging.info(f"FTDI device opened: {device_url}") return True - + except Exception as e: logging.error(f"Error opening FTDI device: {e}") return False - + def read_data(self, bytes_to_read): """Read data from FTDI""" if not self.is_open or self.ftdi is None: return None - + try: data = self.ftdi.read_data(bytes_to_read) if data: @@ -301,13 +320,14 @@ class FTDIInterface: except Exception as e: logging.error(f"Error reading from FTDI: {e}") return None - + def close(self): """Close FTDI device""" if self.ftdi and self.is_open: self.ftdi.close() self.is_open = False + class RadarProcessor: def __init__(self): self.range_doppler_map = np.zeros((1024, 32)) @@ -315,73 +335,75 @@ class RadarProcessor: self.track_id_counter = 0 self.tracks = {} self.frame_count = 0 - + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): """Dual-CPI fusion for better detection""" fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) return fused_profile - + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): """Multi-PRF velocity unwrapping""" lambda_wavelength = 3e8 / 10e9 v_max1 = prf1 * lambda_wavelength / 2 v_max2 = prf2 * lambda_wavelength / 2 - + unwrapped_velocities = [] for doppler in doppler_measurements: v1 = doppler * lambda_wavelength / 2 v2 = doppler * lambda_wavelength / 2 - + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) unwrapped_velocities.append(velocity) - + return unwrapped_velocities - + def _solve_chinese_remainder(self, v1, v2, max1, max2): for k in range(-5, 6): candidate = v1 + k * max1 if abs(candidate - v2) < max2 / 2: return candidate return v1 - + def clustering(self, detections, eps=100, min_samples=2): """DBSCAN clustering of detections""" if len(detections) == 0: return [] - + points = np.array([[d.range, d.velocity] for d in detections]) clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - + clusters = [] for label in set(clustering.labels_): if label != -1: cluster_points = points[clustering.labels_ == label] - clusters.append({ - 'center': np.mean(cluster_points, axis=0), - 'points': cluster_points, - 'size': len(cluster_points) - }) - + clusters.append( + { + "center": np.mean(cluster_points, axis=0), + "points": cluster_points, + "size": len(cluster_points), + } + ) + return clusters - + def association(self, detections, clusters): """Association of detections to tracks""" associated_detections = [] - + for detection in detections: best_track = None - min_distance = float('inf') - + min_distance = float("inf") + for track_id, track in self.tracks.items(): distance = np.sqrt( - (detection.range - track['state'][0])**2 + - (detection.velocity - track['state'][2])**2 + (detection.range - track["state"][0]) ** 2 + + (detection.velocity - track["state"][2]) ** 2 ) - + if distance < min_distance and distance < 500: min_distance = distance best_track = track_id - + if best_track is not None: detection.track_id = best_track associated_detections.append(detection) @@ -389,160 +411,167 @@ class RadarProcessor: detection.track_id = self.track_id_counter self.track_id_counter += 1 associated_detections.append(detection) - + return associated_detections - + def tracking(self, associated_detections): """Kalman filter tracking""" current_time = time.time() - + for detection in associated_detections: if detection.track_id not in self.tracks: kf = KalmanFilter(dim_x=4, dim_z=2) kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], - [0, 1, 0, 0], - [0, 0, 1, 1], - [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], - [0, 0, 1, 0]]) + kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) kf.P *= 1000 kf.R = np.diag([10, 1]) kf.Q = np.eye(4) * 0.1 - + self.tracks[detection.track_id] = { - 'filter': kf, - 'state': kf.x, - 'last_update': current_time, - 'hits': 1 + "filter": kf, + "state": kf.x, + "last_update": current_time, + "hits": 1, } else: track = self.tracks[detection.track_id] - track['filter'].predict() - track['filter'].update([detection.range, detection.velocity]) - track['state'] = track['filter'].x - track['last_update'] = current_time - track['hits'] += 1 - - stale_tracks = [tid for tid, track in self.tracks.items() - if current_time - track['last_update'] > 5.0] + track["filter"].predict() + track["filter"].update([detection.range, detection.velocity]) + track["state"] = track["filter"].x + track["last_update"] = current_time + track["hits"] += 1 + + stale_tracks = [ + tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 + ] for tid in stale_tracks: del self.tracks[tid] + class USBPacketParser: def __init__(self): self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_gps_data(self, data): """Parse GPS data from STM32 USB CDC with pitch angle""" if not data: return None - + try: # Try text format first: "GPS:lat,lon,alt,pitch\r\n" - text_data = data.decode('utf-8', errors='ignore').strip() - if text_data.startswith('GPS:'): - parts = text_data.split(':')[1].split(',') + text_data = data.decode("utf-8", errors="ignore").strip() + if text_data.startswith("GPS:"): + parts = text_data.split(":")[1].split(",") if len(parts) == 4: # Now expecting 4 values lat = float(parts[0]) lon = float(parts[1]) alt = float(parts[2]) pitch = float(parts[3]) # Pitch angle in degrees - return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) - + return GPSData( + latitude=lat, + longitude=lon, + altitude=alt, + pitch=pitch, + timestamp=time.time(), + ) + # Try binary format (30 bytes with pitch) - if len(data) >= 30 and data[0:4] == b'GPSB': + if len(data) >= 30 and data[0:4] == b"GPSB": return self._parse_binary_gps_with_pitch(data) - + except Exception as e: logging.error(f"Error parsing GPS data: {e}") - + return None - + def _parse_binary_gps_with_pitch(self, data): """Parse binary GPS format with pitch angle (30 bytes)""" try: # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] if len(data) < 30: return None - + # Verify CRC (simple checksum) crc_received = (data[28] << 8) | data[29] crc_calculated = sum(data[0:28]) & 0xFFFF - + if crc_received != crc_calculated: logging.warning("GPS CRC mismatch") return None - + # Parse latitude (double, big-endian) lat_bits = 0 for i in range(8): lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] - + latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] + # Parse longitude (double, big-endian) lon_bits = 0 for i in range(8): lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] - + longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] + # Parse altitude (float, big-endian) alt_bits = 0 for i in range(4): alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] - + altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] + # Parse pitch angle (float, big-endian) pitch_bits = 0 for i in range(4): pitch_bits = (pitch_bits << 8) | data[24 + i] - pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] - + pitch = struct.unpack(">f", struct.pack(">I", pitch_bits))[0] + return GPSData( - latitude=latitude, - longitude=longitude, - altitude=altitude, - pitch=pitch, - timestamp=time.time() + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time(), ) - + except Exception as e: logging.error(f"Error parsing binary GPS with pitch: {e}") return None + class RadarPacketParser: def __init__(self): - self.sync_pattern = b'\xA5\xC3' + self.sync_pattern = b"\xa5\xc3" self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_packet(self, data): if len(data) < 6: return None - + sync_index = data.find(self.sync_pattern) if sync_index == -1: return None - + packet = data[sync_index:] - + if len(packet) < 6: return None - - sync = packet[0:2] + + _sync = packet[0:2] packet_type = packet[2] length = packet[3] - + if len(packet) < (4 + length + 2): return None - - payload = packet[4:4+length] - crc_received = struct.unpack('I', payload[0:4])[0] + range_value = struct.unpack(">I", payload[0:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'range', - 'range': range_value, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "range", + "range": range_value, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing range packet: {e}") return None - + def parse_doppler_packet(self, payload): if len(payload) < 12: return None - + try: - doppler_real = struct.unpack('>h', payload[0:2])[0] - doppler_imag = struct.unpack('>h', payload[2:4])[0] + doppler_real = struct.unpack(">h", payload[0:2])[0] + doppler_imag = struct.unpack(">h", payload[2:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'doppler', - 'doppler_real': doppler_real, - 'doppler_imag': doppler_imag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "doppler", + "doppler_real": doppler_real, + "doppler_imag": doppler_imag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing Doppler packet: {e}") return None - + def parse_detection_packet(self, payload): if len(payload) < 8: return None - + try: detection_flag = (payload[0] & 0x01) != 0 elevation = payload[1] & 0x1F azimuth = payload[2] & 0x3F chirp_counter = payload[3] & 0x1F - + return { - 'type': 'detection', - 'detected': detection_flag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "detection", + "detected": detection_flag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing detection packet: {e}") return None + class RadarGUI: def __init__(self, root): self.root = root self.root.title("Advanced Radar System GUI - USB CDC with Pitch Correction") self.root.geometry("1400x900") - + # Initialize interfaces self.stm32_usb_interface = STM32USBInterface() self.ftdi_interface = FTDIInterface() @@ -637,162 +667,172 @@ class RadarGUI: self.usb_packet_parser = USBPacketParser() self.radar_packet_parser = RadarPacketParser() self.settings = RadarSettings() - + # Data queues self.radar_data_queue = queue.Queue() self.gps_data_queue = queue.Queue() - + # Thread control self.running = False self.radar_thread = None self.gps_thread = None - + # Counters self.received_packets = 0 - self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.current_gps = GPSData( + latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0 + ) self.corrected_elevations = [] # Store corrected elevation values - + self.create_gui() self.start_background_threads() - + def create_gui(self): """Create the main GUI with tabs""" self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill='both', expand=True, padx=10, pady=10) - + self.notebook.pack(fill="both", expand=True, padx=10, pady=10) + self.tab_main = ttk.Frame(self.notebook) self.tab_map = ttk.Frame(self.notebook) self.tab_diagnostics = ttk.Frame(self.notebook) self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text='Main View') - self.notebook.add(self.tab_map, text='Map View') - self.notebook.add(self.tab_diagnostics, text='Diagnostics') - self.notebook.add(self.tab_settings, text='Settings') - + + self.notebook.add(self.tab_main, text="Main View") + self.notebook.add(self.tab_map, text="Map View") + self.notebook.add(self.tab_diagnostics, text="Diagnostics") + self.notebook.add(self.tab_settings, text="Settings") + self.setup_main_tab() self.setup_map_tab() self.setup_settings_tab() - + def setup_main_tab(self): """Setup the main radar display tab""" # Control frame control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill='x', padx=10, pady=5) - + control_frame.pack(fill="x", padx=10, pady=5) + # USB Device selection ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) self.stm32_usb_combo.grid(row=0, column=1, padx=5) - + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", - command=self.refresh_devices).grid(row=0, column=4, padx=5) - - self.start_button = ttk.Button(control_frame, text="Start Radar", - command=self.start_radar) + + ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( + row=0, column=4, padx=5 + ) + + self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button(control_frame, text="Stop Radar", - command=self.stop_radar, state="disabled") + + self.stop_button = ttk.Button( + control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" + ) self.stop_button.grid(row=0, column=6, padx=5) - + # GPS and Pitch info self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) - + self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) + # Pitch display self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) - + # Status info self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) - + self.status_label.grid(row=1, column=6, sticky="e", padx=5, pady=2) + # Main display area display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill='both', expand=True, padx=10, pady=5) - + display_frame.pack(fill="both", expand=True, padx=10, pady=5) + # Range-Doppler Map fig = Figure(figsize=(10, 6)) self.range_doppler_ax = fig.add_subplot(111) self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect='auto', cmap='hot', - extent=[0, 32, 0, 1024]) - self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)') - self.range_doppler_ax.set_xlabel('Doppler Bin') - self.range_doppler_ax.set_ylabel('Range Bin') - + np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] + ) + self.range_doppler_ax.set_title("Range-Doppler Map (Pitch Corrected)") + self.range_doppler_ax.set_xlabel("Doppler Bin") + self.range_doppler_ax.set_ylabel("Range Bin") + self.canvas = FigureCanvasTkAgg(fig, display_frame) self.canvas.draw() - self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) - + self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) + # Targets list with corrected elevation targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") - targets_frame.pack(side='right', fill='y', padx=5) - - self.targets_tree = ttk.Treeview(targets_frame, - columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), - show='headings', height=20) - self.targets_tree.heading('ID', text='Track ID') - self.targets_tree.heading('Range', text='Range (m)') - self.targets_tree.heading('Velocity', text='Velocity (m/s)') - self.targets_tree.heading('Azimuth', text='Azimuth') - self.targets_tree.heading('Elevation', text='Raw Elev') - self.targets_tree.heading('Corrected Elev', text='Corr Elev') - self.targets_tree.heading('SNR', text='SNR (dB)') - - self.targets_tree.column('ID', width=70) - self.targets_tree.column('Range', width=90) - self.targets_tree.column('Velocity', width=90) - self.targets_tree.column('Azimuth', width=70) - self.targets_tree.column('Elevation', width=70) - self.targets_tree.column('Corrected Elev', width=70) - self.targets_tree.column('SNR', width=70) - - self.targets_tree.pack(fill='both', expand=True, padx=5, pady=5) - + targets_frame.pack(side="right", fill="y", padx=5) + + self.targets_tree = ttk.Treeview( + targets_frame, + columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "Corrected Elev", "SNR"), + show="headings", + height=20, + ) + self.targets_tree.heading("ID", text="Track ID") + self.targets_tree.heading("Range", text="Range (m)") + self.targets_tree.heading("Velocity", text="Velocity (m/s)") + self.targets_tree.heading("Azimuth", text="Azimuth") + self.targets_tree.heading("Elevation", text="Raw Elev") + self.targets_tree.heading("Corrected Elev", text="Corr Elev") + self.targets_tree.heading("SNR", text="SNR (dB)") + + self.targets_tree.column("ID", width=70) + self.targets_tree.column("Range", width=90) + self.targets_tree.column("Velocity", width=90) + self.targets_tree.column("Azimuth", width=70) + self.targets_tree.column("Elevation", width=70) + self.targets_tree.column("Corrected Elev", width=70) + self.targets_tree.column("SNR", width=70) + + self.targets_tree.pack(fill="both", expand=True, padx=5, pady=5) + def setup_map_tab(self): """Setup the map display tab""" self.map_frame = ttk.Frame(self.tab_map) - self.map_frame.pack(fill='both', expand=True, padx=10, pady=10) - + self.map_frame.pack(fill="both", expand=True, padx=10, pady=10) + # Map placeholder - self.map_label = ttk.Label(self.map_frame, text="Map will be displayed here after GPS data is received", - font=('Arial', 12)) + self.map_label = ttk.Label( + self.map_frame, + text="Map will be displayed here after GPS data is received", + font=("Arial", 12), + ) self.map_label.pack(expand=True) - + def setup_settings_tab(self): """Setup the settings tab""" settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill='both', expand=True, padx=10, pady=10) - + settings_frame.pack(fill="both", expand=True, padx=10, pady=10) + entries = [ - ('System Frequency (Hz):', 'system_frequency', 10e9), - ('Chirp Duration (s):', 'chirp_duration', 30e-6), - ('Chirps per Position:', 'chirps_per_position', 32), - ('Frequency Min (Hz):', 'freq_min', 10e6), - ('Frequency Max (Hz):', 'freq_max', 30e6), - ('PRF1 (Hz):', 'prf1', 1000), - ('PRF2 (Hz):', 'prf2', 2000), - ('Max Distance (m):', 'max_distance', 50000) + ("System Frequency (Hz):", "system_frequency", 10e9), + ("Chirp Duration (s):", "chirp_duration", 30e-6), + ("Chirps per Position:", "chirps_per_position", 32), + ("Frequency Min (Hz):", "freq_min", 10e6), + ("Frequency Max (Hz):", "freq_max", 30e6), + ("PRF1 (Hz):", "prf1", 1000), + ("PRF2 (Hz):", "prf2", 2000), + ("Max Distance (m):", "max_distance", 50000), ] - + self.settings_vars = {} - + for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) var = tk.StringVar(value=str(default)) entry = ttk.Entry(settings_frame, textvariable=var, width=20) entry.grid(row=i, column=1, padx=5, pady=5) self.settings_vars[attr] = var - - ttk.Button(settings_frame, text="Apply Settings", - command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) - + + ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( + row=len(entries), column=0, columnspan=2, pady=10 + ) + def apply_pitch_correction(self, raw_elevation, pitch_angle): """ Apply pitch correction to elevation angle @@ -803,38 +843,38 @@ class RadarGUI: # Convert to radians for trigonometric functions raw_elev_rad = math.radians(raw_elevation) pitch_rad = math.radians(pitch_angle) - + # Apply pitch correction: corrected_elev = raw_elev - pitch # This assumes the pitch angle is positive when antenna is tilted up corrected_elev_rad = raw_elev_rad - pitch_rad - + # Convert back to degrees and ensure it's within valid range corrected_elev_deg = math.degrees(corrected_elev_rad) - + # Normalize to 0-180 degree range corrected_elev_deg = corrected_elev_deg % 180 if corrected_elev_deg < 0: corrected_elev_deg += 180 - + return corrected_elev_deg - + def refresh_devices(self): """Refresh available USB devices""" # STM32 USB devices stm32_devices = self.stm32_usb_interface.list_devices() - stm32_names = [dev['description'] for dev in stm32_devices] - self.stm32_usb_combo['values'] = stm32_names - + stm32_names = [dev["description"] for dev in stm32_devices] + self.stm32_usb_combo["values"] = stm32_names + # FTDI devices ftdi_devices = self.ftdi_interface.list_devices() - ftdi_names = [dev['description'] for dev in ftdi_devices] - self.ftdi_combo['values'] = ftdi_names - + ftdi_names = [dev["description"] for dev in ftdi_devices] + self.ftdi_combo["values"] = ftdi_names + if stm32_names: self.stm32_usb_combo.current(0) if ftdi_names: self.ftdi_combo.current(0) - + def start_radar(self): """Step 11: Start button pressed - Begin radar operation""" try: @@ -843,119 +883,121 @@ class RadarGUI: if stm32_index == -1: messagebox.showerror("Error", "Please select an STM32 USB device") return - + stm32_devices = self.stm32_usb_interface.list_devices() if stm32_index >= len(stm32_devices): messagebox.showerror("Error", "Invalid STM32 device selection") return - + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): messagebox.showerror("Error", "Failed to open STM32 USB device") return - + # Open FTDI device if FTDI_AVAILABLE: ftdi_index = self.ftdi_combo.current() if ftdi_index != -1: ftdi_devices = self.ftdi_interface.list_devices() if ftdi_index < len(ftdi_devices): - device_url = ftdi_devices[ftdi_index]['url'] + device_url = ftdi_devices[ftdi_index]["url"] if not self.ftdi_interface.open_device(device_url): - logging.warning("Failed to open FTDI device, continuing without radar data") + logging.warning( + "Failed to open FTDI device, continuing without radar data" + ) else: logging.warning("No FTDI device selected, continuing without radar data") else: logging.warning("FTDI not available, continuing without radar data") - + # Step 12: Send start flag to STM32 via USB if not self.stm32_usb_interface.send_start_flag(): messagebox.showerror("Error", "Failed to send start flag to STM32") return - + # Step 13: Send settings to STM32 via USB self.apply_settings() - + # Start radar operation self.running = True self.start_button.config(state="disabled") self.stop_button.config(state="normal") self.status_label.config(text="Status: Radar running - Waiting for GPS data...") - + logging.info("Radar system started successfully via USB CDC") - + except Exception as e: messagebox.showerror("Error", f"Failed to start radar: {e}") logging.error(f"Start radar error: {e}") - + def stop_radar(self): """Stop radar operation""" self.running = False self.start_button.config(state="normal") self.stop_button.config(state="disabled") self.status_label.config(text="Status: Radar stopped") - + self.stm32_usb_interface.close() self.ftdi_interface.close() - + logging.info("Radar system stopped") - + def apply_settings(self): """Step 13: Apply and send radar settings via USB""" try: - self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) - self.settings.chirp_duration = float(self.settings_vars['chirp_duration'].get()) - self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) - self.settings.freq_min = float(self.settings_vars['freq_min'].get()) - self.settings.freq_max = float(self.settings_vars['freq_max'].get()) - self.settings.prf1 = float(self.settings_vars['prf1'].get()) - self.settings.prf2 = float(self.settings_vars['prf2'].get()) - self.settings.max_distance = float(self.settings_vars['max_distance'].get()) - + self.settings.system_frequency = float(self.settings_vars["system_frequency"].get()) + self.settings.chirp_duration = float(self.settings_vars["chirp_duration"].get()) + self.settings.chirps_per_position = int(self.settings_vars["chirps_per_position"].get()) + self.settings.freq_min = float(self.settings_vars["freq_min"].get()) + self.settings.freq_max = float(self.settings_vars["freq_max"].get()) + self.settings.prf1 = float(self.settings_vars["prf1"].get()) + self.settings.prf2 = float(self.settings_vars["prf2"].get()) + self.settings.max_distance = float(self.settings_vars["max_distance"].get()) + if self.stm32_usb_interface.is_open: self.stm32_usb_interface.send_settings(self.settings) - + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") logging.info("Radar settings applied via USB") - + except ValueError as e: messagebox.showerror("Error", f"Invalid setting value: {e}") - + def start_background_threads(self): """Start background data processing threads""" self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) self.radar_thread.start() - + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) self.gps_thread.start() - + self.root.after(100, self.update_gui) - + def process_radar_data(self): """Step 39: Process incoming radar data from FTDI""" - buffer = b'' + buffer = b"" while True: if self.running and self.ftdi_interface.is_open: try: data = self.ftdi_interface.read_data(4096) if data: buffer += data - + while len(buffer) >= 6: packet = self.radar_packet_parser.parse_packet(buffer) if packet: self.process_radar_packet(packet) - packet_length = 4 + len(packet.get('payload', b'')) + 2 + packet_length = 4 + len(packet.get("payload", b"")) + 2 buffer = buffer[packet_length:] self.received_packets += 1 else: break - + except Exception as e: logging.error(f"Error processing radar data: {e}") time.sleep(0.1) else: time.sleep(0.1) - + def process_gps_data(self): """Step 16/17: Process GPS data from STM32 via USB CDC""" while True: @@ -967,180 +1009,217 @@ class RadarGUI: gps_data = self.usb_packet_parser.parse_gps_data(data) if gps_data: self.gps_data_queue.put(gps_data) - logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + logging.info( + "GPS Data received via USB: " + f"Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m, " + f"Pitch {gps_data.pitch:.1f}°" + ) except Exception as e: logging.error(f"Error processing GPS data via USB: {e}") time.sleep(0.1) - + def process_radar_packet(self, packet): """Step 40: Process radar data and apply pitch correction""" try: - if packet['type'] == 'range': - range_meters = packet['range'] * 0.1 - + if packet["type"] == "range": + range_meters = packet["range"] * 0.1 + # Apply pitch correction to elevation - raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) - + raw_elevation = packet["elevation"] + corrected_elevation = self.apply_pitch_correction( + raw_elevation, self.current_gps.pitch + ) + # Store correction for display - self.corrected_elevations.append({ - 'raw': raw_elevation, - 'corrected': corrected_elevation, - 'pitch': self.current_gps.pitch, - 'timestamp': packet['timestamp'] - }) - + self.corrected_elevations.append( + { + "raw": raw_elevation, + "corrected": corrected_elevation, + "pitch": self.current_gps.pitch, + "timestamp": packet["timestamp"], + } + ) + # Keep only recent corrections if len(self.corrected_elevations) > 100: self.corrected_elevations = self.corrected_elevations[-100:] - + target = RadarTarget( - id=packet['chirp'], + id=packet["chirp"], range=range_meters, velocity=0, - azimuth=packet['azimuth'], + azimuth=packet["azimuth"], elevation=corrected_elevation, # Use corrected elevation snr=20.0, - timestamp=packet['timestamp'] + timestamp=packet["timestamp"], ) - + self.update_range_doppler_map(target) - - elif packet['type'] == 'doppler': + + elif packet["type"] == "doppler": lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + velocity = (packet["doppler_real"] / 32767.0) * ( + self.settings.prf1 * lambda_wavelength / 2 + ) self.update_target_velocity(packet, velocity) - - elif packet['type'] == 'detection': - if packet['detected']: + + elif packet["type"] == "detection": + if packet["detected"]: # Apply pitch correction to detection elevation - raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) - - logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") - + raw_elevation = packet["elevation"] + corrected_elevation = self.apply_pitch_correction( + raw_elevation, self.current_gps.pitch + ) + + logging.info( + f"CFAR Detection: Raw Elev {raw_elevation}°, " + f"Corrected Elev {corrected_elevation:.1f}°, " + f"Pitch {self.current_gps.pitch:.1f}°" + ) + except Exception as e: logging.error(f"Error processing radar packet: {e}") - + def update_range_doppler_map(self, target): """Update range-Doppler map with new target""" range_bin = min(int(target.range / 50), 1023) doppler_bin = min(abs(int(target.velocity)), 31) - + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 - + self.radar_processor.detected_targets.append(target) - + if len(self.radar_processor.detected_targets) > 100: self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] - + def update_target_velocity(self, packet, velocity): """Update target velocity information""" for target in self.radar_processor.detected_targets: - if (target.azimuth == packet['azimuth'] and - target.elevation == packet['elevation'] and - target.id == packet['chirp']): + if ( + target.azimuth == packet["azimuth"] + and target.elevation == packet["elevation"] + and target.id == packet["chirp"] + ): target.velocity = velocity break - + def update_gps_display(self): """Step 18: Update GPS and pitch display""" try: while not self.gps_data_queue.empty(): gps_data = self.gps_data_queue.get_nowait() self.current_gps = gps_data - + # Update GPS label - self.gps_label.config( - text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") - + self.gps_label.config( + text=( + f"GPS: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m" + ) + ) + # Update pitch label with color coding pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" self.pitch_label.config(text=pitch_text) - + # Color code based on pitch magnitude if abs(gps_data.pitch) > 10: - self.pitch_label.config(foreground='red') # High pitch warning + self.pitch_label.config(foreground="red") # High pitch warning elif abs(gps_data.pitch) > 5: - self.pitch_label.config(foreground='orange') # Medium pitch + self.pitch_label.config(foreground="orange") # Medium pitch else: - self.pitch_label.config(foreground='green') # Normal pitch - + self.pitch_label.config(foreground="green") # Normal pitch + # Update map self.update_map_display(gps_data) - + except queue.Empty: pass - + def update_targets_list(self): """Update the targets list display with corrected elevations""" for item in self.targets_tree.get_children(): self.targets_tree.delete(item) - + for target in self.radar_processor.detected_targets[-20:]: # Find the corresponding raw elevation if available raw_elevation = "N/A" for correction in self.corrected_elevations[-20:]: - if abs(correction['corrected'] - target.elevation) < 0.1: # Fuzzy match + if abs(correction["corrected"] - target.elevation) < 0.1: # Fuzzy match raw_elevation = f"{correction['raw']}" break - - self.targets_tree.insert('', 'end', values=( - target.track_id, - f"{target.range:.1f}", - f"{target.velocity:.1f}", - target.azimuth, - raw_elevation, # Show raw elevation - f"{target.elevation:.1f}", # Show corrected elevation - f"{target.snr:.1f}" - )) - + + self.targets_tree.insert( + "", + "end", + values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + raw_elevation, # Show raw elevation + f"{target.elevation:.1f}", # Show corrected elevation + f"{target.snr:.1f}", + ), + ) + def update_gui(self): """Step 40: Update all GUI displays""" try: # Update status with pitch information if self.running: - self.status_label.config( - text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") - + self.status_label.config( + text=( + f"Status: Running - Packets: {self.received_packets} - " + f"Pitch: {self.current_gps.pitch:+.1f}°" + ) + ) + # Update range-Doppler map - if hasattr(self, 'range_doppler_plot'): + if hasattr(self, "range_doppler_plot"): display_data = np.log10(self.radar_processor.range_doppler_map + 1) self.range_doppler_plot.set_array(display_data) self.canvas.draw_idle() - + # Update targets list self.update_targets_list() - + # Update GPS and pitch display self.update_gps_display() - + except Exception as e: logging.error(f"Error updating GUI: {e}") - + self.root.after(100, self.update_gui) - + def update_map_display(self, gps_data): """Step 18: Update map display with current GPS position""" try: - self.map_label.config(text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" - f"Altitude: {gps_data.altitude:.1f}m\n" - f"Pitch: {gps_data.pitch:+.1f}°\n" - f"Coverage: 50km radius\n" - f"Map centered on GPS coordinates") - + self.map_label.config( + text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" + f"Altitude: {gps_data.altitude:.1f}m\n" + f"Pitch: {gps_data.pitch:+.1f}°\n" + f"Coverage: 50km radius\n" + f"Map centered on GPS coordinates" + ) + except Exception as e: logging.error(f"Error updating map display: {e}") + def main(): """Main application entry point""" try: root = tk.Tk() - app = RadarGUI(root) + _app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + if __name__ == "__main__": main() diff --git a/9_Firmware/9_3_GUI/GUI_V4.py b/9_Firmware/9_3_GUI/GUI_V4.py index 430323c..3df41c3 100644 --- a/9_Firmware/9_3_GUI/GUI_V4.py +++ b/9_Firmware/9_3_GUI/GUI_V4.py @@ -5,14 +5,10 @@ import queue import time import struct import numpy as np -import matplotlib.pyplot as plt from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from matplotlib.figure import Figure -import matplotlib.patches as patches import logging from dataclasses import dataclass -from typing import Dict, List, Tuple, Optional -from scipy import signal from sklearn.cluster import DBSCAN from filterpy.kalman import KalmanFilter import crcmod @@ -24,6 +20,7 @@ import os try: import usb.core import usb.util + USB_AVAILABLE = True except ImportError: USB_AVAILABLE = False @@ -32,13 +29,15 @@ except ImportError: try: from pyftdi.ftdi import Ftdi from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True except ImportError: FTDI_AVAILABLE = False logging.warning("pyftdi not available. FTDI functionality will be disabled.") # Configure logging -logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') +logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") + @dataclass class RadarTarget: @@ -53,6 +52,7 @@ class RadarTarget: timestamp: float = 0.0 track_id: int = -1 + @dataclass class RadarSettings: system_frequency: float = 10e9 @@ -66,6 +66,7 @@ class RadarSettings: max_distance: float = 50000 map_size: float = 50000 # Map size in meters + @dataclass class GPSData: latitude: float @@ -74,6 +75,7 @@ class GPSData: pitch: float # Pitch angle in degrees timestamp: float + class MapGenerator: def __init__(self): self.map_html_template = """ @@ -185,7 +187,8 @@ class MapGenerator: var targetMarker = new google.maps.Marker({{ position: {{lat: target.lat, lng: target.lng}}, map: map, - title: `Target: ${'{'}$'{'}'{target.range:.1f}m, ${'{'}$'{'}'{target.velocity:.1f}m/s`, + title: `Target: ${'{'}$'{'}'{target.range:.1f}m, +${'{'}$'{'}'{target.velocity:.1f}m/s`, icon: {{ path: google.maps.SymbolPath.CIRCLE, scale: 6, @@ -231,7 +234,7 @@ class MapGenerator: """ - + def generate_map(self, gps_data, targets, coverage_radius, api_key="YOUR_GOOGLE_MAPS_API_KEY"): """Generate HTML map with radar and targets""" # Convert targets to map coordinates @@ -239,26 +242,27 @@ class MapGenerator: for target in targets: # Convert polar coordinates (range, azimuth) to geographic coordinates target_lat, target_lon = self.polar_to_geographic( - gps_data.latitude, gps_data.longitude, - target.range, target.azimuth + gps_data.latitude, gps_data.longitude, target.range, target.azimuth ) - map_targets.append({ - 'id': target.track_id, - 'lat': target_lat, - 'lng': target_lon, - 'range': target.range, - 'velocity': target.velocity, - 'azimuth': target.azimuth, - 'elevation': target.elevation, - 'snr': target.snr - }) - + map_targets.append( + { + "id": target.track_id, + "lat": target_lat, + "lng": target_lon, + "range": target.range, + "velocity": target.velocity, + "azimuth": target.azimuth, + "elevation": target.elevation, + "snr": target.snr, + } + ) + # Generate targets script targets_script = "" if map_targets: targets_json = str(map_targets).replace("'", '"') targets_script = f"updateTargets({targets_json});" - + # Fill template map_html = self.map_html_template.format( lat=gps_data.latitude, @@ -267,11 +271,11 @@ class MapGenerator: pitch=gps_data.pitch, coverage_radius=coverage_radius, targets_script=targets_script, - api_key=api_key + api_key=api_key, ) - + return map_html - + def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): """ Convert polar coordinates (range, azimuth) to geographic coordinates @@ -279,32 +283,35 @@ class MapGenerator: """ # Earth radius in meters earth_radius = 6371000 - + # Convert azimuth to radians (0° = North, 90° = East) azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention - + # Convert range to angular distance angular_distance = range_m / earth_radius - + # Convert to geographic coordinates target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) - target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (180 / math.pi) / math.cos(math.radians(radar_lat)) - + target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * ( + 180 / math.pi + ) / math.cos(math.radians(radar_lat)) + return target_lat, target_lon + class STM32USBInterface: def __init__(self): self.device = None self.is_open = False self.ep_in = None self.ep_out = None - + def list_devices(self): """List available STM32 USB CDC devices""" if not USB_AVAILABLE: logging.warning("USB not available - please install pyusb") return [] - + try: devices = [] # STM32 USB CDC devices typically use these vendor/product IDs @@ -316,82 +323,98 @@ class STM32USBInterface: (0x0483, 0x374E), # STM32 CDC (0x0483, 0x3752), # STM32 CDC ] - + for vid, pid in stm32_vid_pids: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: - product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" - devices.append({ - 'description': f"{product} ({serial})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - except: - devices.append({ - 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - + product = ( + usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + ) + serial = ( + usb.util.get_string(dev, dev.iSerialNumber) + if dev.iSerialNumber + else "Unknown" + ) + devices.append( + { + "description": f"{product} ({serial})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + except Exception: + devices.append( + { + "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + return devices except Exception as e: logging.error(f"Error listing USB devices: {e}") # Return mock devices for testing - return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] - + return [ + {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} + ] + def open_device(self, device_info): """Open STM32 USB CDC device""" if not USB_AVAILABLE: logging.error("USB not available - cannot open device") return False - + try: - self.device = device_info['device'] - + self.device = device_info["device"] + # Detach kernel driver if active if self.device.is_kernel_driver_active(0): self.device.detach_kernel_driver(0) - + # Set configuration self.device.set_configuration() - + # Get CDC endpoints cfg = self.device.get_active_configuration() - intf = cfg[(0,0)] - + intf = cfg[(0, 0)] + # Find bulk endpoints (CDC data interface) self.ep_out = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ), ) - + self.ep_in = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ), ) - + if self.ep_out is None or self.ep_in is None: logging.error("Could not find CDC endpoints") return False - + self.is_open = True logging.info(f"STM32 USB device opened: {device_info['description']}") return True - + except Exception as e: logging.error(f"Error opening USB device: {e}") return False - + def send_start_flag(self): """Step 12: Send start flag to STM32 via USB""" start_packet = bytes([23, 46, 158, 237]) logging.info("Sending start flag to STM32 via USB...") return self._send_data(start_packet) - + def send_settings(self, settings): """Step 13: Send radar settings to STM32 via USB""" try: @@ -401,12 +424,12 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error sending settings via USB: {e}") return False - + def read_data(self, size=64, timeout=1000): """Read data from STM32 via USB""" if not self.is_open or self.ep_in is None: return None - + try: data = self.ep_in.read(size, timeout=timeout) return bytes(data) @@ -418,43 +441,43 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error reading from USB: {e}") return None - + def _send_data(self, data): """Send data to STM32 via USB""" if not self.is_open or self.ep_out is None: return False - + try: # USB CDC typically uses 64-byte packets packet_size = 64 for i in range(0, len(data), packet_size): - chunk = data[i:i + packet_size] + chunk = data[i : i + packet_size] # Pad to packet size if needed if len(chunk) < packet_size: - chunk += b'\x00' * (packet_size - len(chunk)) + chunk += b"\x00" * (packet_size - len(chunk)) self.ep_out.write(chunk) - + return True except Exception as e: logging.error(f"Error sending data via USB: {e}") return False - + def _create_settings_packet(self, settings): """Create binary settings packet for USB transmission""" - packet = b'SET' - packet += struct.pack('>d', settings.system_frequency) - packet += struct.pack('>d', settings.chirp_duration_1) - packet += struct.pack('>d', settings.chirp_duration_2) - packet += struct.pack('>I', settings.chirps_per_position) - packet += struct.pack('>d', settings.freq_min) - packet += struct.pack('>d', settings.freq_max) - packet += struct.pack('>d', settings.prf1) - packet += struct.pack('>d', settings.prf2) - packet += struct.pack('>d', settings.max_distance) - packet += struct.pack('>d', settings.map_size) - packet += b'END' + packet = b"SET" + packet += struct.pack(">d", settings.system_frequency) + packet += struct.pack(">d", settings.chirp_duration_1) + packet += struct.pack(">d", settings.chirp_duration_2) + packet += struct.pack(">I", settings.chirps_per_position) + packet += struct.pack(">d", settings.freq_min) + packet += struct.pack(">d", settings.freq_max) + packet += struct.pack(">d", settings.prf1) + packet += struct.pack(">d", settings.prf2) + packet += struct.pack(">d", settings.max_distance) + packet += struct.pack(">d", settings.map_size) + packet += b"END" return packet - + def close(self): """Close USB device""" if self.device and self.is_open: @@ -464,63 +487,63 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error closing USB device: {e}") + class FTDIInterface: def __init__(self): self.ftdi = None self.is_open = False - + def list_devices(self): """List available FTDI devices using pyftdi""" if not FTDI_AVAILABLE: logging.warning("FTDI not available - please install pyftdi") return [] - + try: devices = [] # Get list of all FTDI devices for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append({ - 'description': f"FTDI Device {device}", - 'url': f"ftdi://{device}/1" - }) + devices.append( + {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} + ) return devices except Exception as e: logging.error(f"Error listing FTDI devices: {e}") # Return mock devices for testing - return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] - + return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] + def open_device(self, device_url): """Open FTDI device using pyftdi""" if not FTDI_AVAILABLE: logging.error("FTDI not available - cannot open device") return False - + try: self.ftdi = Ftdi() self.ftdi.open_from_url(device_url) - + # Configure for synchronous FIFO mode self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - + # Set latency timer self.ftdi.set_latency_timer(2) - + # Purge buffers self.ftdi.purge_buffers() - + self.is_open = True logging.info(f"FTDI device opened: {device_url}") return True - + except Exception as e: logging.error(f"Error opening FTDI device: {e}") return False - + def read_data(self, bytes_to_read): """Read data from FTDI""" if not self.is_open or self.ftdi is None: return None - + try: data = self.ftdi.read_data(bytes_to_read) if data: @@ -529,13 +552,14 @@ class FTDIInterface: except Exception as e: logging.error(f"Error reading from FTDI: {e}") return None - + def close(self): """Close FTDI device""" if self.ftdi and self.is_open: self.ftdi.close() self.is_open = False + class RadarProcessor: def __init__(self): self.range_doppler_map = np.zeros((1024, 32)) @@ -543,73 +567,75 @@ class RadarProcessor: self.track_id_counter = 0 self.tracks = {} self.frame_count = 0 - + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): """Dual-CPI fusion for better detection""" fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) return fused_profile - + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): """Multi-PRF velocity unwrapping""" lambda_wavelength = 3e8 / 10e9 v_max1 = prf1 * lambda_wavelength / 2 v_max2 = prf2 * lambda_wavelength / 2 - + unwrapped_velocities = [] for doppler in doppler_measurements: v1 = doppler * lambda_wavelength / 2 v2 = doppler * lambda_wavelength / 2 - + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) unwrapped_velocities.append(velocity) - + return unwrapped_velocities - + def _solve_chinese_remainder(self, v1, v2, max1, max2): for k in range(-5, 6): candidate = v1 + k * max1 if abs(candidate - v2) < max2 / 2: return candidate return v1 - + def clustering(self, detections, eps=100, min_samples=2): """DBSCAN clustering of detections""" if len(detections) == 0: return [] - + points = np.array([[d.range, d.velocity] for d in detections]) clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - + clusters = [] for label in set(clustering.labels_): if label != -1: cluster_points = points[clustering.labels_ == label] - clusters.append({ - 'center': np.mean(cluster_points, axis=0), - 'points': cluster_points, - 'size': len(cluster_points) - }) - + clusters.append( + { + "center": np.mean(cluster_points, axis=0), + "points": cluster_points, + "size": len(cluster_points), + } + ) + return clusters - + def association(self, detections, clusters): """Association of detections to tracks""" associated_detections = [] - + for detection in detections: best_track = None - min_distance = float('inf') - + min_distance = float("inf") + for track_id, track in self.tracks.items(): distance = np.sqrt( - (detection.range - track['state'][0])**2 + - (detection.velocity - track['state'][2])**2 + (detection.range - track["state"][0]) ** 2 + + (detection.velocity - track["state"][2]) ** 2 ) - + if distance < min_distance and distance < 500: min_distance = distance best_track = track_id - + if best_track is not None: detection.track_id = best_track associated_detections.append(detection) @@ -617,160 +643,167 @@ class RadarProcessor: detection.track_id = self.track_id_counter self.track_id_counter += 1 associated_detections.append(detection) - + return associated_detections - + def tracking(self, associated_detections): """Kalman filter tracking""" current_time = time.time() - + for detection in associated_detections: if detection.track_id not in self.tracks: kf = KalmanFilter(dim_x=4, dim_z=2) kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], - [0, 1, 0, 0], - [0, 0, 1, 1], - [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], - [0, 0, 1, 0]]) + kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) kf.P *= 1000 kf.R = np.diag([10, 1]) kf.Q = np.eye(4) * 0.1 - + self.tracks[detection.track_id] = { - 'filter': kf, - 'state': kf.x, - 'last_update': current_time, - 'hits': 1 + "filter": kf, + "state": kf.x, + "last_update": current_time, + "hits": 1, } else: track = self.tracks[detection.track_id] - track['filter'].predict() - track['filter'].update([detection.range, detection.velocity]) - track['state'] = track['filter'].x - track['last_update'] = current_time - track['hits'] += 1 - - stale_tracks = [tid for tid, track in self.tracks.items() - if current_time - track['last_update'] > 5.0] + track["filter"].predict() + track["filter"].update([detection.range, detection.velocity]) + track["state"] = track["filter"].x + track["last_update"] = current_time + track["hits"] += 1 + + stale_tracks = [ + tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 + ] for tid in stale_tracks: del self.tracks[tid] + class USBPacketParser: def __init__(self): self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_gps_data(self, data): """Parse GPS data from STM32 USB CDC with pitch angle""" if not data: return None - + try: # Try text format first: "GPS:lat,lon,alt,pitch\r\n" - text_data = data.decode('utf-8', errors='ignore').strip() - if text_data.startswith('GPS:'): - parts = text_data.split(':')[1].split(',') + text_data = data.decode("utf-8", errors="ignore").strip() + if text_data.startswith("GPS:"): + parts = text_data.split(":")[1].split(",") if len(parts) == 4: # Now expecting 4 values lat = float(parts[0]) lon = float(parts[1]) alt = float(parts[2]) pitch = float(parts[3]) # Pitch angle in degrees - return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) - + return GPSData( + latitude=lat, + longitude=lon, + altitude=alt, + pitch=pitch, + timestamp=time.time(), + ) + # Try binary format (30 bytes with pitch) - if len(data) >= 30 and data[0:4] == b'GPSB': + if len(data) >= 30 and data[0:4] == b"GPSB": return self._parse_binary_gps_with_pitch(data) - + except Exception as e: logging.error(f"Error parsing GPS data: {e}") - + return None - + def _parse_binary_gps_with_pitch(self, data): """Parse binary GPS format with pitch angle (30 bytes)""" try: # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] if len(data) < 30: return None - + # Verify CRC (simple checksum) crc_received = (data[28] << 8) | data[29] crc_calculated = sum(data[0:28]) & 0xFFFF - + if crc_received != crc_calculated: logging.warning("GPS CRC mismatch") return None - + # Parse latitude (double, big-endian) lat_bits = 0 for i in range(8): lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] - + latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] + # Parse longitude (double, big-endian) lon_bits = 0 for i in range(8): lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] - + longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] + # Parse altitude (float, big-endian) alt_bits = 0 for i in range(4): alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] - + altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] + # Parse pitch angle (float, big-endian) pitch_bits = 0 for i in range(4): pitch_bits = (pitch_bits << 8) | data[24 + i] - pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] - + pitch = struct.unpack(">f", struct.pack(">I", pitch_bits))[0] + return GPSData( - latitude=latitude, - longitude=longitude, - altitude=altitude, - pitch=pitch, - timestamp=time.time() + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time(), ) - + except Exception as e: logging.error(f"Error parsing binary GPS with pitch: {e}") return None + class RadarPacketParser: def __init__(self): - self.sync_pattern = b'\xA5\xC3' + self.sync_pattern = b"\xa5\xc3" self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_packet(self, data): if len(data) < 6: return None - + sync_index = data.find(self.sync_pattern) if sync_index == -1: return None - + packet = data[sync_index:] - + if len(packet) < 6: return None - - sync = packet[0:2] + + _sync = packet[0:2] packet_type = packet[2] length = packet[3] - + if len(packet) < (4 + length + 2): return None - - payload = packet[4:4+length] - crc_received = struct.unpack('I', payload[0:4])[0] + range_value = struct.unpack(">I", payload[0:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'range', - 'range': range_value, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "range", + "range": range_value, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing range packet: {e}") return None - + def parse_doppler_packet(self, payload): if len(payload) < 12: return None - + try: - doppler_real = struct.unpack('>h', payload[0:2])[0] - doppler_imag = struct.unpack('>h', payload[2:4])[0] + doppler_real = struct.unpack(">h", payload[0:2])[0] + doppler_imag = struct.unpack(">h", payload[2:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'doppler', - 'doppler_real': doppler_real, - 'doppler_imag': doppler_imag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "doppler", + "doppler_real": doppler_real, + "doppler_imag": doppler_imag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing Doppler packet: {e}") return None - + def parse_detection_packet(self, payload): if len(payload) < 8: return None - + try: detection_flag = (payload[0] & 0x01) != 0 elevation = payload[1] & 0x1F azimuth = payload[2] & 0x3F chirp_counter = payload[3] & 0x1F - + return { - 'type': 'detection', - 'detected': detection_flag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "detection", + "detected": detection_flag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing detection packet: {e}") return None + class RadarGUI: def __init__(self, root): self.root = root self.root.title("Advanced Radar System GUI - USB CDC with Google Maps") self.root.geometry("1400x900") - + # Initialize interfaces self.stm32_usb_interface = STM32USBInterface() self.ftdi_interface = FTDIInterface() @@ -866,182 +900,193 @@ class RadarGUI: self.radar_packet_parser = RadarPacketParser() self.map_generator = MapGenerator() self.settings = RadarSettings() - + # Data queues self.radar_data_queue = queue.Queue() self.gps_data_queue = queue.Queue() - + # Thread control self.running = False self.radar_thread = None self.gps_thread = None - + # Counters self.received_packets = 0 - self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.current_gps = GPSData( + latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0 + ) self.corrected_elevations = [] # Store corrected elevation values self.map_file_path = None self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" # Replace with your API key - + self.create_gui() self.start_background_threads() - + def create_gui(self): """Create the main GUI with tabs""" self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill='both', expand=True, padx=10, pady=10) - + self.notebook.pack(fill="both", expand=True, padx=10, pady=10) + self.tab_main = ttk.Frame(self.notebook) self.tab_map = ttk.Frame(self.notebook) self.tab_diagnostics = ttk.Frame(self.notebook) self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text='Main View') - self.notebook.add(self.tab_map, text='Map View') - self.notebook.add(self.tab_diagnostics, text='Diagnostics') - self.notebook.add(self.tab_settings, text='Settings') - + + self.notebook.add(self.tab_main, text="Main View") + self.notebook.add(self.tab_map, text="Map View") + self.notebook.add(self.tab_diagnostics, text="Diagnostics") + self.notebook.add(self.tab_settings, text="Settings") + self.setup_main_tab() self.setup_map_tab() self.setup_settings_tab() - + def setup_main_tab(self): """Setup the main radar display tab""" # Control frame control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill='x', padx=10, pady=5) - + control_frame.pack(fill="x", padx=10, pady=5) + # USB Device selection ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) self.stm32_usb_combo.grid(row=0, column=1, padx=5) - + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", - command=self.refresh_devices).grid(row=0, column=4, padx=5) - - self.start_button = ttk.Button(control_frame, text="Start Radar", - command=self.start_radar) + + ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( + row=0, column=4, padx=5 + ) + + self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button(control_frame, text="Stop Radar", - command=self.stop_radar, state="disabled") + + self.stop_button = ttk.Button( + control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" + ) self.stop_button.grid(row=0, column=6, padx=5) - + # GPS and Pitch info self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) - + self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) + # Pitch display self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) - + # Status info self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) - + self.status_label.grid(row=1, column=6, sticky="e", padx=5, pady=2) + # Main display area display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill='both', expand=True, padx=10, pady=5) - + display_frame.pack(fill="both", expand=True, padx=10, pady=5) + # Range-Doppler Map fig = Figure(figsize=(10, 6)) self.range_doppler_ax = fig.add_subplot(111) self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect='auto', cmap='hot', - extent=[0, 32, 0, 1024]) - self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)') - self.range_doppler_ax.set_xlabel('Doppler Bin') - self.range_doppler_ax.set_ylabel('Range Bin') - + np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] + ) + self.range_doppler_ax.set_title("Range-Doppler Map (Pitch Corrected)") + self.range_doppler_ax.set_xlabel("Doppler Bin") + self.range_doppler_ax.set_ylabel("Range Bin") + self.canvas = FigureCanvasTkAgg(fig, display_frame) self.canvas.draw() - self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) - + self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) + # Targets list with corrected elevation targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") - targets_frame.pack(side='right', fill='y', padx=5) - - self.targets_tree = ttk.Treeview(targets_frame, - columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), - show='headings', height=20) - self.targets_tree.heading('ID', text='Track ID') - self.targets_tree.heading('Range', text='Range (m)') - self.targets_tree.heading('Velocity', text='Velocity (m/s)') - self.targets_tree.heading('Azimuth', text='Azimuth') - self.targets_tree.heading('Elevation', text='Raw Elev') - self.targets_tree.heading('Corrected Elev', text='Corr Elev') - self.targets_tree.heading('SNR', text='SNR (dB)') - - self.targets_tree.column('ID', width=70) - self.targets_tree.column('Range', width=90) - self.targets_tree.column('Velocity', width=90) - self.targets_tree.column('Azimuth', width=70) - self.targets_tree.column('Elevation', width=70) - self.targets_tree.column('Corrected Elev', width=70) - self.targets_tree.column('SNR', width=70) - - self.targets_tree.pack(fill='both', expand=True, padx=5, pady=5) - + targets_frame.pack(side="right", fill="y", padx=5) + + self.targets_tree = ttk.Treeview( + targets_frame, + columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "Corrected Elev", "SNR"), + show="headings", + height=20, + ) + self.targets_tree.heading("ID", text="Track ID") + self.targets_tree.heading("Range", text="Range (m)") + self.targets_tree.heading("Velocity", text="Velocity (m/s)") + self.targets_tree.heading("Azimuth", text="Azimuth") + self.targets_tree.heading("Elevation", text="Raw Elev") + self.targets_tree.heading("Corrected Elev", text="Corr Elev") + self.targets_tree.heading("SNR", text="SNR (dB)") + + self.targets_tree.column("ID", width=70) + self.targets_tree.column("Range", width=90) + self.targets_tree.column("Velocity", width=90) + self.targets_tree.column("Azimuth", width=70) + self.targets_tree.column("Elevation", width=70) + self.targets_tree.column("Corrected Elev", width=70) + self.targets_tree.column("SNR", width=70) + + self.targets_tree.pack(fill="both", expand=True, padx=5, pady=5) + def setup_map_tab(self): """Setup the map display tab with Google Maps""" map_frame = ttk.Frame(self.tab_map) - map_frame.pack(fill='both', expand=True, padx=10, pady=10) - + map_frame.pack(fill="both", expand=True, padx=10, pady=10) + # Map controls controls_frame = ttk.Frame(map_frame) - controls_frame.pack(fill='x', pady=5) - - ttk.Button(controls_frame, text="Open Map in Browser", - command=self.open_map_in_browser).pack(side='left', padx=5) - - ttk.Button(controls_frame, text="Refresh Map", - command=self.refresh_map).pack(side='left', padx=5) - + controls_frame.pack(fill="x", pady=5) + + ttk.Button( + controls_frame, text="Open Map in Browser", command=self.open_map_in_browser + ).pack(side="left", padx=5) + + ttk.Button(controls_frame, text="Refresh Map", command=self.refresh_map).pack( + side="left", padx=5 + ) + self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") - self.map_status_label.pack(side='left', padx=20) - + self.map_status_label.pack(side="left", padx=20) + # Map info display info_frame = ttk.Frame(map_frame) - info_frame.pack(fill='x', pady=5) - - self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) + info_frame.pack(fill="x", pady=5) + + self.map_info_label = ttk.Label( + info_frame, text="No GPS data received yet", font=("Arial", 10) + ) self.map_info_label.pack() - + def setup_settings_tab(self): """Setup the settings tab with additional chirp durations and map size""" settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill='both', expand=True, padx=10, pady=10) - + settings_frame.pack(fill="both", expand=True, padx=10, pady=10) + entries = [ - ('System Frequency (Hz):', 'system_frequency', 10e9), - ('Chirp Duration 1 - Long (s):', 'chirp_duration_1', 30e-6), - ('Chirp Duration 2 - Short (s):', 'chirp_duration_2', 0.5e-6), - ('Chirps per Position:', 'chirps_per_position', 32), - ('Frequency Min (Hz):', 'freq_min', 10e6), - ('Frequency Max (Hz):', 'freq_max', 30e6), - ('PRF1 (Hz):', 'prf1', 1000), - ('PRF2 (Hz):', 'prf2', 2000), - ('Max Distance (m):', 'max_distance', 50000), - ('Map Size (m):', 'map_size', 50000), - ('Google Maps API Key:', 'google_maps_api_key', 'YOUR_GOOGLE_MAPS_API_KEY') + ("System Frequency (Hz):", "system_frequency", 10e9), + ("Chirp Duration 1 - Long (s):", "chirp_duration_1", 30e-6), + ("Chirp Duration 2 - Short (s):", "chirp_duration_2", 0.5e-6), + ("Chirps per Position:", "chirps_per_position", 32), + ("Frequency Min (Hz):", "freq_min", 10e6), + ("Frequency Max (Hz):", "freq_max", 30e6), + ("PRF1 (Hz):", "prf1", 1000), + ("PRF2 (Hz):", "prf2", 2000), + ("Max Distance (m):", "max_distance", 50000), + ("Map Size (m):", "map_size", 50000), + ("Google Maps API Key:", "google_maps_api_key", "YOUR_GOOGLE_MAPS_API_KEY"), ] - + self.settings_vars = {} - + for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) var = tk.StringVar(value=str(default)) entry = ttk.Entry(settings_frame, textvariable=var, width=25) entry.grid(row=i, column=1, padx=5, pady=5) self.settings_vars[attr] = var - - ttk.Button(settings_frame, text="Apply Settings", - command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) - + + ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( + row=len(entries), column=0, columnspan=2, pady=10 + ) + def apply_pitch_correction(self, raw_elevation, pitch_angle): """ Apply pitch correction to elevation angle @@ -1052,38 +1097,38 @@ class RadarGUI: # Convert to radians for trigonometric functions raw_elev_rad = math.radians(raw_elevation) pitch_rad = math.radians(pitch_angle) - + # Apply pitch correction: corrected_elev = raw_elev - pitch # This assumes the pitch angle is positive when antenna is tilted up corrected_elev_rad = raw_elev_rad - pitch_rad - + # Convert back to degrees and ensure it's within valid range corrected_elev_deg = math.degrees(corrected_elev_rad) - + # Normalize to 0-180 degree range corrected_elev_deg = corrected_elev_deg % 180 if corrected_elev_deg < 0: corrected_elev_deg += 180 - + return corrected_elev_deg - + def refresh_devices(self): """Refresh available USB devices""" # STM32 USB devices stm32_devices = self.stm32_usb_interface.list_devices() - stm32_names = [dev['description'] for dev in stm32_devices] - self.stm32_usb_combo['values'] = stm32_names - + stm32_names = [dev["description"] for dev in stm32_devices] + self.stm32_usb_combo["values"] = stm32_names + # FTDI devices ftdi_devices = self.ftdi_interface.list_devices() - ftdi_names = [dev['description'] for dev in ftdi_devices] - self.ftdi_combo['values'] = ftdi_names - + ftdi_names = [dev["description"] for dev in ftdi_devices] + self.ftdi_combo["values"] = ftdi_names + if stm32_names: self.stm32_usb_combo.current(0) if ftdi_names: self.ftdi_combo.current(0) - + def start_radar(self): """Step 11: Start button pressed - Begin radar operation""" try: @@ -1092,122 +1137,124 @@ class RadarGUI: if stm32_index == -1: messagebox.showerror("Error", "Please select an STM32 USB device") return - + stm32_devices = self.stm32_usb_interface.list_devices() if stm32_index >= len(stm32_devices): messagebox.showerror("Error", "Invalid STM32 device selection") return - + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): messagebox.showerror("Error", "Failed to open STM32 USB device") return - + # Open FTDI device if FTDI_AVAILABLE: ftdi_index = self.ftdi_combo.current() if ftdi_index != -1: ftdi_devices = self.ftdi_interface.list_devices() if ftdi_index < len(ftdi_devices): - device_url = ftdi_devices[ftdi_index]['url'] + device_url = ftdi_devices[ftdi_index]["url"] if not self.ftdi_interface.open_device(device_url): - logging.warning("Failed to open FTDI device, continuing without radar data") + logging.warning( + "Failed to open FTDI device, continuing without radar data" + ) else: logging.warning("No FTDI device selected, continuing without radar data") else: logging.warning("FTDI not available, continuing without radar data") - + # Step 12: Send start flag to STM32 via USB if not self.stm32_usb_interface.send_start_flag(): messagebox.showerror("Error", "Failed to send start flag to STM32") return - + # Step 13: Send settings to STM32 via USB self.apply_settings() - + # Start radar operation self.running = True self.start_button.config(state="disabled") self.stop_button.config(state="normal") self.status_label.config(text="Status: Radar running - Waiting for GPS data...") - + logging.info("Radar system started successfully via USB CDC") - + except Exception as e: messagebox.showerror("Error", f"Failed to start radar: {e}") logging.error(f"Start radar error: {e}") - + def stop_radar(self): """Stop radar operation""" self.running = False self.start_button.config(state="normal") self.stop_button.config(state="disabled") self.status_label.config(text="Status: Radar stopped") - + self.stm32_usb_interface.close() self.ftdi_interface.close() - + logging.info("Radar system stopped") - + def apply_settings(self): """Step 13: Apply and send radar settings via USB""" try: - self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) - self.settings.chirp_duration_1 = float(self.settings_vars['chirp_duration_1'].get()) - self.settings.chirp_duration_2 = float(self.settings_vars['chirp_duration_2'].get()) - self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) - self.settings.freq_min = float(self.settings_vars['freq_min'].get()) - self.settings.freq_max = float(self.settings_vars['freq_max'].get()) - self.settings.prf1 = float(self.settings_vars['prf1'].get()) - self.settings.prf2 = float(self.settings_vars['prf2'].get()) - self.settings.max_distance = float(self.settings_vars['max_distance'].get()) - self.settings.map_size = float(self.settings_vars['map_size'].get()) - self.google_maps_api_key = self.settings_vars['google_maps_api_key'].get() - + self.settings.system_frequency = float(self.settings_vars["system_frequency"].get()) + self.settings.chirp_duration_1 = float(self.settings_vars["chirp_duration_1"].get()) + self.settings.chirp_duration_2 = float(self.settings_vars["chirp_duration_2"].get()) + self.settings.chirps_per_position = int(self.settings_vars["chirps_per_position"].get()) + self.settings.freq_min = float(self.settings_vars["freq_min"].get()) + self.settings.freq_max = float(self.settings_vars["freq_max"].get()) + self.settings.prf1 = float(self.settings_vars["prf1"].get()) + self.settings.prf2 = float(self.settings_vars["prf2"].get()) + self.settings.max_distance = float(self.settings_vars["max_distance"].get()) + self.settings.map_size = float(self.settings_vars["map_size"].get()) + self.google_maps_api_key = self.settings_vars["google_maps_api_key"].get() + if self.stm32_usb_interface.is_open: self.stm32_usb_interface.send_settings(self.settings) - + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") logging.info("Radar settings applied via USB") - + except ValueError as e: messagebox.showerror("Error", f"Invalid setting value: {e}") - + def start_background_threads(self): """Start background data processing threads""" self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) self.radar_thread.start() - + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) self.gps_thread.start() - + self.root.after(100, self.update_gui) - + def process_radar_data(self): """Step 39: Process incoming radar data from FTDI""" - buffer = b'' + buffer = b"" while True: if self.running and self.ftdi_interface.is_open: try: data = self.ftdi_interface.read_data(4096) if data: buffer += data - + while len(buffer) >= 6: packet = self.radar_packet_parser.parse_packet(buffer) if packet: self.process_radar_packet(packet) - packet_length = 4 + len(packet.get('payload', b'')) + 2 + packet_length = 4 + len(packet.get("payload", b"")) + 2 buffer = buffer[packet_length:] self.received_packets += 1 else: break - + except Exception as e: logging.error(f"Error processing radar data: {e}") time.sleep(0.1) else: time.sleep(0.1) - + def process_gps_data(self): """Step 16/17: Process GPS data from STM32 via USB CDC""" while True: @@ -1219,209 +1266,248 @@ class RadarGUI: gps_data = self.usb_packet_parser.parse_gps_data(data) if gps_data: self.gps_data_queue.put(gps_data) - logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + logging.info( + "GPS Data received via USB: " + f"Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m, " + f"Pitch {gps_data.pitch:.1f}°" + ) except Exception as e: logging.error(f"Error processing GPS data via USB: {e}") time.sleep(0.1) - + def process_radar_packet(self, packet): """Step 40: Process radar data and apply pitch correction""" try: - if packet['type'] == 'range': - range_meters = packet['range'] * 0.1 - + if packet["type"] == "range": + range_meters = packet["range"] * 0.1 + # Apply pitch correction to elevation - raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) - + raw_elevation = packet["elevation"] + corrected_elevation = self.apply_pitch_correction( + raw_elevation, self.current_gps.pitch + ) + # Store correction for display - self.corrected_elevations.append({ - 'raw': raw_elevation, - 'corrected': corrected_elevation, - 'pitch': self.current_gps.pitch, - 'timestamp': packet['timestamp'] - }) - + self.corrected_elevations.append( + { + "raw": raw_elevation, + "corrected": corrected_elevation, + "pitch": self.current_gps.pitch, + "timestamp": packet["timestamp"], + } + ) + # Keep only recent corrections if len(self.corrected_elevations) > 100: self.corrected_elevations = self.corrected_elevations[-100:] - + target = RadarTarget( - id=packet['chirp'], + id=packet["chirp"], range=range_meters, velocity=0, - azimuth=packet['azimuth'], + azimuth=packet["azimuth"], elevation=corrected_elevation, # Use corrected elevation snr=20.0, - timestamp=packet['timestamp'] + timestamp=packet["timestamp"], ) - + self.update_range_doppler_map(target) - - elif packet['type'] == 'doppler': + + elif packet["type"] == "doppler": lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + velocity = (packet["doppler_real"] / 32767.0) * ( + self.settings.prf1 * lambda_wavelength / 2 + ) self.update_target_velocity(packet, velocity) - - elif packet['type'] == 'detection': - if packet['detected']: + + elif packet["type"] == "detection": + if packet["detected"]: # Apply pitch correction to detection elevation - raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) - - logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") - + raw_elevation = packet["elevation"] + corrected_elevation = self.apply_pitch_correction( + raw_elevation, self.current_gps.pitch + ) + + logging.info( + f"CFAR Detection: Raw Elev {raw_elevation}°, " + f"Corrected Elev {corrected_elevation:.1f}°, " + f"Pitch {self.current_gps.pitch:.1f}°" + ) + except Exception as e: logging.error(f"Error processing radar packet: {e}") - + def update_range_doppler_map(self, target): """Update range-Doppler map with new target""" range_bin = min(int(target.range / 50), 1023) doppler_bin = min(abs(int(target.velocity)), 31) - + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 - + self.radar_processor.detected_targets.append(target) - + if len(self.radar_processor.detected_targets) > 100: self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] - + def update_target_velocity(self, packet, velocity): """Update target velocity information""" for target in self.radar_processor.detected_targets: - if (target.azimuth == packet['azimuth'] and - target.elevation == packet['elevation'] and - target.id == packet['chirp']): + if ( + target.azimuth == packet["azimuth"] + and target.elevation == packet["elevation"] + and target.id == packet["chirp"] + ): target.velocity = velocity break - + def open_map_in_browser(self): """Open the generated map in the default web browser""" if self.map_file_path and os.path.exists(self.map_file_path): - webbrowser.open('file://' + os.path.abspath(self.map_file_path)) + webbrowser.open("file://" + os.path.abspath(self.map_file_path)) else: - messagebox.showwarning("Warning", "No map file available. Generate map first by receiving GPS data.") - + messagebox.showwarning( + "Warning", "No map file available. Generate map first by receiving GPS data." + ) + def refresh_map(self): """Refresh the map with current data""" self.generate_map() - + def generate_map(self): """Generate Google Maps HTML file with current targets""" if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: self.map_status_label.config(text="Map: Waiting for GPS data") return - + try: # Create temporary HTML file - with tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') as f: + with tempfile.NamedTemporaryFile( + mode="w", suffix=".html", delete=False, encoding="utf-8" + ) as f: map_html = self.map_generator.generate_map( self.current_gps, self.radar_processor.detected_targets, self.settings.map_size, - self.google_maps_api_key + self.google_maps_api_key, ) f.write(map_html) self.map_file_path = f.name - + self.map_status_label.config(text=f"Map: Generated at {self.map_file_path}") self.map_info_label.config( text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " - f"Targets: {len(self.radar_processor.detected_targets)} | " - f"Coverage: {self.settings.map_size/1000:.1f}km" + f"Targets: {len(self.radar_processor.detected_targets)} | " + f"Coverage: {self.settings.map_size / 1000:.1f}km" ) logging.info(f"Map generated: {self.map_file_path}") - + except Exception as e: logging.error(f"Error generating map: {e}") self.map_status_label.config(text=f"Map: Error - {str(e)}") - + def update_gps_display(self): """Step 18: Update GPS and pitch display""" try: while not self.gps_data_queue.empty(): gps_data = self.gps_data_queue.get_nowait() self.current_gps = gps_data - + # Update GPS label - self.gps_label.config( - text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") - + self.gps_label.config( + text=( + f"GPS: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m" + ) + ) + # Update pitch label with color coding pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" self.pitch_label.config(text=pitch_text) - + # Color code based on pitch magnitude if abs(gps_data.pitch) > 10: - self.pitch_label.config(foreground='red') # High pitch warning + self.pitch_label.config(foreground="red") # High pitch warning elif abs(gps_data.pitch) > 5: - self.pitch_label.config(foreground='orange') # Medium pitch + self.pitch_label.config(foreground="orange") # Medium pitch else: - self.pitch_label.config(foreground='green') # Normal pitch - + self.pitch_label.config(foreground="green") # Normal pitch + # Generate/update map when new GPS data arrives self.generate_map() - + except queue.Empty: pass - + def update_targets_list(self): """Update the targets list display with corrected elevations""" for item in self.targets_tree.get_children(): self.targets_tree.delete(item) - + for target in self.radar_processor.detected_targets[-20:]: # Find the corresponding raw elevation if available raw_elevation = "N/A" for correction in self.corrected_elevations[-20:]: - if abs(correction['corrected'] - target.elevation) < 0.1: # Fuzzy match + if abs(correction["corrected"] - target.elevation) < 0.1: # Fuzzy match raw_elevation = f"{correction['raw']}" break - - self.targets_tree.insert('', 'end', values=( - target.track_id, - f"{target.range:.1f}", - f"{target.velocity:.1f}", - target.azimuth, - raw_elevation, # Show raw elevation - f"{target.elevation:.1f}", # Show corrected elevation - f"{target.snr:.1f}" - )) - + + self.targets_tree.insert( + "", + "end", + values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + raw_elevation, # Show raw elevation + f"{target.elevation:.1f}", # Show corrected elevation + f"{target.snr:.1f}", + ), + ) + def update_gui(self): """Step 40: Update all GUI displays""" try: # Update status with pitch information if self.running: - self.status_label.config( - text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") - + self.status_label.config( + text=( + f"Status: Running - Packets: {self.received_packets} - " + f"Pitch: {self.current_gps.pitch:+.1f}°" + ) + ) + # Update range-Doppler map - if hasattr(self, 'range_doppler_plot'): + if hasattr(self, "range_doppler_plot"): display_data = np.log10(self.radar_processor.range_doppler_map + 1) self.range_doppler_plot.set_array(display_data) self.canvas.draw_idle() - + # Update targets list self.update_targets_list() - + # Update GPS and pitch display self.update_gps_display() - + except Exception as e: logging.error(f"Error updating GUI: {e}") - + self.root.after(100, self.update_gui) + def main(): """Main application entry point""" try: root = tk.Tk() - app = RadarGUI(root) + _app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + if __name__ == "__main__": main() diff --git a/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py b/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py index 71da913..c749bbf 100644 --- a/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py +++ b/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py @@ -2,13 +2,9 @@ import tkinter as tk from tkinter import ttk, filedialog, messagebox import pandas as pd import numpy as np -import matplotlib.pyplot as plt from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from matplotlib.figure import Figure -import matplotlib.patches as patches -from scipy import signal from scipy.fft import fft, fftshift -from scipy.signal import butter, filtfilt import logging from dataclasses import dataclass from typing import List, Dict, Tuple @@ -17,7 +13,8 @@ import queue import time # Configure logging -logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') +logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") + @dataclass class RadarTarget: @@ -29,12 +26,13 @@ class RadarTarget: chirp_type: str timestamp: float + class SignalProcessor: def __init__(self): self.range_resolution = 1.0 # meters self.velocity_resolution = 0.1 # m/s self.cfar_threshold = 15.0 # dB - + def doppler_fft(self, iq_data: np.ndarray, fs: float = 100e6) -> Tuple[np.ndarray, np.ndarray]: """ Perform Doppler FFT on IQ data @@ -42,101 +40,111 @@ class SignalProcessor: """ # Window function for FFT window = np.hanning(len(iq_data)) - windowed_data = (iq_data['I_value'].values + 1j * iq_data['Q_value'].values) * window - + windowed_data = (iq_data["I_value"].values + 1j * iq_data["Q_value"].values) * window + # Perform FFT doppler_fft = fft(windowed_data) doppler_fft = fftshift(doppler_fft) - + # Frequency axis N = len(iq_data) - freq_axis = np.linspace(-fs/2, fs/2, N) - + freq_axis = np.linspace(-fs / 2, fs / 2, N) + # Convert to velocity (assuming radar frequency = 10 GHz) radar_freq = 10e9 wavelength = 3e8 / radar_freq velocity_axis = freq_axis * wavelength / 2 - + return velocity_axis, np.abs(doppler_fft) - - def mti_filter(self, iq_data: np.ndarray, filter_type: str = 'single_canceler') -> np.ndarray: + + def mti_filter(self, iq_data: np.ndarray, filter_type: str = "single_canceler") -> np.ndarray: """ Moving Target Indicator filter Removes stationary clutter with better shape handling """ if iq_data is None or len(iq_data) < 2: return np.array([], dtype=complex) - + try: # Ensure we're working with complex data complex_data = iq_data.astype(complex) - - if filter_type == 'single_canceler': + + if filter_type == "single_canceler": # Single delay line canceler if len(complex_data) < 2: return np.array([], dtype=complex) filtered = np.zeros(len(complex_data) - 1, dtype=complex) for i in range(1, len(complex_data)): - filtered[i-1] = complex_data[i] - complex_data[i-1] + filtered[i - 1] = complex_data[i] - complex_data[i - 1] return filtered - - elif filter_type == 'double_canceler': + + elif filter_type == "double_canceler": # Double delay line canceler if len(complex_data) < 3: return np.array([], dtype=complex) filtered = np.zeros(len(complex_data) - 2, dtype=complex) for i in range(2, len(complex_data)): - filtered[i-2] = complex_data[i] - 2*complex_data[i-1] + complex_data[i-2] + filtered[i - 2] = ( + complex_data[i] - 2 * complex_data[i - 1] + complex_data[i - 2] + ) return filtered - + else: return complex_data except Exception as e: logging.error(f"MTI filter error: {e}") return np.array([], dtype=complex) - - def cfar_detection(self, range_profile: np.ndarray, guard_cells: int = 2, - training_cells: int = 10, threshold_factor: float = 3.0) -> List[Tuple[int, float]]: + def cfar_detection( + self, + range_profile: np.ndarray, + guard_cells: int = 2, + training_cells: int = 10, + threshold_factor: float = 3.0, + ) -> List[Tuple[int, float]]: detections = [] N = len(range_profile) - + # Ensure guard_cells and training_cells are integers guard_cells = int(guard_cells) training_cells = int(training_cells) - + for i in range(N): # Convert to integer indices i_int = int(i) if i_int < guard_cells + training_cells or i_int >= N - guard_cells - training_cells: continue - + # Leading window - ensure integer indices lead_start = i_int - guard_cells - training_cells lead_end = i_int - guard_cells lead_cells = range_profile[lead_start:lead_end] - + # Lagging window - ensure integer indices lag_start = i_int + guard_cells + 1 lag_end = i_int + guard_cells + training_cells + 1 lag_cells = range_profile[lag_start:lag_end] - + # Combine training cells training_cells_combined = np.concatenate([lead_cells, lag_cells]) - + # Calculate noise floor (mean of training cells) if len(training_cells_combined) > 0: noise_floor = np.mean(training_cells_combined) - + # Apply threshold threshold = noise_floor * threshold_factor - + if range_profile[i_int] > threshold: - detections.append((i_int, float(range_profile[i_int]))) # Ensure float magnitude - + detections.append( + (i_int, float(range_profile[i_int])) + ) # Ensure float magnitude + return detections - - def range_fft(self, iq_data: np.ndarray, fs: float = 100e6, bw: float = 20e6) -> Tuple[np.ndarray, np.ndarray]: + + def range_fft( + self, iq_data: np.ndarray, fs: float = 100e6, bw: float = 20e6 + ) -> Tuple[np.ndarray, np.ndarray]: """ Perform range FFT on IQ data Returns range profile @@ -144,54 +152,55 @@ class SignalProcessor: # Window function window = np.hanning(len(iq_data)) windowed_data = np.abs(iq_data) * window - + # Perform FFT range_fft = fft(windowed_data) - + # Range calculation N = len(iq_data) range_max = (3e8 * N) / (2 * bw) range_axis = np.linspace(0, range_max, N) - + return range_axis, np.abs(range_fft) - - def process_chirp_sequence(self, df: pd.DataFrame, chirp_type: str = 'LONG') -> Dict: + + def process_chirp_sequence(self, df: pd.DataFrame, chirp_type: str = "LONG") -> Dict: try: # Filter data by chirp type - chirp_data = df[df['chirp_type'] == chirp_type] - + chirp_data = df[df["chirp_type"] == chirp_type] + if len(chirp_data) == 0: return {} - + # Group by chirp number - chirp_numbers = chirp_data['chirp_number'].unique() + chirp_numbers = chirp_data["chirp_number"].unique() num_chirps = len(chirp_numbers) - + if num_chirps == 0: return {} - + # Get samples per chirp and ensure consistency - samples_per_chirp_list = [len(chirp_data[chirp_data['chirp_number'] == num]) - for num in chirp_numbers] - + samples_per_chirp_list = [ + len(chirp_data[chirp_data["chirp_number"] == num]) for num in chirp_numbers + ] + # Use minimum samples to ensure consistent shape samples_per_chirp = min(samples_per_chirp_list) - + # Create range-Doppler matrix with consistent shape range_doppler_matrix = np.zeros((samples_per_chirp, num_chirps), dtype=complex) - + for i, chirp_num in enumerate(chirp_numbers): - chirp_samples = chirp_data[chirp_data['chirp_number'] == chirp_num] + chirp_samples = chirp_data[chirp_data["chirp_number"] == chirp_num] # Take only the first samples_per_chirp samples to ensure consistent shape chirp_samples = chirp_samples.head(samples_per_chirp) - + # Create complex IQ data - iq_data = chirp_samples['I_value'].values + 1j * chirp_samples['Q_value'].values - + iq_data = chirp_samples["I_value"].values + 1j * chirp_samples["Q_value"].values + # Ensure the shape matches if len(iq_data) == samples_per_chirp: range_doppler_matrix[:, i] = iq_data - + # Apply MTI filter along slow-time (chirp-to-chirp) mti_filtered = np.zeros_like(range_doppler_matrix) for i in range(samples_per_chirp): @@ -204,178 +213,184 @@ class SignalProcessor: # Handle shape mismatch by padding or truncating if len(filtered) < num_chirps: padded = np.zeros(num_chirps, dtype=complex) - padded[:len(filtered)] = filtered + padded[: len(filtered)] = filtered mti_filtered[i, :] = padded else: mti_filtered[i, :] = filtered[:num_chirps] - + # Perform Doppler FFT along slow-time dimension doppler_fft_result = np.zeros((samples_per_chirp, num_chirps), dtype=complex) for i in range(samples_per_chirp): doppler_fft_result[i, :] = fft(mti_filtered[i, :]) - + return { - 'range_doppler_matrix': np.abs(doppler_fft_result), - 'chirp_type': chirp_type, - 'num_chirps': num_chirps, - 'samples_per_chirp': samples_per_chirp + "range_doppler_matrix": np.abs(doppler_fft_result), + "chirp_type": chirp_type, + "num_chirps": num_chirps, + "samples_per_chirp": samples_per_chirp, } - + except Exception as e: logging.error(f"Error in process_chirp_sequence: {e}") return {} + class RadarGUI: def __init__(self, root): self.root = root self.root.title("Radar Signal Processor - CSV Analysis") self.root.geometry("1400x900") - + # Initialize processor self.processor = SignalProcessor() - + # Data storage self.df = None self.processed_data = {} self.detected_targets = [] - + # Create GUI self.create_gui() - + # Start background processing self.processing_queue = queue.Queue() self.processing_thread = threading.Thread(target=self.background_processing, daemon=True) self.processing_thread.start() - + # Update GUI periodically self.root.after(100, self.update_gui) - + def create_gui(self): """Create the main GUI layout""" # Main frame main_frame = ttk.Frame(self.root) - main_frame.pack(fill='both', expand=True, padx=10, pady=10) - + main_frame.pack(fill="both", expand=True, padx=10, pady=10) + # Control panel control_frame = ttk.LabelFrame(main_frame, text="File Controls") - control_frame.pack(fill='x', pady=5) - + control_frame.pack(fill="x", pady=5) + # File selection - ttk.Button(control_frame, text="Load CSV File", - command=self.load_csv_file).pack(side='left', padx=5, pady=5) - + ttk.Button(control_frame, text="Load CSV File", command=self.load_csv_file).pack( + side="left", padx=5, pady=5 + ) + self.file_label = ttk.Label(control_frame, text="No file loaded") - self.file_label.pack(side='left', padx=10, pady=5) - + self.file_label.pack(side="left", padx=10, pady=5) + # Processing controls - ttk.Button(control_frame, text="Process Data", - command=self.process_data).pack(side='left', padx=5, pady=5) - - ttk.Button(control_frame, text="Run CFAR Detection", - command=self.run_cfar_detection).pack(side='left', padx=5, pady=5) - + ttk.Button(control_frame, text="Process Data", command=self.process_data).pack( + side="left", padx=5, pady=5 + ) + + ttk.Button(control_frame, text="Run CFAR Detection", command=self.run_cfar_detection).pack( + side="left", padx=5, pady=5 + ) + # Status self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.pack(side='right', padx=10, pady=5) - + self.status_label.pack(side="right", padx=10, pady=5) + # Display area display_frame = ttk.Frame(main_frame) - display_frame.pack(fill='both', expand=True, pady=5) - + display_frame.pack(fill="both", expand=True, pady=5) + # Create matplotlib figures self.create_plots(display_frame) - + # Targets list targets_frame = ttk.LabelFrame(main_frame, text="Detected Targets") - targets_frame.pack(fill='x', pady=5) - - self.targets_tree = ttk.Treeview(targets_frame, - columns=('Range', 'Velocity', 'Azimuth', 'Elevation', 'SNR', 'Chirp Type'), - show='headings', height=8) - - self.targets_tree.heading('Range', text='Range (m)') - self.targets_tree.heading('Velocity', text='Velocity (m/s)') - self.targets_tree.heading('Azimuth', text='Azimuth (°)') - self.targets_tree.heading('Elevation', text='Elevation (°)') - self.targets_tree.heading('SNR', text='SNR (dB)') - self.targets_tree.heading('Chirp Type', text='Chirp Type') - - self.targets_tree.column('Range', width=100) - self.targets_tree.column('Velocity', width=100) - self.targets_tree.column('Azimuth', width=80) - self.targets_tree.column('Elevation', width=80) - self.targets_tree.column('SNR', width=80) - self.targets_tree.column('Chirp Type', width=100) - - self.targets_tree.pack(fill='x', padx=5, pady=5) - + targets_frame.pack(fill="x", pady=5) + + self.targets_tree = ttk.Treeview( + targets_frame, + columns=("Range", "Velocity", "Azimuth", "Elevation", "SNR", "Chirp Type"), + show="headings", + height=8, + ) + + self.targets_tree.heading("Range", text="Range (m)") + self.targets_tree.heading("Velocity", text="Velocity (m/s)") + self.targets_tree.heading("Azimuth", text="Azimuth (°)") + self.targets_tree.heading("Elevation", text="Elevation (°)") + self.targets_tree.heading("SNR", text="SNR (dB)") + self.targets_tree.heading("Chirp Type", text="Chirp Type") + + self.targets_tree.column("Range", width=100) + self.targets_tree.column("Velocity", width=100) + self.targets_tree.column("Azimuth", width=80) + self.targets_tree.column("Elevation", width=80) + self.targets_tree.column("SNR", width=80) + self.targets_tree.column("Chirp Type", width=100) + + self.targets_tree.pack(fill="x", padx=5, pady=5) + def create_plots(self, parent): """Create matplotlib plots""" # Create figure with subplots self.fig = Figure(figsize=(12, 8)) self.canvas = FigureCanvasTkAgg(self.fig, parent) - self.canvas.get_tk_widget().pack(fill='both', expand=True) - + self.canvas.get_tk_widget().pack(fill="both", expand=True) + # Create subplots self.ax1 = self.fig.add_subplot(221) # Range profile self.ax2 = self.fig.add_subplot(222) # Doppler spectrum self.ax3 = self.fig.add_subplot(223) # Range-Doppler map self.ax4 = self.fig.add_subplot(224) # MTI filtered data - + # Set titles - self.ax1.set_title('Range Profile') - self.ax1.set_xlabel('Range (m)') - self.ax1.set_ylabel('Magnitude') + self.ax1.set_title("Range Profile") + self.ax1.set_xlabel("Range (m)") + self.ax1.set_ylabel("Magnitude") self.ax1.grid(True) - - self.ax2.set_title('Doppler Spectrum') - self.ax2.set_xlabel('Velocity (m/s)') - self.ax2.set_ylabel('Magnitude') + + self.ax2.set_title("Doppler Spectrum") + self.ax2.set_xlabel("Velocity (m/s)") + self.ax2.set_ylabel("Magnitude") self.ax2.grid(True) - - self.ax3.set_title('Range-Doppler Map') - self.ax3.set_xlabel('Doppler Bin') - self.ax3.set_ylabel('Range Bin') - - self.ax4.set_title('MTI Filtered Data') - self.ax4.set_xlabel('Sample') - self.ax4.set_ylabel('Magnitude') + + self.ax3.set_title("Range-Doppler Map") + self.ax3.set_xlabel("Doppler Bin") + self.ax3.set_ylabel("Range Bin") + + self.ax4.set_title("MTI Filtered Data") + self.ax4.set_xlabel("Sample") + self.ax4.set_ylabel("Magnitude") self.ax4.grid(True) - + self.fig.tight_layout() - + def load_csv_file(self): """Load CSV file generated by testbench""" filename = filedialog.askopenfilename( - title="Select CSV file", - filetypes=[("CSV files", "*.csv"), ("All files", "*.*")] + title="Select CSV file", filetypes=[("CSV files", "*.csv"), ("All files", "*.*")] ) - - # Add magnitude and phase calculations after loading CSV + + # Add magnitude and phase calculations after loading CSV if self.df is not None: # Calculate magnitude from I/Q values - self.df['magnitude'] = np.sqrt(self.df['I_value']**2 + self.df['Q_value']**2) - - # Calculate phase from I/Q values - self.df['phase_rad'] = np.arctan2(self.df['Q_value'], self.df['I_value']) - + self.df["magnitude"] = np.sqrt(self.df["I_value"] ** 2 + self.df["Q_value"] ** 2) + + # Calculate phase from I/Q values + self.df["phase_rad"] = np.arctan2(self.df["Q_value"], self.df["I_value"]) + # If you used magnitude_squared in CSV, calculate actual magnitude - if 'magnitude_squared' in self.df.columns: - self.df['magnitude'] = np.sqrt(self.df['magnitude_squared']) + if "magnitude_squared" in self.df.columns: + self.df["magnitude"] = np.sqrt(self.df["magnitude_squared"]) if filename: try: self.status_label.config(text="Status: Loading CSV file...") self.df = pd.read_csv(filename) self.file_label.config(text=f"Loaded: {filename.split('/')[-1]}") self.status_label.config(text=f"Status: Loaded {len(self.df)} samples") - + # Show basic info self.show_file_info() - + except Exception as e: messagebox.showerror("Error", f"Failed to load CSV file: {e}") self.status_label.config(text="Status: Error loading file") - + def show_file_info(self): """Display basic information about loaded data""" if self.df is not None: @@ -383,296 +398,318 @@ class RadarGUI: info_text += f"Chirps: {self.df['chirp_number'].nunique()} | " info_text += f"Long: {len(self.df[self.df['chirp_type'] == 'LONG'])} | " info_text += f"Short: {len(self.df[self.df['chirp_type'] == 'SHORT'])}" - + self.file_label.config(text=info_text) - + def process_data(self): """Process loaded CSV data""" if self.df is None: messagebox.showwarning("Warning", "Please load a CSV file first") return - + self.status_label.config(text="Status: Processing data...") - + # Add to processing queue - self.processing_queue.put(('process', self.df)) - + self.processing_queue.put(("process", self.df)) + def run_cfar_detection(self): """Run CFAR detection on processed data""" if self.df is None: messagebox.showwarning("Warning", "Please load and process data first") return - + self.status_label.config(text="Status: Running CFAR detection...") - self.processing_queue.put(('cfar', self.df)) - + self.processing_queue.put(("cfar", self.df)) + def background_processing(self): while True: try: task_type, data = self.processing_queue.get(timeout=1.0) - - if task_type == 'process': + + if task_type == "process": self._process_data_background(data) - elif task_type == 'cfar': + elif task_type == "cfar": self._run_cfar_background(data) else: logging.warning(f"Unknown task type: {task_type}") - + self.processing_queue.task_done() - + except queue.Empty: continue except Exception as e: logging.error(f"Background processing error: {e}") # Update GUI to show error state - self.root.after(0, lambda: self.status_label.config( - text=f"Status: Processing error - {e}" - )) - + self.root.after( + 0, + lambda: self.status_label.config( + text=f"Status: Processing error - {e}" # noqa: F821 + ), + ) + def _process_data_background(self, df): try: # Process long chirps - long_chirp_data = self.processor.process_chirp_sequence(df, 'LONG') - + long_chirp_data = self.processor.process_chirp_sequence(df, "LONG") + # Process short chirps - short_chirp_data = self.processor.process_chirp_sequence(df, 'SHORT') - + short_chirp_data = self.processor.process_chirp_sequence(df, "SHORT") + # Store results - self.processed_data = { - 'long': long_chirp_data, - 'short': short_chirp_data - } - + self.processed_data = {"long": long_chirp_data, "short": short_chirp_data} + # Update GUI in main thread self.root.after(0, self._update_plots_after_processing) - + except Exception as e: logging.error(f"Processing error: {e}") error_msg = str(e) - self.root.after(0, lambda msg=error_msg: self.status_label.config( - text=f"Status: Processing error - {msg}" - )) - + self.root.after( + 0, + lambda msg=error_msg: self.status_label.config( + text=f"Status: Processing error - {msg}" + ), + ) + def _run_cfar_background(self, df): try: # Get first chirp for CFAR demonstration - first_chirp = df[df['chirp_number'] == df['chirp_number'].min()] - + first_chirp = df[df["chirp_number"] == df["chirp_number"].min()] + if len(first_chirp) == 0: return - + # Create IQ data - FIXED TYPO: first_chirp not first_chip - iq_data = first_chirp['I_value'].values + 1j * first_chirp['Q_value'].values - + iq_data = first_chirp["I_value"].values + 1j * first_chirp["Q_value"].values + # Perform range FFT range_axis, range_profile = self.processor.range_fft(iq_data) - + # Run CFAR detection detections = self.processor.cfar_detection(range_profile) - + # Convert to target objects self.detected_targets = [] for range_bin, magnitude in detections: target = RadarTarget( range=range_axis[range_bin], velocity=0, # Would need Doppler processing for velocity - azimuth=0, # From actual data - elevation=0, # From actual data + azimuth=0, # From actual data + elevation=0, # From actual data snr=20 * np.log10(magnitude + 1e-9), # Convert to dB - chirp_type='LONG', - timestamp=time.time() + chirp_type="LONG", + timestamp=time.time(), ) self.detected_targets.append(target) - + # Update GUI in main thread - self.root.after(0, lambda: self._update_cfar_results(range_axis, range_profile, detections)) - + self.root.after( + 0, lambda: self._update_cfar_results(range_axis, range_profile, detections) + ) + except Exception as e: logging.error(f"CFAR detection error: {e}") error_msg = str(e) - self.root.after(0, lambda msg=error_msg: self.status_label.config( - text=f"Status: CFAR error - {msg}" - )) - + self.root.after( + 0, + lambda msg=error_msg: self.status_label.config(text=f"Status: CFAR error - {msg}"), + ) + def _update_plots_after_processing(self): try: # Clear all plots for ax in [self.ax1, self.ax2, self.ax3, self.ax4]: ax.clear() - + # Plot 1: Range profile from first chirp if self.df is not None and len(self.df) > 0: try: - first_chirp_num = self.df['chirp_number'].min() - first_chirp = self.df[self.df['chirp_number'] == first_chirp_num] - + first_chirp_num = self.df["chirp_number"].min() + first_chirp = self.df[self.df["chirp_number"] == first_chirp_num] + if len(first_chirp) > 0: - iq_data = first_chirp['I_value'].values + 1j * first_chirp['Q_value'].values + iq_data = first_chirp["I_value"].values + 1j * first_chirp["Q_value"].values range_axis, range_profile = self.processor.range_fft(iq_data) - + if len(range_axis) > 0 and len(range_profile) > 0: - self.ax1.plot(range_axis, range_profile, 'b-') - self.ax1.set_title('Range Profile - First Chirp') - self.ax1.set_xlabel('Range (m)') - self.ax1.set_ylabel('Magnitude') + self.ax1.plot(range_axis, range_profile, "b-") + self.ax1.set_title("Range Profile - First Chirp") + self.ax1.set_xlabel("Range (m)") + self.ax1.set_ylabel("Magnitude") self.ax1.grid(True) except Exception as e: logging.warning(f"Range profile plot error: {e}") - self.ax1.set_title('Range Profile - Error') - + self.ax1.set_title("Range Profile - Error") + # Plot 2: Doppler spectrum if self.df is not None and len(self.df) > 0: try: sample_data = self.df.head(1024) if len(sample_data) > 10: - iq_data = sample_data['I_value'].values + 1j * sample_data['Q_value'].values + iq_data = sample_data["I_value"].values + 1j * sample_data["Q_value"].values velocity_axis, doppler_spectrum = self.processor.doppler_fft(iq_data) - + if len(velocity_axis) > 0 and len(doppler_spectrum) > 0: - self.ax2.plot(velocity_axis, doppler_spectrum, 'g-') - self.ax2.set_title('Doppler Spectrum') - self.ax2.set_xlabel('Velocity (m/s)') - self.ax2.set_ylabel('Magnitude') + self.ax2.plot(velocity_axis, doppler_spectrum, "g-") + self.ax2.set_title("Doppler Spectrum") + self.ax2.set_xlabel("Velocity (m/s)") + self.ax2.set_ylabel("Magnitude") self.ax2.grid(True) except Exception as e: logging.warning(f"Doppler spectrum plot error: {e}") - self.ax2.set_title('Doppler Spectrum - Error') - + self.ax2.set_title("Doppler Spectrum - Error") + # Plot 3: Range-Doppler map - if (self.processed_data.get('long') and - 'range_doppler_matrix' in self.processed_data['long'] and - self.processed_data['long']['range_doppler_matrix'].size > 0): - + if ( + self.processed_data.get("long") + and "range_doppler_matrix" in self.processed_data["long"] + and self.processed_data["long"]["range_doppler_matrix"].size > 0 + ): try: - rd_matrix = self.processed_data['long']['range_doppler_matrix'] + rd_matrix = self.processed_data["long"]["range_doppler_matrix"] # Use integer indices for extent extent = [0, int(rd_matrix.shape[1]), 0, int(rd_matrix.shape[0])] - - im = self.ax3.imshow(10 * np.log10(rd_matrix + 1e-9), - aspect='auto', cmap='hot', - extent=extent) - self.ax3.set_title('Range-Doppler Map (Long Chirps)') - self.ax3.set_xlabel('Doppler Bin') - self.ax3.set_ylabel('Range Bin') - self.fig.colorbar(im, ax=self.ax3, label='dB') + + im = self.ax3.imshow( + 10 * np.log10(rd_matrix + 1e-9), aspect="auto", cmap="hot", extent=extent + ) + self.ax3.set_title("Range-Doppler Map (Long Chirps)") + self.ax3.set_xlabel("Doppler Bin") + self.ax3.set_ylabel("Range Bin") + self.fig.colorbar(im, ax=self.ax3, label="dB") except Exception as e: logging.warning(f"Range-Doppler map plot error: {e}") - self.ax3.set_title('Range-Doppler Map - Error') - + self.ax3.set_title("Range-Doppler Map - Error") + # Plot 4: MTI filtered data if self.df is not None and len(self.df) > 0: try: sample_data = self.df.head(100) if len(sample_data) > 10: - iq_data = sample_data['I_value'].values + 1j * sample_data['Q_value'].values - + iq_data = sample_data["I_value"].values + 1j * sample_data["Q_value"].values + # Original data original_mag = np.abs(iq_data) - + # MTI filtered mti_filtered = self.processor.mti_filter(iq_data) - + if mti_filtered is not None and len(mti_filtered) > 0: mti_mag = np.abs(mti_filtered) - + # Use integer indices for plotting x_original = np.arange(len(original_mag)) x_mti = np.arange(len(mti_mag)) - - self.ax4.plot(x_original, original_mag, 'b-', label='Original', alpha=0.7) - self.ax4.plot(x_mti, mti_mag, 'r-', label='MTI Filtered', alpha=0.7) - self.ax4.set_title('MTI Filter Comparison') - self.ax4.set_xlabel('Sample Index') - self.ax4.set_ylabel('Magnitude') + + self.ax4.plot( + x_original, original_mag, "b-", label="Original", alpha=0.7 + ) + self.ax4.plot(x_mti, mti_mag, "r-", label="MTI Filtered", alpha=0.7) + self.ax4.set_title("MTI Filter Comparison") + self.ax4.set_xlabel("Sample Index") + self.ax4.set_ylabel("Magnitude") self.ax4.legend() self.ax4.grid(True) except Exception as e: logging.warning(f"MTI filter plot error: {e}") - self.ax4.set_title('MTI Filter - Error') - + self.ax4.set_title("MTI Filter - Error") + # Adjust layout and draw self.fig.tight_layout() self.canvas.draw() self.status_label.config(text="Status: Processing complete") - + except Exception as e: logging.error(f"Plot update error: {e}") error_msg = str(e) self.status_label.config(text=f"Status: Plot error - {error_msg}") - + def _update_cfar_results(self, range_axis, range_profile, detections): try: # Clear the plot self.ax1.clear() - + # Plot range profile - self.ax1.plot(range_axis, range_profile, 'b-', label='Range Profile') - + self.ax1.plot(range_axis, range_profile, "b-", label="Range Profile") + # Plot detections - ensure we use integer indices if detections and len(range_axis) > 0: detection_ranges = [] detection_mags = [] - + for bin_idx, mag in detections: # Convert bin_idx to integer and ensure it's within bounds bin_idx_int = int(bin_idx) if 0 <= bin_idx_int < len(range_axis): detection_ranges.append(range_axis[bin_idx_int]) detection_mags.append(mag) - + if detection_ranges: # Only plot if we have valid detections - self.ax1.plot(detection_ranges, detection_mags, 'ro', - markersize=8, label='CFAR Detections') - - self.ax1.set_title('Range Profile with CFAR Detections') - self.ax1.set_xlabel('Range (m)') - self.ax1.set_ylabel('Magnitude') + self.ax1.plot( + detection_ranges, + detection_mags, + "ro", + markersize=8, + label="CFAR Detections", + ) + + self.ax1.set_title("Range Profile with CFAR Detections") + self.ax1.set_xlabel("Range (m)") + self.ax1.set_ylabel("Magnitude") self.ax1.legend() self.ax1.grid(True) - + # Update targets list self.update_targets_list() - + self.canvas.draw() - self.status_label.config(text=f"Status: CFAR complete - {len(detections)} targets detected") - + self.status_label.config( + text=f"Status: CFAR complete - {len(detections)} targets detected" + ) + except Exception as e: logging.error(f"CFAR results update error: {e}") error_msg = str(e) self.status_label.config(text=f"Status: CFAR results error - {error_msg}") - + def update_targets_list(self): """Update the targets list display""" # Clear current list for item in self.targets_tree.get_children(): self.targets_tree.delete(item) - + # Add detected targets for i, target in enumerate(self.detected_targets): - self.targets_tree.insert('', 'end', values=( - f"{target.range:.1f}", - f"{target.velocity:.1f}", - f"{target.azimuth}", - f"{target.elevation}", - f"{target.snr:.1f}", - target.chirp_type - )) - + self.targets_tree.insert( + "", + "end", + values=( + f"{target.range:.1f}", + f"{target.velocity:.1f}", + f"{target.azimuth}", + f"{target.elevation}", + f"{target.snr:.1f}", + target.chirp_type, + ), + ) + def update_gui(self): """Periodic GUI update""" # You can add any periodic updates here self.root.after(100, self.update_gui) + def main(): """Main application entry point""" try: root = tk.Tk() - app = RadarGUI(root) + _app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + if __name__ == "__main__": main() diff --git a/9_Firmware/9_3_GUI/GUI_V5.py b/9_Firmware/9_3_GUI/GUI_V5.py index 972e6ae..6de79d7 100644 --- a/9_Firmware/9_3_GUI/GUI_V5.py +++ b/9_Firmware/9_3_GUI/GUI_V5.py @@ -8,11 +8,8 @@ import numpy as np import matplotlib.pyplot as plt from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from matplotlib.figure import Figure -import matplotlib.patches as patches import logging from dataclasses import dataclass -from typing import Dict, List, Tuple, Optional -from scipy import signal from sklearn.cluster import DBSCAN from filterpy.kalman import KalmanFilter import crcmod @@ -24,6 +21,7 @@ import os try: import usb.core import usb.util + USB_AVAILABLE = True except ImportError: USB_AVAILABLE = False @@ -32,13 +30,14 @@ except ImportError: try: from pyftdi.ftdi import Ftdi from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True except ImportError: FTDI_AVAILABLE = False logging.warning("pyftdi not available. FTDI functionality will be disabled.") # Configure logging -logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') +logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") # Dark theme colors DARK_BG = "#2b2b2b" @@ -47,23 +46,24 @@ DARK_ACCENT = "#3c3f41" DARK_HIGHLIGHT = "#4e5254" DARK_BORDER = "#555555" DARK_TEXT = "#cccccc" -DARK_BUTTON = "#3c3f41" -DARK_BUTTON_HOVER = "#4e5254" -DARK_TREEVIEW = "#3c3f41" -DARK_TREEVIEW_ALT = "#404040" - -RADAR_SETTINGS_LIMITS = { - 'system_frequency': (1e9, 100e9), - 'chirp_duration_1': (1e-6, 1000e-6), - 'chirp_duration_2': (0.1e-6, 10e-6), - 'chirps_per_position': (1, 256), - 'freq_min': (1e6, 100e6), - 'freq_max': (1e6, 100e6), - 'prf1': (100, 10000), - 'prf2': (100, 10000), - 'max_distance': (100, 100000), - 'map_size': (1000, 200000), -} +DARK_BUTTON = "#3c3f41" +DARK_BUTTON_HOVER = "#4e5254" +DARK_TREEVIEW = "#3c3f41" +DARK_TREEVIEW_ALT = "#404040" + +RADAR_SETTINGS_LIMITS = { + "system_frequency": (1e9, 100e9), + "chirp_duration_1": (1e-6, 1000e-6), + "chirp_duration_2": (0.1e-6, 10e-6), + "chirps_per_position": (1, 256), + "freq_min": (1e6, 100e6), + "freq_max": (1e6, 100e6), + "prf1": (100, 10000), + "prf2": (100, 10000), + "max_distance": (100, 100000), + "map_size": (1000, 200000), +} + @dataclass class RadarTarget: @@ -78,6 +78,7 @@ class RadarTarget: timestamp: float = 0.0 track_id: int = -1 + @dataclass class RadarSettings: system_frequency: float = 10e9 @@ -91,6 +92,7 @@ class RadarSettings: max_distance: float = 50000 map_size: float = 50000 # Map size in meters + @dataclass class GPSData: latitude: float @@ -99,6 +101,7 @@ class GPSData: pitch: float # Pitch angle in degrees timestamp: float + class MapGenerator: def __init__(self): self.map_html_template = """ @@ -256,7 +259,7 @@ class MapGenerator: """ - + def generate_map(self, gps_data, targets, coverage_radius, api_key="YOUR_GOOGLE_MAPS_API_KEY"): """Generate HTML map with radar and targets""" # Convert targets to map coordinates @@ -264,26 +267,27 @@ class MapGenerator: for target in targets: # Convert polar coordinates (range, azimuth) to geographic coordinates target_lat, target_lon = self.polar_to_geographic( - gps_data.latitude, gps_data.longitude, - target.range, target.azimuth + gps_data.latitude, gps_data.longitude, target.range, target.azimuth ) - map_targets.append({ - 'id': target.track_id, - 'lat': target_lat, - 'lng': target_lon, - 'range': target.range, - 'velocity': target.velocity, - 'azimuth': target.azimuth, - 'elevation': target.elevation, - 'snr': target.snr - }) - + map_targets.append( + { + "id": target.track_id, + "lat": target_lat, + "lng": target_lon, + "range": target.range, + "velocity": target.velocity, + "azimuth": target.azimuth, + "elevation": target.elevation, + "snr": target.snr, + } + ) + # Generate targets script targets_script = "" if map_targets: targets_json = str(map_targets).replace("'", '"') targets_script = f"updateTargets({targets_json});" - + # Fill template map_html = self.map_html_template.format( lat=gps_data.latitude, @@ -292,11 +296,11 @@ class MapGenerator: pitch=gps_data.pitch, coverage_radius=coverage_radius, targets_script=targets_script, - api_key=api_key + api_key=api_key, ) - + return map_html - + def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): """ Convert polar coordinates (range, azimuth) to geographic coordinates @@ -304,32 +308,35 @@ class MapGenerator: """ # Earth radius in meters earth_radius = 6371000 - + # Convert azimuth to radians (0° = North, 90° = East) azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention - + # Convert range to angular distance angular_distance = range_m / earth_radius - + # Convert to geographic coordinates target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) - target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (180 / math.pi) / math.cos(math.radians(radar_lat)) - + target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * ( + 180 / math.pi + ) / math.cos(math.radians(radar_lat)) + return target_lat, target_lon + class STM32USBInterface: def __init__(self): self.device = None self.is_open = False self.ep_in = None self.ep_out = None - + def list_devices(self): """List available STM32 USB CDC devices""" if not USB_AVAILABLE: logging.warning("USB not available - please install pyusb") return [] - + try: devices = [] # STM32 USB CDC devices typically use these vendor/product IDs @@ -341,82 +348,98 @@ class STM32USBInterface: (0x0483, 0x374E), # STM32 CDC (0x0483, 0x3752), # STM32 CDC ] - + for vid, pid in stm32_vid_pids: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: - product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" - devices.append({ - 'description': f"{product} ({serial})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - except: - devices.append({ - 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - + product = ( + usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + ) + serial = ( + usb.util.get_string(dev, dev.iSerialNumber) + if dev.iSerialNumber + else "Unknown" + ) + devices.append( + { + "description": f"{product} ({serial})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + except Exception: + devices.append( + { + "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + return devices except Exception as e: logging.error(f"Error listing USB devices: {e}") # Return mock devices for testing - return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] - + return [ + {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} + ] + def open_device(self, device_info): """Open STM32 USB CDC device""" if not USB_AVAILABLE: logging.error("USB not available - cannot open device") return False - + try: - self.device = device_info['device'] - + self.device = device_info["device"] + # Detach kernel driver if active if self.device.is_kernel_driver_active(0): self.device.detach_kernel_driver(0) - + # Set configuration self.device.set_configuration() - + # Get CDC endpoints cfg = self.device.get_active_configuration() - intf = cfg[(0,0)] - + intf = cfg[(0, 0)] + # Find bulk endpoints (CDC data interface) self.ep_out = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ), ) - + self.ep_in = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ), ) - + if self.ep_out is None or self.ep_in is None: logging.error("Could not find CDC endpoints") return False - + self.is_open = True logging.info(f"STM32 USB device opened: {device_info['description']}") return True - + except Exception as e: logging.error(f"Error opening USB device: {e}") return False - + def send_start_flag(self): """Step 12: Send start flag to STM32 via USB""" start_packet = bytes([23, 46, 158, 237]) logging.info("Sending start flag to STM32 via USB...") return self._send_data(start_packet) - + def send_settings(self, settings): """Step 13: Send radar settings to STM32 via USB""" try: @@ -426,12 +449,12 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error sending settings via USB: {e}") return False - + def read_data(self, size=64, timeout=1000): """Read data from STM32 via USB""" if not self.is_open or self.ep_in is None: return None - + try: data = self.ep_in.read(size, timeout=timeout) return bytes(data) @@ -443,43 +466,43 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error reading from USB: {e}") return None - + def _send_data(self, data): """Send data to STM32 via USB""" if not self.is_open or self.ep_out is None: return False - + try: # USB CDC typically uses 64-byte packets packet_size = 64 for i in range(0, len(data), packet_size): - chunk = data[i:i + packet_size] + chunk = data[i : i + packet_size] # Pad to packet size if needed if len(chunk) < packet_size: - chunk += b'\x00' * (packet_size - len(chunk)) + chunk += b"\x00" * (packet_size - len(chunk)) self.ep_out.write(chunk) - + return True except Exception as e: logging.error(f"Error sending data via USB: {e}") return False - + def _create_settings_packet(self, settings): """Create binary settings packet for USB transmission""" - packet = b'SET' - packet += struct.pack('>d', settings.system_frequency) - packet += struct.pack('>d', settings.chirp_duration_1) - packet += struct.pack('>d', settings.chirp_duration_2) - packet += struct.pack('>I', settings.chirps_per_position) - packet += struct.pack('>d', settings.freq_min) - packet += struct.pack('>d', settings.freq_max) - packet += struct.pack('>d', settings.prf1) - packet += struct.pack('>d', settings.prf2) - packet += struct.pack('>d', settings.max_distance) - packet += struct.pack('>d', settings.map_size) - packet += b'END' + packet = b"SET" + packet += struct.pack(">d", settings.system_frequency) + packet += struct.pack(">d", settings.chirp_duration_1) + packet += struct.pack(">d", settings.chirp_duration_2) + packet += struct.pack(">I", settings.chirps_per_position) + packet += struct.pack(">d", settings.freq_min) + packet += struct.pack(">d", settings.freq_max) + packet += struct.pack(">d", settings.prf1) + packet += struct.pack(">d", settings.prf2) + packet += struct.pack(">d", settings.max_distance) + packet += struct.pack(">d", settings.map_size) + packet += b"END" return packet - + def close(self): """Close USB device""" if self.device and self.is_open: @@ -489,63 +512,63 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error closing USB device: {e}") + class FTDIInterface: def __init__(self): self.ftdi = None self.is_open = False - + def list_devices(self): """List available FTDI devices using pyftdi""" if not FTDI_AVAILABLE: logging.warning("FTDI not available - please install pyftdi") return [] - + try: devices = [] # Get list of all FTDI devices for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append({ - 'description': f"FTDI Device {device}", - 'url': f"ftdi://{device}/1" - }) + devices.append( + {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} + ) return devices except Exception as e: logging.error(f"Error listing FTDI devices: {e}") # Return mock devices for testing - return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] - + return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] + def open_device(self, device_url): """Open FTDI device using pyftdi""" if not FTDI_AVAILABLE: logging.error("FTDI not available - cannot open device") return False - + try: self.ftdi = Ftdi() self.ftdi.open_from_url(device_url) - + # Configure for synchronous FIFO mode self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - + # Set latency timer self.ftdi.set_latency_timer(2) - + # Purge buffers self.ftdi.purge_buffers() - + self.is_open = True logging.info(f"FTDI device opened: {device_url}") return True - + except Exception as e: logging.error(f"Error opening FTDI device: {e}") return False - + def read_data(self, bytes_to_read): """Read data from FTDI""" if not self.is_open or self.ftdi is None: return None - + try: data = self.ftdi.read_data(bytes_to_read) if data: @@ -554,13 +577,14 @@ class FTDIInterface: except Exception as e: logging.error(f"Error reading from FTDI: {e}") return None - + def close(self): """Close FTDI device""" if self.ftdi and self.is_open: self.ftdi.close() self.is_open = False + class RadarProcessor: def __init__(self): self.range_doppler_map = np.zeros((1024, 32)) @@ -568,73 +592,75 @@ class RadarProcessor: self.track_id_counter = 0 self.tracks = {} self.frame_count = 0 - + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): """Dual-CPI fusion for better detection""" fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) return fused_profile - + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): """Multi-PRF velocity unwrapping""" lambda_wavelength = 3e8 / 10e9 v_max1 = prf1 * lambda_wavelength / 2 v_max2 = prf2 * lambda_wavelength / 2 - + unwrapped_velocities = [] for doppler in doppler_measurements: v1 = doppler * lambda_wavelength / 2 v2 = doppler * lambda_wavelength / 2 - + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) unwrapped_velocities.append(velocity) - + return unwrapped_velocities - + def _solve_chinese_remainder(self, v1, v2, max1, max2): for k in range(-5, 6): candidate = v1 + k * max1 if abs(candidate - v2) < max2 / 2: return candidate return v1 - + def clustering(self, detections, eps=100, min_samples=2): """DBSCAN clustering of detections""" if len(detections) == 0: return [] - + points = np.array([[d.range, d.velocity] for d in detections]) clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - + clusters = [] for label in set(clustering.labels_): if label != -1: cluster_points = points[clustering.labels_ == label] - clusters.append({ - 'center': np.mean(cluster_points, axis=0), - 'points': cluster_points, - 'size': len(cluster_points) - }) - + clusters.append( + { + "center": np.mean(cluster_points, axis=0), + "points": cluster_points, + "size": len(cluster_points), + } + ) + return clusters - + def association(self, detections, clusters): """Association of detections to tracks""" associated_detections = [] - + for detection in detections: best_track = None - min_distance = float('inf') - + min_distance = float("inf") + for track_id, track in self.tracks.items(): distance = np.sqrt( - (detection.range - track['state'][0])**2 + - (detection.velocity - track['state'][2])**2 + (detection.range - track["state"][0]) ** 2 + + (detection.velocity - track["state"][2]) ** 2 ) - + if distance < min_distance and distance < 500: min_distance = distance best_track = track_id - + if best_track is not None: detection.track_id = best_track associated_detections.append(detection) @@ -642,160 +668,167 @@ class RadarProcessor: detection.track_id = self.track_id_counter self.track_id_counter += 1 associated_detections.append(detection) - + return associated_detections - + def tracking(self, associated_detections): """Kalman filter tracking""" current_time = time.time() - + for detection in associated_detections: if detection.track_id not in self.tracks: kf = KalmanFilter(dim_x=4, dim_z=2) kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], - [0, 1, 0, 0], - [0, 0, 1, 1], - [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], - [0, 0, 1, 0]]) + kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) kf.P *= 1000 kf.R = np.diag([10, 1]) kf.Q = np.eye(4) * 0.1 - + self.tracks[detection.track_id] = { - 'filter': kf, - 'state': kf.x, - 'last_update': current_time, - 'hits': 1 + "filter": kf, + "state": kf.x, + "last_update": current_time, + "hits": 1, } else: track = self.tracks[detection.track_id] - track['filter'].predict() - track['filter'].update([detection.range, detection.velocity]) - track['state'] = track['filter'].x - track['last_update'] = current_time - track['hits'] += 1 - - stale_tracks = [tid for tid, track in self.tracks.items() - if current_time - track['last_update'] > 5.0] + track["filter"].predict() + track["filter"].update([detection.range, detection.velocity]) + track["state"] = track["filter"].x + track["last_update"] = current_time + track["hits"] += 1 + + stale_tracks = [ + tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 + ] for tid in stale_tracks: del self.tracks[tid] + class USBPacketParser: def __init__(self): self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_gps_data(self, data): """Parse GPS data from STM32 USB CDC with pitch angle""" if not data: return None - + try: # Try text format first: "GPS:lat,lon,alt,pitch\r\n" - text_data = data.decode('utf-8', errors='ignore').strip() - if text_data.startswith('GPS:'): - parts = text_data.split(':')[1].split(',') + text_data = data.decode("utf-8", errors="ignore").strip() + if text_data.startswith("GPS:"): + parts = text_data.split(":")[1].split(",") if len(parts) == 4: # Now expecting 4 values lat = float(parts[0]) lon = float(parts[1]) alt = float(parts[2]) pitch = float(parts[3]) # Pitch angle in degrees - return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) - + return GPSData( + latitude=lat, + longitude=lon, + altitude=alt, + pitch=pitch, + timestamp=time.time(), + ) + # Try binary format (30 bytes with pitch) - if len(data) >= 30 and data[0:4] == b'GPSB': + if len(data) >= 30 and data[0:4] == b"GPSB": return self._parse_binary_gps_with_pitch(data) - + except Exception as e: logging.error(f"Error parsing GPS data: {e}") - + return None - + def _parse_binary_gps_with_pitch(self, data): """Parse binary GPS format with pitch angle (30 bytes)""" try: # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] if len(data) < 30: return None - + # Verify CRC (simple checksum) crc_received = (data[28] << 8) | data[29] crc_calculated = sum(data[0:28]) & 0xFFFF - + if crc_received != crc_calculated: logging.warning("GPS CRC mismatch") return None - + # Parse latitude (double, big-endian) lat_bits = 0 for i in range(8): lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] - + latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] + # Parse longitude (double, big-endian) lon_bits = 0 for i in range(8): lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] - + longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] + # Parse altitude (float, big-endian) alt_bits = 0 for i in range(4): alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] - + altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] + # Parse pitch angle (float, big-endian) pitch_bits = 0 for i in range(4): pitch_bits = (pitch_bits << 8) | data[24 + i] - pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] - + pitch = struct.unpack(">f", struct.pack(">I", pitch_bits))[0] + return GPSData( - latitude=latitude, - longitude=longitude, - altitude=altitude, - pitch=pitch, - timestamp=time.time() + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time(), ) - + except Exception as e: logging.error(f"Error parsing binary GPS with pitch: {e}") return None + class RadarPacketParser: def __init__(self): - self.sync_pattern = b'\xA5\xC3' + self.sync_pattern = b"\xa5\xc3" self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_packet(self, data): if len(data) < 6: return None - + sync_index = data.find(self.sync_pattern) if sync_index == -1: return None - + packet = data[sync_index:] - + if len(packet) < 6: return None - - sync = packet[0:2] + + _sync = packet[0:2] packet_type = packet[2] length = packet[3] - + if len(packet) < (4 + length + 2): return None - - payload = packet[4:4+length] - crc_received = struct.unpack('I', payload[0:4])[0] + range_value = struct.unpack(">I", payload[0:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'range', - 'range': range_value, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "range", + "range": range_value, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing range packet: {e}") return None - + def parse_doppler_packet(self, payload): if len(payload) < 12: return None - + try: - doppler_real = struct.unpack('>h', payload[0:2])[0] - doppler_imag = struct.unpack('>h', payload[2:4])[0] + doppler_real = struct.unpack(">h", payload[0:2])[0] + doppler_imag = struct.unpack(">h", payload[2:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'doppler', - 'doppler_real': doppler_real, - 'doppler_imag': doppler_imag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "doppler", + "doppler_real": doppler_real, + "doppler_imag": doppler_imag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing Doppler packet: {e}") return None - + def parse_detection_packet(self, payload): if len(payload) < 8: return None - + try: detection_flag = (payload[0] & 0x01) != 0 elevation = payload[1] & 0x1F azimuth = payload[2] & 0x3F chirp_counter = payload[3] & 0x1F - + return { - 'type': 'detection', - 'detected': detection_flag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "detection", + "detected": detection_flag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing detection packet: {e}") return None + class RadarGUI: def __init__(self, root): self.root = root self.root.title("Advanced Radar System GUI - USB CDC with Google Maps") self.root.geometry("1400x900") - + # Apply dark theme to root window self.root.configure(bg=DARK_BG) - + # Configure ttk style for dark theme self.style = ttk.Style() - self.style.theme_use('clam') # Use 'clam' as base for better customization - + self.style.theme_use("clam") # Use 'clam' as base for better customization + # Configure dark theme colors self.configure_dark_theme() - + # Initialize interfaces self.stm32_usb_interface = STM32USBInterface() self.ftdi_interface = FTDIInterface() @@ -901,306 +935,324 @@ class RadarGUI: self.radar_packet_parser = RadarPacketParser() self.map_generator = MapGenerator() self.settings = RadarSettings() - + # Data queues self.radar_data_queue = queue.Queue() self.gps_data_queue = queue.Queue() - + # Thread control self.running = False self.radar_thread = None self.gps_thread = None - + # Counters self.received_packets = 0 - self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.current_gps = GPSData( + latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0 + ) self.corrected_elevations = [] # Store corrected elevation values self.map_file_path = None self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" # Replace with your API key - + self.create_gui() self.start_background_threads() - + def configure_dark_theme(self): """Configure ttk style for dark mercury theme""" - self.style.configure('.', - background=DARK_BG, - foreground=DARK_FG, - fieldbackground=DARK_ACCENT, - selectbackground=DARK_HIGHLIGHT, - selectforeground=DARK_FG, - troughcolor=DARK_ACCENT, - borderwidth=1, - focuscolor=DARK_BORDER) - + self.style.configure( + ".", + background=DARK_BG, + foreground=DARK_FG, + fieldbackground=DARK_ACCENT, + selectbackground=DARK_HIGHLIGHT, + selectforeground=DARK_FG, + troughcolor=DARK_ACCENT, + borderwidth=1, + focuscolor=DARK_BORDER, + ) + # Configure specific widgets - self.style.configure('TFrame', background=DARK_BG) - self.style.configure('TLabel', background=DARK_BG, foreground=DARK_FG) - self.style.configure('TButton', - background=DARK_BUTTON, - foreground=DARK_FG, - borderwidth=1, - focuscolor=DARK_BORDER) - self.style.map('TButton', - background=[('active', DARK_BUTTON_HOVER), - ('pressed', DARK_HIGHLIGHT)]) - - self.style.configure('TCombobox', - fieldbackground=DARK_ACCENT, - background=DARK_BG, - foreground=DARK_FG, - arrowcolor=DARK_FG) - self.style.map('TCombobox', - fieldbackground=[('readonly', DARK_ACCENT)], - selectbackground=[('readonly', DARK_HIGHLIGHT)], - selectforeground=[('readonly', DARK_FG)]) - - self.style.configure('TNotebook', background=DARK_BG, borderwidth=0) - self.style.configure('TNotebook.Tab', - background=DARK_ACCENT, - foreground=DARK_FG, - padding=[10, 5]) - self.style.map('TNotebook.Tab', - background=[('selected', DARK_HIGHLIGHT), - ('active', DARK_BUTTON_HOVER)]) - - self.style.configure('Treeview', - background=DARK_TREEVIEW, - foreground=DARK_FG, - fieldbackground=DARK_TREEVIEW, - borderwidth=0) - self.style.map('Treeview', - background=[('selected', DARK_HIGHLIGHT)]) - - self.style.configure('Treeview.Heading', - background=DARK_ACCENT, - foreground=DARK_FG, - relief='flat') - self.style.map('Treeview.Heading', - background=[('active', DARK_BUTTON_HOVER)]) - - self.style.configure('TEntry', - fieldbackground=DARK_ACCENT, - foreground=DARK_FG, - insertcolor=DARK_FG) - - self.style.configure('Vertical.TScrollbar', - background=DARK_ACCENT, - troughcolor=DARK_BG, - borderwidth=0, - arrowsize=12) - self.style.configure('Horizontal.TScrollbar', - background=DARK_ACCENT, - troughcolor=DARK_BG, - borderwidth=0, - arrowsize=12) - - self.style.configure('TLabelFrame', - background=DARK_BG, - foreground=DARK_FG, - bordercolor=DARK_BORDER) - self.style.configure('TLabelFrame.Label', - background=DARK_BG, - foreground=DARK_FG) - + self.style.configure("TFrame", background=DARK_BG) + self.style.configure("TLabel", background=DARK_BG, foreground=DARK_FG) + self.style.configure( + "TButton", + background=DARK_BUTTON, + foreground=DARK_FG, + borderwidth=1, + focuscolor=DARK_BORDER, + ) + self.style.map( + "TButton", background=[("active", DARK_BUTTON_HOVER), ("pressed", DARK_HIGHLIGHT)] + ) + + self.style.configure( + "TCombobox", + fieldbackground=DARK_ACCENT, + background=DARK_BG, + foreground=DARK_FG, + arrowcolor=DARK_FG, + ) + self.style.map( + "TCombobox", + fieldbackground=[("readonly", DARK_ACCENT)], + selectbackground=[("readonly", DARK_HIGHLIGHT)], + selectforeground=[("readonly", DARK_FG)], + ) + + self.style.configure("TNotebook", background=DARK_BG, borderwidth=0) + self.style.configure( + "TNotebook.Tab", background=DARK_ACCENT, foreground=DARK_FG, padding=[10, 5] + ) + self.style.map( + "TNotebook.Tab", + background=[("selected", DARK_HIGHLIGHT), ("active", DARK_BUTTON_HOVER)], + ) + + self.style.configure( + "Treeview", + background=DARK_TREEVIEW, + foreground=DARK_FG, + fieldbackground=DARK_TREEVIEW, + borderwidth=0, + ) + self.style.map("Treeview", background=[("selected", DARK_HIGHLIGHT)]) + + self.style.configure( + "Treeview.Heading", background=DARK_ACCENT, foreground=DARK_FG, relief="flat" + ) + self.style.map("Treeview.Heading", background=[("active", DARK_BUTTON_HOVER)]) + + self.style.configure( + "TEntry", fieldbackground=DARK_ACCENT, foreground=DARK_FG, insertcolor=DARK_FG + ) + + self.style.configure( + "Vertical.TScrollbar", + background=DARK_ACCENT, + troughcolor=DARK_BG, + borderwidth=0, + arrowsize=12, + ) + self.style.configure( + "Horizontal.TScrollbar", + background=DARK_ACCENT, + troughcolor=DARK_BG, + borderwidth=0, + arrowsize=12, + ) + + self.style.configure( + "TLabelFrame", background=DARK_BG, foreground=DARK_FG, bordercolor=DARK_BORDER + ) + self.style.configure("TLabelFrame.Label", background=DARK_BG, foreground=DARK_FG) + def create_gui(self): """Create the main GUI with tabs""" self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill='both', expand=True, padx=10, pady=10) - + self.notebook.pack(fill="both", expand=True, padx=10, pady=10) + self.tab_main = ttk.Frame(self.notebook) self.tab_map = ttk.Frame(self.notebook) self.tab_diagnostics = ttk.Frame(self.notebook) self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text='Main View') - self.notebook.add(self.tab_map, text='Map View') - self.notebook.add(self.tab_diagnostics, text='Diagnostics') - self.notebook.add(self.tab_settings, text='Settings') - + + self.notebook.add(self.tab_main, text="Main View") + self.notebook.add(self.tab_map, text="Map View") + self.notebook.add(self.tab_diagnostics, text="Diagnostics") + self.notebook.add(self.tab_settings, text="Settings") + self.setup_main_tab() self.setup_map_tab() self.setup_settings_tab() - + def setup_main_tab(self): """Setup the main radar display tab""" # Control frame control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill='x', padx=10, pady=5) - + control_frame.pack(fill="x", padx=10, pady=5) + # USB Device selection ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) self.stm32_usb_combo.grid(row=0, column=1, padx=5) - + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", - command=self.refresh_devices).grid(row=0, column=4, padx=5) - - self.start_button = ttk.Button(control_frame, text="Start Radar", - command=self.start_radar) + + ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( + row=0, column=4, padx=5 + ) + + self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button(control_frame, text="Stop Radar", - command=self.stop_radar, state="disabled") + + self.stop_button = ttk.Button( + control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" + ) self.stop_button.grid(row=0, column=6, padx=5) - + # GPS and Pitch info self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) - + self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) + # Pitch display self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) - + # Status info self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) - + self.status_label.grid(row=1, column=6, sticky="e", padx=5, pady=2) + # Main display area display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill='both', expand=True, padx=10, pady=5) - + display_frame.pack(fill="both", expand=True, padx=10, pady=5) + # Range-Doppler Map with dark theme - plt.style.use('dark_background') + plt.style.use("dark_background") fig = Figure(figsize=(10, 6), facecolor=DARK_BG) self.range_doppler_ax = fig.add_subplot(111, facecolor=DARK_ACCENT) self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect='auto', cmap='hot', - extent=[0, 32, 0, 1024]) - self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)', color=DARK_FG) - self.range_doppler_ax.set_xlabel('Doppler Bin', color=DARK_FG) - self.range_doppler_ax.set_ylabel('Range Bin', color=DARK_FG) + np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] + ) + self.range_doppler_ax.set_title("Range-Doppler Map (Pitch Corrected)", color=DARK_FG) + self.range_doppler_ax.set_xlabel("Doppler Bin", color=DARK_FG) + self.range_doppler_ax.set_ylabel("Range Bin", color=DARK_FG) self.range_doppler_ax.tick_params(colors=DARK_FG) - self.range_doppler_ax.spines['bottom'].set_color(DARK_FG) - self.range_doppler_ax.spines['top'].set_color(DARK_FG) - self.range_doppler_ax.spines['left'].set_color(DARK_FG) - self.range_doppler_ax.spines['right'].set_color(DARK_FG) - + self.range_doppler_ax.spines["bottom"].set_color(DARK_FG) + self.range_doppler_ax.spines["top"].set_color(DARK_FG) + self.range_doppler_ax.spines["left"].set_color(DARK_FG) + self.range_doppler_ax.spines["right"].set_color(DARK_FG) + self.canvas = FigureCanvasTkAgg(fig, display_frame) self.canvas.draw() - self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) - + self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) + # Targets list with corrected elevation targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") - targets_frame.pack(side='right', fill='y', padx=5) - - self.targets_tree = ttk.Treeview(targets_frame, - columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), - show='headings', height=20) - self.targets_tree.heading('ID', text='Track ID') - self.targets_tree.heading('Range', text='Range (m)') - self.targets_tree.heading('Velocity', text='Velocity (m/s)') - self.targets_tree.heading('Azimuth', text='Azimuth') - self.targets_tree.heading('Elevation', text='Raw Elev') - self.targets_tree.heading('Corrected Elev', text='Corr Elev') - self.targets_tree.heading('SNR', text='SNR (dB)') - - self.targets_tree.column('ID', width=70) - self.targets_tree.column('Range', width=90) - self.targets_tree.column('Velocity', width=90) - self.targets_tree.column('Azimuth', width=70) - self.targets_tree.column('Elevation', width=70) - self.targets_tree.column('Corrected Elev', width=70) - self.targets_tree.column('SNR', width=70) - + targets_frame.pack(side="right", fill="y", padx=5) + + self.targets_tree = ttk.Treeview( + targets_frame, + columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "Corrected Elev", "SNR"), + show="headings", + height=20, + ) + self.targets_tree.heading("ID", text="Track ID") + self.targets_tree.heading("Range", text="Range (m)") + self.targets_tree.heading("Velocity", text="Velocity (m/s)") + self.targets_tree.heading("Azimuth", text="Azimuth") + self.targets_tree.heading("Elevation", text="Raw Elev") + self.targets_tree.heading("Corrected Elev", text="Corr Elev") + self.targets_tree.heading("SNR", text="SNR (dB)") + + self.targets_tree.column("ID", width=70) + self.targets_tree.column("Range", width=90) + self.targets_tree.column("Velocity", width=90) + self.targets_tree.column("Azimuth", width=70) + self.targets_tree.column("Elevation", width=70) + self.targets_tree.column("Corrected Elev", width=70) + self.targets_tree.column("SNR", width=70) + # Add scrollbar to targets tree - tree_scroll = ttk.Scrollbar(targets_frame, orient="vertical", command=self.targets_tree.yview) + tree_scroll = ttk.Scrollbar( + targets_frame, orient="vertical", command=self.targets_tree.yview + ) self.targets_tree.configure(yscrollcommand=tree_scroll.set) - self.targets_tree.pack(side='left', fill='both', expand=True, padx=5, pady=5) - tree_scroll.pack(side='right', fill='y', padx=(0, 5), pady=5) - + self.targets_tree.pack(side="left", fill="both", expand=True, padx=5, pady=5) + tree_scroll.pack(side="right", fill="y", padx=(0, 5), pady=5) + def setup_map_tab(self): """Setup the map display tab with Google Maps""" map_frame = ttk.Frame(self.tab_map) - map_frame.pack(fill='both', expand=True, padx=10, pady=10) - + map_frame.pack(fill="both", expand=True, padx=10, pady=10) + # Map controls controls_frame = ttk.Frame(map_frame) - controls_frame.pack(fill='x', pady=5) - - ttk.Button(controls_frame, text="Open Map in Browser", - command=self.open_map_in_browser).pack(side='left', padx=5) - - ttk.Button(controls_frame, text="Refresh Map", - command=self.refresh_map).pack(side='left', padx=5) - + controls_frame.pack(fill="x", pady=5) + + ttk.Button( + controls_frame, text="Open Map in Browser", command=self.open_map_in_browser + ).pack(side="left", padx=5) + + ttk.Button(controls_frame, text="Refresh Map", command=self.refresh_map).pack( + side="left", padx=5 + ) + self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") - self.map_status_label.pack(side='left', padx=20) - + self.map_status_label.pack(side="left", padx=20) + # Map info display info_frame = ttk.Frame(map_frame) - info_frame.pack(fill='x', pady=5) - - self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) + info_frame.pack(fill="x", pady=5) + + self.map_info_label = ttk.Label( + info_frame, text="No GPS data received yet", font=("Arial", 10) + ) self.map_info_label.pack() - - def setup_settings_tab(self): - """Setup the settings tab with additional chirp durations and map size""" - settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill='both', expand=True, padx=10, pady=10) - + + def setup_settings_tab(self): + """Setup the settings tab with additional chirp durations and map size""" + settings_frame = ttk.Frame(self.tab_settings) + settings_frame.pack(fill="both", expand=True, padx=10, pady=10) + entries = [ - ('System Frequency (Hz):', 'system_frequency', 10e9), - ('Chirp Duration 1 - Long (s):', 'chirp_duration_1', 30e-6), - ('Chirp Duration 2 - Short (s):', 'chirp_duration_2', 0.5e-6), - ('Chirps per Position:', 'chirps_per_position', 32), - ('Frequency Min (Hz):', 'freq_min', 10e6), - ('Frequency Max (Hz):', 'freq_max', 30e6), - ('PRF1 (Hz):', 'prf1', 1000), - ('PRF2 (Hz):', 'prf2', 2000), - ('Max Distance (m):', 'max_distance', 50000), - ('Map Size (m):', 'map_size', 50000), - ('Google Maps API Key:', 'google_maps_api_key', 'YOUR_GOOGLE_MAPS_API_KEY') + ("System Frequency (Hz):", "system_frequency", 10e9), + ("Chirp Duration 1 - Long (s):", "chirp_duration_1", 30e-6), + ("Chirp Duration 2 - Short (s):", "chirp_duration_2", 0.5e-6), + ("Chirps per Position:", "chirps_per_position", 32), + ("Frequency Min (Hz):", "freq_min", 10e6), + ("Frequency Max (Hz):", "freq_max", 30e6), + ("PRF1 (Hz):", "prf1", 1000), + ("PRF2 (Hz):", "prf2", 2000), + ("Max Distance (m):", "max_distance", 50000), + ("Map Size (m):", "map_size", 50000), + ("Google Maps API Key:", "google_maps_api_key", "YOUR_GOOGLE_MAPS_API_KEY"), ] - + self.settings_vars = {} - + for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) var = tk.StringVar(value=str(default)) entry = ttk.Entry(settings_frame, textvariable=var, width=25) entry.grid(row=i, column=1, padx=5, pady=5) self.settings_vars[attr] = var - - ttk.Button(settings_frame, text="Apply Settings", - command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) - - def _parse_settings_from_form(self): - """Read settings from the UI and return a validated RadarSettings instance.""" - parsed_settings = RadarSettings( - system_frequency=float(self.settings_vars['system_frequency'].get()), - chirp_duration_1=float(self.settings_vars['chirp_duration_1'].get()), - chirp_duration_2=float(self.settings_vars['chirp_duration_2'].get()), - chirps_per_position=int(self.settings_vars['chirps_per_position'].get()), - freq_min=float(self.settings_vars['freq_min'].get()), - freq_max=float(self.settings_vars['freq_max'].get()), - prf1=float(self.settings_vars['prf1'].get()), - prf2=float(self.settings_vars['prf2'].get()), - max_distance=float(self.settings_vars['max_distance'].get()), - map_size=float(self.settings_vars['map_size'].get()), - ) - - self._validate_radar_settings(parsed_settings) - return parsed_settings - - def _validate_radar_settings(self, settings): - """Mirror the firmware-side range checks before sending settings to STM32.""" - for field_name, (minimum, maximum) in RADAR_SETTINGS_LIMITS.items(): - value = getattr(settings, field_name) - if value < minimum or value > maximum: - raise ValueError( - f"{field_name} must be between {minimum:g} and {maximum:g}." - ) - - if settings.freq_max <= settings.freq_min: - raise ValueError("freq_max must be greater than freq_min.") - - return True - + + ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( + row=len(entries), column=0, columnspan=2, pady=10 + ) + + def _parse_settings_from_form(self): + """Read settings from the UI and return a validated RadarSettings instance.""" + parsed_settings = RadarSettings( + system_frequency=float(self.settings_vars["system_frequency"].get()), + chirp_duration_1=float(self.settings_vars["chirp_duration_1"].get()), + chirp_duration_2=float(self.settings_vars["chirp_duration_2"].get()), + chirps_per_position=int(self.settings_vars["chirps_per_position"].get()), + freq_min=float(self.settings_vars["freq_min"].get()), + freq_max=float(self.settings_vars["freq_max"].get()), + prf1=float(self.settings_vars["prf1"].get()), + prf2=float(self.settings_vars["prf2"].get()), + max_distance=float(self.settings_vars["max_distance"].get()), + map_size=float(self.settings_vars["map_size"].get()), + ) + + self._validate_radar_settings(parsed_settings) + return parsed_settings + + def _validate_radar_settings(self, settings): + """Mirror the firmware-side range checks before sending settings to STM32.""" + for field_name, (minimum, maximum) in RADAR_SETTINGS_LIMITS.items(): + value = getattr(settings, field_name) + if value < minimum or value > maximum: + raise ValueError(f"{field_name} must be between {minimum:g} and {maximum:g}.") + + if settings.freq_max <= settings.freq_min: + raise ValueError("freq_max must be greater than freq_min.") + + return True + def apply_pitch_correction(self, raw_elevation, pitch_angle): """ Apply pitch correction to elevation angle @@ -1211,38 +1263,38 @@ class RadarGUI: # Convert to radians for trigonometric functions raw_elev_rad = math.radians(raw_elevation) pitch_rad = math.radians(pitch_angle) - + # Apply pitch correction: corrected_elev = raw_elev - pitch # This assumes the pitch angle is positive when antenna is tilted up corrected_elev_rad = raw_elev_rad - pitch_rad - + # Convert back to degrees and ensure it's within valid range corrected_elev_deg = math.degrees(corrected_elev_rad) - + # Normalize to 0-180 degree range corrected_elev_deg = corrected_elev_deg % 180 if corrected_elev_deg < 0: corrected_elev_deg += 180 - + return corrected_elev_deg - + def refresh_devices(self): """Refresh available USB devices""" # STM32 USB devices stm32_devices = self.stm32_usb_interface.list_devices() - stm32_names = [dev['description'] for dev in stm32_devices] - self.stm32_usb_combo['values'] = stm32_names - + stm32_names = [dev["description"] for dev in stm32_devices] + self.stm32_usb_combo["values"] = stm32_names + # FTDI devices ftdi_devices = self.ftdi_interface.list_devices() - ftdi_names = [dev['description'] for dev in ftdi_devices] - self.ftdi_combo['values'] = ftdi_names - + ftdi_names = [dev["description"] for dev in ftdi_devices] + self.ftdi_combo["values"] = ftdi_names + if stm32_names: self.stm32_usb_combo.current(0) if ftdi_names: self.ftdi_combo.current(0) - + def start_radar(self): """Step 11: Start button pressed - Begin radar operation""" try: @@ -1251,121 +1303,123 @@ class RadarGUI: if stm32_index == -1: messagebox.showerror("Error", "Please select an STM32 USB device") return - + stm32_devices = self.stm32_usb_interface.list_devices() if stm32_index >= len(stm32_devices): messagebox.showerror("Error", "Invalid STM32 device selection") return - + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): messagebox.showerror("Error", "Failed to open STM32 USB device") return - + # Open FTDI device if FTDI_AVAILABLE: ftdi_index = self.ftdi_combo.current() if ftdi_index != -1: ftdi_devices = self.ftdi_interface.list_devices() if ftdi_index < len(ftdi_devices): - device_url = ftdi_devices[ftdi_index]['url'] + device_url = ftdi_devices[ftdi_index]["url"] if not self.ftdi_interface.open_device(device_url): - logging.warning("Failed to open FTDI device, continuing without radar data") + logging.warning( + "Failed to open FTDI device, continuing without radar data" + ) else: logging.warning("No FTDI device selected, continuing without radar data") else: logging.warning("FTDI not available, continuing without radar data") - + # Step 12: Send start flag to STM32 via USB if not self.stm32_usb_interface.send_start_flag(): messagebox.showerror("Error", "Failed to send start flag to STM32") return - + # Step 13: Send settings to STM32 via USB self.apply_settings() - + # Start radar operation self.running = True self.start_button.config(state="disabled") self.stop_button.config(state="normal") self.status_label.config(text="Status: Radar running - Waiting for GPS data...") - + logging.info("Radar system started successfully via USB CDC") - + except Exception as e: messagebox.showerror("Error", f"Failed to start radar: {e}") logging.error(f"Start radar error: {e}") - + def stop_radar(self): """Stop radar operation""" self.running = False self.start_button.config(state="normal") self.stop_button.config(state="disabled") self.status_label.config(text="Status: Radar stopped") - + self.stm32_usb_interface.close() self.ftdi_interface.close() - + logging.info("Radar system stopped") - - def apply_settings(self): - """Step 13: Apply and send radar settings via USB""" - try: - parsed_settings = self._parse_settings_from_form() - self.google_maps_api_key = self.settings_vars['google_maps_api_key'].get() - - self.settings = parsed_settings - - if self.stm32_usb_interface.is_open: - if not self.stm32_usb_interface.send_settings(self.settings): - messagebox.showerror("Error", "Failed to send settings to STM32 via USB") - logging.error("Radar settings validation passed, but USB send failed") - return - - messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") - logging.info("Radar settings applied and sent via USB") - else: - messagebox.showinfo("Success", "Settings applied locally") - logging.info("Radar settings applied locally; STM32 USB is not connected") - - except ValueError as e: - messagebox.showerror("Error", f"Invalid setting value: {e}") - + + def apply_settings(self): + """Step 13: Apply and send radar settings via USB""" + try: + parsed_settings = self._parse_settings_from_form() + self.google_maps_api_key = self.settings_vars["google_maps_api_key"].get() + + self.settings = parsed_settings + + if self.stm32_usb_interface.is_open: + if not self.stm32_usb_interface.send_settings(self.settings): + messagebox.showerror("Error", "Failed to send settings to STM32 via USB") + logging.error("Radar settings validation passed, but USB send failed") + return + + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") + logging.info("Radar settings applied and sent via USB") + else: + messagebox.showinfo("Success", "Settings applied locally") + logging.info("Radar settings applied locally; STM32 USB is not connected") + + except ValueError as e: + messagebox.showerror("Error", f"Invalid setting value: {e}") + def start_background_threads(self): """Start background data processing threads""" self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) self.radar_thread.start() - + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) self.gps_thread.start() - + self.root.after(100, self.update_gui) - + def process_radar_data(self): """Step 39: Process incoming radar data from FTDI""" - buffer = b'' + buffer = b"" while True: if self.running and self.ftdi_interface.is_open: try: data = self.ftdi_interface.read_data(4096) if data: buffer += data - + while len(buffer) >= 6: packet = self.radar_packet_parser.parse_packet(buffer) if packet: self.process_radar_packet(packet) - packet_length = 4 + len(packet.get('payload', b'')) + 2 + packet_length = 4 + len(packet.get("payload", b"")) + 2 buffer = buffer[packet_length:] self.received_packets += 1 else: break - + except Exception as e: logging.error(f"Error processing radar data: {e}") time.sleep(0.1) else: time.sleep(0.1) - + def process_gps_data(self): """Step 16/17: Process GPS data from STM32 via USB CDC""" while True: @@ -1377,210 +1431,248 @@ class RadarGUI: gps_data = self.usb_packet_parser.parse_gps_data(data) if gps_data: self.gps_data_queue.put(gps_data) - logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + logging.info( + "GPS Data received via USB: " + f"Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m, " + f"Pitch {gps_data.pitch:.1f}°" + ) except Exception as e: logging.error(f"Error processing GPS data via USB: {e}") time.sleep(0.1) - + def process_radar_packet(self, packet): """Step 40: Process radar data and apply pitch correction""" try: - if packet['type'] == 'range': - range_meters = packet['range'] * 0.1 - + if packet["type"] == "range": + range_meters = packet["range"] * 0.1 + # Apply pitch correction to elevation - raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) - + raw_elevation = packet["elevation"] + corrected_elevation = self.apply_pitch_correction( + raw_elevation, self.current_gps.pitch + ) + # Store correction for display - self.corrected_elevations.append({ - 'raw': raw_elevation, - 'corrected': corrected_elevation, - 'pitch': self.current_gps.pitch, - 'timestamp': packet['timestamp'] - }) - + self.corrected_elevations.append( + { + "raw": raw_elevation, + "corrected": corrected_elevation, + "pitch": self.current_gps.pitch, + "timestamp": packet["timestamp"], + } + ) + # Keep only recent corrections if len(self.corrected_elevations) > 100: self.corrected_elevations = self.corrected_elevations[-100:] - + target = RadarTarget( - id=packet['chirp'], + id=packet["chirp"], range=range_meters, velocity=0, - azimuth=packet['azimuth'], + azimuth=packet["azimuth"], elevation=corrected_elevation, # Use corrected elevation snr=20.0, - timestamp=packet['timestamp'] + timestamp=packet["timestamp"], ) - + self.update_range_doppler_map(target) - - elif packet['type'] == 'doppler': + + elif packet["type"] == "doppler": lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + velocity = (packet["doppler_real"] / 32767.0) * ( + self.settings.prf1 * lambda_wavelength / 2 + ) self.update_target_velocity(packet, velocity) - - elif packet['type'] == 'detection': - if packet['detected']: + + elif packet["type"] == "detection": + if packet["detected"]: # Apply pitch correction to detection elevation - raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) - - logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") - + raw_elevation = packet["elevation"] + corrected_elevation = self.apply_pitch_correction( + raw_elevation, self.current_gps.pitch + ) + + logging.info( + f"CFAR Detection: Raw Elev {raw_elevation}°, " + f"Corrected Elev {corrected_elevation:.1f}°, " + f"Pitch {self.current_gps.pitch:.1f}°" + ) + except Exception as e: logging.error(f"Error processing radar packet: {e}") - + def update_range_doppler_map(self, target): """Update range-Doppler map with new target""" range_bin = min(int(target.range / 50), 1023) doppler_bin = min(abs(int(target.velocity)), 31) - + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 - + self.radar_processor.detected_targets.append(target) - + if len(self.radar_processor.detected_targets) > 100: self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] - + def update_target_velocity(self, packet, velocity): """Update target velocity information""" for target in self.radar_processor.detected_targets: - if (target.azimuth == packet['azimuth'] and - target.elevation == packet['elevation'] and - target.id == packet['chirp']): + if ( + target.azimuth == packet["azimuth"] + and target.elevation == packet["elevation"] + and target.id == packet["chirp"] + ): target.velocity = velocity break - + def open_map_in_browser(self): """Open the generated map in the default web browser""" if self.map_file_path and os.path.exists(self.map_file_path): - webbrowser.open('file://' + os.path.abspath(self.map_file_path)) + webbrowser.open("file://" + os.path.abspath(self.map_file_path)) else: - messagebox.showwarning("Warning", "No map file available. Generate map first by receiving GPS data.") - + messagebox.showwarning( + "Warning", "No map file available. Generate map first by receiving GPS data." + ) + def refresh_map(self): """Refresh the map with current data""" self.generate_map() - + def generate_map(self): """Generate Google Maps HTML file with current targets""" if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: self.map_status_label.config(text="Map: Waiting for GPS data") return - + try: # Create temporary HTML file - with tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') as f: + with tempfile.NamedTemporaryFile( + mode="w", suffix=".html", delete=False, encoding="utf-8" + ) as f: map_html = self.map_generator.generate_map( self.current_gps, self.radar_processor.detected_targets, self.settings.map_size, - self.google_maps_api_key + self.google_maps_api_key, ) f.write(map_html) self.map_file_path = f.name - + self.map_status_label.config(text=f"Map: Generated at {self.map_file_path}") self.map_info_label.config( text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " - f"Targets: {len(self.radar_processor.detected_targets)} | " - f"Coverage: {self.settings.map_size/1000:.1f}km" + f"Targets: {len(self.radar_processor.detected_targets)} | " + f"Coverage: {self.settings.map_size / 1000:.1f}km" ) logging.info(f"Map generated: {self.map_file_path}") - + except Exception as e: logging.error(f"Error generating map: {e}") self.map_status_label.config(text=f"Map: Error - {str(e)}") - + def update_gps_display(self): """Step 18: Update GPS and pitch display""" try: while not self.gps_data_queue.empty(): gps_data = self.gps_data_queue.get_nowait() self.current_gps = gps_data - + # Update GPS label - self.gps_label.config( - text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") - + self.gps_label.config( + text=( + f"GPS: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m" + ) + ) + # Update pitch label with color coding pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" self.pitch_label.config(text=pitch_text) - + # Color code based on pitch magnitude if abs(gps_data.pitch) > 10: - self.pitch_label.config(foreground='red') # High pitch warning + self.pitch_label.config(foreground="red") # High pitch warning elif abs(gps_data.pitch) > 5: - self.pitch_label.config(foreground='orange') # Medium pitch + self.pitch_label.config(foreground="orange") # Medium pitch else: - self.pitch_label.config(foreground='green') # Normal pitch - + self.pitch_label.config(foreground="green") # Normal pitch + # Generate/update map when new GPS data arrives self.generate_map() - + except queue.Empty: pass - + def update_targets_list(self): """Update the targets list display with corrected elevations""" for item in self.targets_tree.get_children(): self.targets_tree.delete(item) - + for target in self.radar_processor.detected_targets[-20:]: # Find the corresponding raw elevation if available raw_elevation = "N/A" for correction in self.corrected_elevations[-20:]: - if abs(correction['corrected'] - target.elevation) < 0.1: # Fuzzy match + if abs(correction["corrected"] - target.elevation) < 0.1: # Fuzzy match raw_elevation = f"{correction['raw']}" break - - self.targets_tree.insert('', 'end', values=( - target.track_id, - f"{target.range:.1f}", - f"{target.velocity:.1f}", - target.azimuth, - raw_elevation, # Show raw elevation - f"{target.elevation:.1f}", # Show corrected elevation - f"{target.snr:.1f}" - )) - + self.targets_tree.insert( + "", + "end", + values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + raw_elevation, # Show raw elevation + f"{target.elevation:.1f}", # Show corrected elevation + f"{target.snr:.1f}", + ), + ) + def update_gui(self): """Step 40: Update all GUI displays""" try: # Update status with pitch information if self.running: - self.status_label.config( - text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") - + self.status_label.config( + text=( + f"Status: Running - Packets: {self.received_packets} - " + f"Pitch: {self.current_gps.pitch:+.1f}°" + ) + ) + # Update range-Doppler map - if hasattr(self, 'range_doppler_plot'): + if hasattr(self, "range_doppler_plot"): display_data = np.log10(self.radar_processor.range_doppler_map + 1) self.range_doppler_plot.set_array(display_data) self.canvas.draw_idle() - + # Update targets list self.update_targets_list() - + # Update GPS and pitch display self.update_gps_display() - + except Exception as e: logging.error(f"Error updating GUI: {e}") - + self.root.after(100, self.update_gui) + def main(): """Main application entry point""" try: root = tk.Tk() - app = RadarGUI(root) + _app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + if __name__ == "__main__": main() diff --git a/9_Firmware/9_3_GUI/GUI_V5_Demo.py b/9_Firmware/9_3_GUI/GUI_V5_Demo.py index 7a88b94..b2bbc2d 100644 --- a/9_Firmware/9_3_GUI/GUI_V5_Demo.py +++ b/9_Firmware/9_3_GUI/GUI_V5_Demo.py @@ -1,6 +1,5 @@ import tkinter as tk from tkinter import ttk, messagebox -import threading import queue import time import struct @@ -8,24 +7,20 @@ import numpy as np import matplotlib.pyplot as plt from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from matplotlib.figure import Figure -import matplotlib.patches as patches import logging from dataclasses import dataclass -from typing import Dict, List, Tuple, Optional -from scipy import signal from sklearn.cluster import DBSCAN from filterpy.kalman import KalmanFilter import crcmod import math import webbrowser -import tempfile import os -import random import json # Try to import tkinterweb for embedded browser try: import tkinterweb + TKINTERWEB_AVAILABLE = True logging.info("tkinterweb available - Embedded browser enabled") except ImportError: @@ -35,6 +30,7 @@ except ImportError: try: import usb.core import usb.util + USB_AVAILABLE = True except ImportError: USB_AVAILABLE = False @@ -43,13 +39,14 @@ except ImportError: try: from pyftdi.ftdi import Ftdi from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True except ImportError: FTDI_AVAILABLE = False logging.warning("pyftdi not available. FTDI functionality will be disabled.") # Configure logging -logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') +logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") # Dark theme colors DARK_BG = "#2b2b2b" @@ -63,6 +60,7 @@ DARK_BUTTON_HOVER = "#4e5254" DARK_TREEVIEW = "#3c3f41" DARK_TREEVIEW_ALT = "#404040" + @dataclass class RadarTarget: id: int @@ -76,6 +74,7 @@ class RadarTarget: timestamp: float = 0.0 track_id: int = -1 + @dataclass class RadarSettings: system_frequency: float = 10e9 @@ -89,6 +88,7 @@ class RadarSettings: max_distance: float = 50000 map_size: float = 50000 # Map size in meters + @dataclass class GPSData: latitude: float @@ -97,6 +97,7 @@ class GPSData: pitch: float # Pitch angle in degrees timestamp: float + class RadarProcessor: def __init__(self): self.range_doppler_map = np.zeros((1024, 32)) @@ -104,73 +105,75 @@ class RadarProcessor: self.track_id_counter = 0 self.tracks = {} self.frame_count = 0 - + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): """Dual-CPI fusion for better detection""" fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) return fused_profile - + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): """Multi-PRF velocity unwrapping""" lambda_wavelength = 3e8 / 10e9 v_max1 = prf1 * lambda_wavelength / 2 v_max2 = prf2 * lambda_wavelength / 2 - + unwrapped_velocities = [] for doppler in doppler_measurements: v1 = doppler * lambda_wavelength / 2 v2 = doppler * lambda_wavelength / 2 - + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) unwrapped_velocities.append(velocity) - + return unwrapped_velocities - + def _solve_chinese_remainder(self, v1, v2, max1, max2): for k in range(-5, 6): candidate = v1 + k * max1 if abs(candidate - v2) < max2 / 2: return candidate return v1 - + def clustering(self, detections, eps=100, min_samples=2): """DBSCAN clustering of detections""" if len(detections) == 0: return [] - + points = np.array([[d.range, d.velocity] for d in detections]) clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - + clusters = [] for label in set(clustering.labels_): if label != -1: cluster_points = points[clustering.labels_ == label] - clusters.append({ - 'center': np.mean(cluster_points, axis=0), - 'points': cluster_points, - 'size': len(cluster_points) - }) - + clusters.append( + { + "center": np.mean(cluster_points, axis=0), + "points": cluster_points, + "size": len(cluster_points), + } + ) + return clusters - + def association(self, detections, clusters): """Association of detections to tracks""" associated_detections = [] - + for detection in detections: best_track = None - min_distance = float('inf') - + min_distance = float("inf") + for track_id, track in self.tracks.items(): distance = np.sqrt( - (detection.range - track['state'][0])**2 + - (detection.velocity - track['state'][2])**2 + (detection.range - track["state"][0]) ** 2 + + (detection.velocity - track["state"][2]) ** 2 ) - + if distance < min_distance and distance < 500: min_distance = distance best_track = track_id - + if best_track is not None: detection.track_id = best_track associated_detections.append(detection) @@ -178,160 +181,167 @@ class RadarProcessor: detection.track_id = self.track_id_counter self.track_id_counter += 1 associated_detections.append(detection) - + return associated_detections - + def tracking(self, associated_detections): """Kalman filter tracking""" current_time = time.time() - + for detection in associated_detections: if detection.track_id not in self.tracks: kf = KalmanFilter(dim_x=4, dim_z=2) kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], - [0, 1, 0, 0], - [0, 0, 1, 1], - [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], - [0, 0, 1, 0]]) + kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) kf.P *= 1000 kf.R = np.diag([10, 1]) kf.Q = np.eye(4) * 0.1 - + self.tracks[detection.track_id] = { - 'filter': kf, - 'state': kf.x, - 'last_update': current_time, - 'hits': 1 + "filter": kf, + "state": kf.x, + "last_update": current_time, + "hits": 1, } else: track = self.tracks[detection.track_id] - track['filter'].predict() - track['filter'].update([detection.range, detection.velocity]) - track['state'] = track['filter'].x - track['last_update'] = current_time - track['hits'] += 1 - - stale_tracks = [tid for tid, track in self.tracks.items() - if current_time - track['last_update'] > 5.0] + track["filter"].predict() + track["filter"].update([detection.range, detection.velocity]) + track["state"] = track["filter"].x + track["last_update"] = current_time + track["hits"] += 1 + + stale_tracks = [ + tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 + ] for tid in stale_tracks: del self.tracks[tid] + class USBPacketParser: def __init__(self): self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_gps_data(self, data): """Parse GPS data from STM32 USB CDC with pitch angle""" if not data: return None - + try: # Try text format first: "GPS:lat,lon,alt,pitch\r\n" - text_data = data.decode('utf-8', errors='ignore').strip() - if text_data.startswith('GPS:'): - parts = text_data.split(':')[1].split(',') + text_data = data.decode("utf-8", errors="ignore").strip() + if text_data.startswith("GPS:"): + parts = text_data.split(":")[1].split(",") if len(parts) == 4: # Now expecting 4 values lat = float(parts[0]) lon = float(parts[1]) alt = float(parts[2]) pitch = float(parts[3]) # Pitch angle in degrees - return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) - + return GPSData( + latitude=lat, + longitude=lon, + altitude=alt, + pitch=pitch, + timestamp=time.time(), + ) + # Try binary format (30 bytes with pitch) - if len(data) >= 30 and data[0:4] == b'GPSB': + if len(data) >= 30 and data[0:4] == b"GPSB": return self._parse_binary_gps_with_pitch(data) - + except Exception as e: logging.error(f"Error parsing GPS data: {e}") - + return None - + def _parse_binary_gps_with_pitch(self, data): """Parse binary GPS format with pitch angle (30 bytes)""" try: # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] if len(data) < 30: return None - + # Verify CRC (simple checksum) crc_received = (data[28] << 8) | data[29] crc_calculated = sum(data[0:28]) & 0xFFFF - + if crc_received != crc_calculated: logging.warning("GPS CRC mismatch") return None - + # Parse latitude (double, big-endian) lat_bits = 0 for i in range(8): lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] - + latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] + # Parse longitude (double, big-endian) lon_bits = 0 for i in range(8): lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] - + longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] + # Parse altitude (float, big-endian) alt_bits = 0 for i in range(4): alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] - + altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] + # Parse pitch angle (float, big-endian) pitch_bits = 0 for i in range(4): pitch_bits = (pitch_bits << 8) | data[24 + i] - pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] - + pitch = struct.unpack(">f", struct.pack(">I", pitch_bits))[0] + return GPSData( - latitude=latitude, - longitude=longitude, - altitude=altitude, - pitch=pitch, - timestamp=time.time() + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time(), ) - + except Exception as e: logging.error(f"Error parsing binary GPS with pitch: {e}") return None + class RadarPacketParser: def __init__(self): - self.sync_pattern = b'\xA5\xC3' + self.sync_pattern = b"\xa5\xc3" self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - + def parse_packet(self, data): if len(data) < 6: return None - + sync_index = data.find(self.sync_pattern) if sync_index == -1: return None - + packet = data[sync_index:] - + if len(packet) < 6: return None - - sync = packet[0:2] + + _sync = packet[0:2] packet_type = packet[2] length = packet[3] - + if len(packet) < (4 + length + 2): return None - - payload = packet[4:4+length] - crc_received = struct.unpack('I', payload[0:4])[0] + range_value = struct.unpack(">I", payload[0:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'range', - 'range': range_value, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "range", + "range": range_value, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing range packet: {e}") return None - + def parse_doppler_packet(self, payload): if len(payload) < 12: return None - + try: - doppler_real = struct.unpack('>h', payload[0:2])[0] - doppler_imag = struct.unpack('>h', payload[2:4])[0] + doppler_real = struct.unpack(">h", payload[0:2])[0] + doppler_imag = struct.unpack(">h", payload[2:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F - + return { - 'type': 'doppler', - 'doppler_real': doppler_real, - 'doppler_imag': doppler_imag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "doppler", + "doppler_real": doppler_real, + "doppler_imag": doppler_imag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing Doppler packet: {e}") return None - + def parse_detection_packet(self, payload): if len(payload) < 8: return None - + try: detection_flag = (payload[0] & 0x01) != 0 elevation = payload[1] & 0x1F azimuth = payload[2] & 0x3F chirp_counter = payload[3] & 0x1F - + return { - 'type': 'detection', - 'detected': detection_flag, - 'elevation': elevation, - 'azimuth': azimuth, - 'chirp': chirp_counter, - 'timestamp': time.time() + "type": "detection", + "detected": detection_flag, + "elevation": elevation, + "azimuth": azimuth, + "chirp": chirp_counter, + "timestamp": time.time(), } except Exception as e: logging.error(f"Error parsing detection packet: {e}") return None + class MapGenerator: def __init__(self): self.map_file_path = None @@ -498,7 +509,9 @@ class MapGenerator: // Add OpenStreetMap tile layer L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', { - attribution: '© OpenStreetMap contributors', + attribution: + '© ' + + 'OpenStreetMap contributors', maxZoom: 19 }).addTo(map); @@ -507,7 +520,9 @@ class MapGenerator: title: 'Radar System', icon: L.divIcon({ className: 'radar-icon', - html: '
', + html: + '
', iconSize: [20, 20] }) }).addTo(map); @@ -543,7 +558,11 @@ class MapGenerator: updateTargets(window.initialTargets); } - updateStatus('Map initialized with ' + (window.initialTargets ? window.initialTargets.length : 0) + ' targets'); + updateStatus( + 'Map initialized with ' + + (window.initialTargets ? window.initialTargets.length : 0) + + ' targets' + ); } function updateTargets(targets) { @@ -561,10 +580,16 @@ class MapGenerator: var markerSize = 12 + (target.snr / 5); // Size based on SNR var targetMarker = L.marker([target.lat, target.lng], { - title: 'Target #' + target.id + ' - Range: ' + target.range.toFixed(1) + 'm, Vel: ' + target.velocity.toFixed(1) + 'm/s', + title: + 'Target #' + target.id + + ' - Range: ' + target.range.toFixed(1) + + 'm, Vel: ' + target.velocity.toFixed(1) + 'm/s', icon: L.divIcon({ className: 'target-icon', - html: '
', + html: + '
', iconSize: [markerSize, markerSize] }) }).addTo(map); @@ -578,7 +603,13 @@ class MapGenerator: '

Elevation: ' + target.elevation.toFixed(1) + '°

' + '

SNR: ' + target.snr.toFixed(1) + ' dB

' + '

Track ID: ' + target.track_id + '

' + - '

Status: ' + (target.velocity > 0 ? 'Approaching' : 'Receding') + '

' + + '

Status: ' + + ( + target.velocity > 0 + ? 'Approaching' + : 'Receding' + ) + + '

' + '
' ); @@ -630,49 +661,50 @@ class MapGenerator: """ - + def generate_map_html_content(self, gps_data, targets, coverage_radius): """Generate map HTML as string (for embedded browser)""" # Convert targets for JavaScript map_targets = [] for target in targets: target_lat, target_lon = self.polar_to_geographic( - gps_data.latitude, gps_data.longitude, - target.range, target.azimuth + gps_data.latitude, gps_data.longitude, target.range, target.azimuth ) - map_targets.append({ - 'id': target.id, - 'lat': target_lat, - 'lng': target_lon, - 'range': target.range, - 'velocity': target.velocity, - 'azimuth': target.azimuth, - 'elevation': target.elevation, - 'snr': target.snr, - 'track_id': target.track_id - }) - + map_targets.append( + { + "id": target.id, + "lat": target_lat, + "lng": target_lon, + "range": target.range, + "velocity": target.velocity, + "azimuth": target.azimuth, + "elevation": target.elevation, + "snr": target.snr, + "track_id": target.track_id, + } + ) + # Calculate coverage radius in km coverage_radius_km = coverage_radius / 1000.0 - + # Generate HTML content - map_html = self.map_html_template.replace('{lat}', str(gps_data.latitude)) - map_html = map_html.replace('{lon}', str(gps_data.longitude)) - map_html = map_html.replace('{alt:.1f}', f"{gps_data.altitude:.1f}") - map_html = map_html.replace('{pitch:+.1f}', f"{gps_data.pitch:+.1f}") - map_html = map_html.replace('{coverage_radius}', str(coverage_radius)) - map_html = map_html.replace('{coverage_radius_km:.1f}', f"{coverage_radius_km:.1f}") - map_html = map_html.replace('{target_count}', str(len(map_targets))) - + map_html = self.map_html_template.replace("{lat}", str(gps_data.latitude)) + map_html = map_html.replace("{lon}", str(gps_data.longitude)) + map_html = map_html.replace("{alt:.1f}", f"{gps_data.altitude:.1f}") + map_html = map_html.replace("{pitch:+.1f}", f"{gps_data.pitch:+.1f}") + map_html = map_html.replace("{coverage_radius}", str(coverage_radius)) + map_html = map_html.replace("{coverage_radius_km:.1f}", f"{coverage_radius_km:.1f}") + map_html = map_html.replace("{target_count}", str(len(map_targets))) + # Inject initial targets as JavaScript variable targets_json = json.dumps(map_targets) map_html = map_html.replace( - '// Display initial targets if any', - f'window.initialTargets = {targets_json};\n // Display initial targets if any' + "// Display initial targets if any", + f"window.initialTargets = {targets_json};\n // Display initial targets if any", ) - + return map_html - + def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): """ Convert polar coordinates (range, azimuth) to geographic coordinates @@ -680,33 +712,37 @@ class MapGenerator: """ # Earth radius in meters earth_radius = 6371000 - + # Convert azimuth to radians (0° = North, 90° = East) azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention - + # Convert range to angular distance angular_distance = range_m / earth_radius - + # Convert to geographic coordinates target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) - target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (180 / math.pi) / math.cos(math.radians(radar_lat)) - + target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * ( + 180 / math.pi + ) / math.cos(math.radians(radar_lat)) + return target_lat, target_lon -# ... [Other classes remain the same: STM32USBInterface, FTDIInterface, RadarProcessor, USBPacketParser, RadarPacketParser] ... + +# ... [Other classes remain the same: STM32USBInterface, FTDIInterface, +# ... RadarProcessor, USBPacketParser, RadarPacketParser] ... class STM32USBInterface: def __init__(self): self.device = None self.is_open = False self.ep_in = None self.ep_out = None - + def list_devices(self): """List available STM32 USB CDC devices""" if not USB_AVAILABLE: logging.warning("USB not available - please install pyusb") return [] - + try: devices = [] # STM32 USB CDC devices typically use these vendor/product IDs @@ -718,82 +754,98 @@ class STM32USBInterface: (0x0483, 0x374E), # STM32 CDC (0x0483, 0x3752), # STM32 CDC ] - + for vid, pid in stm32_vid_pids: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: - product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" - devices.append({ - 'description': f"{product} ({serial})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - except: - devices.append({ - 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - 'vendor_id': vid, - 'product_id': pid, - 'device': dev - }) - + product = ( + usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + ) + serial = ( + usb.util.get_string(dev, dev.iSerialNumber) + if dev.iSerialNumber + else "Unknown" + ) + devices.append( + { + "description": f"{product} ({serial})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + except Exception: + devices.append( + { + "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + "vendor_id": vid, + "product_id": pid, + "device": dev, + } + ) + return devices except Exception as e: logging.error(f"Error listing USB devices: {e}") # Return mock devices for testing - return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] - + return [ + {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} + ] + def open_device(self, device_info): """Open STM32 USB CDC device""" if not USB_AVAILABLE: logging.error("USB not available - cannot open device") return False - + try: - self.device = device_info['device'] - + self.device = device_info["device"] + # Detach kernel driver if active if self.device.is_kernel_driver_active(0): self.device.detach_kernel_driver(0) - + # Set configuration self.device.set_configuration() - + # Get CDC endpoints cfg = self.device.get_active_configuration() - intf = cfg[(0,0)] - + intf = cfg[(0, 0)] + # Find bulk endpoints (CDC data interface) self.ep_out = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ), ) - + self.ep_in = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ), ) - + if self.ep_out is None or self.ep_in is None: logging.error("Could not find CDC endpoints") return False - + self.is_open = True logging.info(f"STM32 USB device opened: {device_info['description']}") return True - + except Exception as e: logging.error(f"Error opening USB device: {e}") return False - + def send_start_flag(self): """Step 12: Send start flag to STM32 via USB""" start_packet = bytes([23, 46, 158, 237]) logging.info("Sending start flag to STM32 via USB...") return self._send_data(start_packet) - + def send_settings(self, settings): """Step 13: Send radar settings to STM32 via USB""" try: @@ -803,12 +855,12 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error sending settings via USB: {e}") return False - + def read_data(self, size=64, timeout=1000): """Read data from STM32 via USB""" if not self.is_open or self.ep_in is None: return None - + try: data = self.ep_in.read(size, timeout=timeout) return bytes(data) @@ -820,43 +872,43 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error reading from USB: {e}") return None - + def _send_data(self, data): """Send data to STM32 via USB""" if not self.is_open or self.ep_out is None: return False - + try: # USB CDC typically uses 64-byte packets packet_size = 64 for i in range(0, len(data), packet_size): - chunk = data[i:i + packet_size] + chunk = data[i : i + packet_size] # Pad to packet size if needed if len(chunk) < packet_size: - chunk += b'\x00' * (packet_size - len(chunk)) + chunk += b"\x00" * (packet_size - len(chunk)) self.ep_out.write(chunk) - + return True except Exception as e: logging.error(f"Error sending data via USB: {e}") return False - + def _create_settings_packet(self, settings): """Create binary settings packet for USB transmission""" - packet = b'SET' - packet += struct.pack('>d', settings.system_frequency) - packet += struct.pack('>d', settings.chirp_duration_1) - packet += struct.pack('>d', settings.chirp_duration_2) - packet += struct.pack('>I', settings.chirps_per_position) - packet += struct.pack('>d', settings.freq_min) - packet += struct.pack('>d', settings.freq_max) - packet += struct.pack('>d', settings.prf1) - packet += struct.pack('>d', settings.prf2) - packet += struct.pack('>d', settings.max_distance) - packet += struct.pack('>d', settings.map_size) - packet += b'END' + packet = b"SET" + packet += struct.pack(">d", settings.system_frequency) + packet += struct.pack(">d", settings.chirp_duration_1) + packet += struct.pack(">d", settings.chirp_duration_2) + packet += struct.pack(">I", settings.chirps_per_position) + packet += struct.pack(">d", settings.freq_min) + packet += struct.pack(">d", settings.freq_max) + packet += struct.pack(">d", settings.prf1) + packet += struct.pack(">d", settings.prf2) + packet += struct.pack(">d", settings.max_distance) + packet += struct.pack(">d", settings.map_size) + packet += b"END" return packet - + def close(self): """Close USB device""" if self.device and self.is_open: @@ -866,63 +918,63 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error closing USB device: {e}") + class FTDIInterface: def __init__(self): self.ftdi = None self.is_open = False - + def list_devices(self): """List available FTDI devices using pyftdi""" if not FTDI_AVAILABLE: logging.warning("FTDI not available - please install pyftdi") return [] - + try: devices = [] # Get list of all FTDI devices for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append({ - 'description': f"FTDI Device {device}", - 'url': f"ftdi://{device}/1" - }) + devices.append( + {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} + ) return devices except Exception as e: logging.error(f"Error listing FTDI devices: {e}") # Return mock devices for testing - return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] - + return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] + def open_device(self, device_url): """Open FTDI device using pyftdi""" if not FTDI_AVAILABLE: logging.error("FTDI not available - cannot open device") return False - + try: self.ftdi = Ftdi() self.ftdi.open_from_url(device_url) - + # Configure for synchronous FIFO mode self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - + # Set latency timer self.ftdi.set_latency_timer(2) - + # Purge buffers self.ftdi.purge_buffers() - + self.is_open = True logging.info(f"FTDI device opened: {device_url}") return True - + except Exception as e: logging.error(f"Error opening FTDI device: {e}") return False - + def read_data(self, bytes_to_read): """Read data from FTDI""" if not self.is_open or self.ftdi is None: return None - + try: data = self.ftdi.read_data(bytes_to_read) if data: @@ -931,29 +983,30 @@ class FTDIInterface: except Exception as e: logging.error(f"Error reading from FTDI: {e}") return None - + def close(self): """Close FTDI device""" if self.ftdi and self.is_open: self.ftdi.close() self.is_open = False + class RadarGUI: def __init__(self, root): self.root = root self.root.title("Advanced Radar System GUI - USB CDC with Embedded Map") self.root.geometry("1400x900") - + # Apply dark theme to root window self.root.configure(bg=DARK_BG) - + # Configure ttk style for dark theme self.style = ttk.Style() - self.style.theme_use('clam') # Use 'clam' as base for better customization - + self.style.theme_use("clam") # Use 'clam' as base for better customization + # Configure dark theme colors self.configure_dark_theme() - + # Initialize interfaces self.stm32_usb_interface = STM32USBInterface() self.ftdi_interface = FTDIInterface() @@ -964,195 +1017,213 @@ class RadarGUI: self.last_map_update = 0 self.map_update_interval = 5 # Update map every 5 seconds self.settings = RadarSettings() - + # Embedded browser self.browser_frame = None self.browser = None self.current_map_html = "" - + # Data queues self.radar_data_queue = queue.Queue() self.gps_data_queue = queue.Queue() - + # Thread control self.running = False self.radar_thread = None self.gps_thread = None - + # Counters self.received_packets = 0 - self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.current_gps = GPSData( + latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0 + ) self.corrected_elevations = [] # Store corrected elevation values - + self.create_gui() self.start_background_threads() - # Demo mode variables self.demo_mode_active = False self.demo_thread = None self.demo_targets = [] - + def create_gui(self): """Create the main GUI with tabs""" self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill='both', expand=True, padx=10, pady=10) - + self.notebook.pack(fill="both", expand=True, padx=10, pady=10) + self.tab_main = ttk.Frame(self.notebook) self.tab_map = ttk.Frame(self.notebook) self.tab_diagnostics = ttk.Frame(self.notebook) self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text='Main View') - self.notebook.add(self.tab_map, text='Map View') - self.notebook.add(self.tab_diagnostics, text='Diagnostics') - self.notebook.add(self.tab_settings, text='Settings') - + + self.notebook.add(self.tab_main, text="Main View") + self.notebook.add(self.tab_map, text="Map View") + self.notebook.add(self.tab_diagnostics, text="Diagnostics") + self.notebook.add(self.tab_settings, text="Settings") + self.setup_main_tab() self.setup_map_tab() self.setup_settings_tab() - + def setup_main_tab(self): """Setup the main radar display tab""" # Control frame control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill='x', padx=10, pady=5) - + control_frame.pack(fill="x", padx=10, pady=5) + # USB Device selection ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) self.stm32_usb_combo.grid(row=0, column=1, padx=5) - + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", - command=self.refresh_devices).grid(row=0, column=4, padx=5) - - self.start_button = ttk.Button(control_frame, text="Start Radar", - command=self.start_radar) + + ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( + row=0, column=4, padx=5 + ) + + self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button(control_frame, text="Stop Radar", - command=self.stop_radar, state="disabled") + + self.stop_button = ttk.Button( + control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" + ) self.stop_button.grid(row=0, column=6, padx=5) - + # DEMO BUTTONS - self.demo_button = ttk.Button(control_frame, text="Start Demo", - command=self.start_demo_mode) + self.demo_button = ttk.Button( + control_frame, text="Start Demo", command=self.start_demo_mode + ) self.demo_button.grid(row=0, column=7, padx=5) - - self.stop_demo_button = ttk.Button(control_frame, text="Stop Demo", - command=self.stop_demo_mode, state="disabled") + + self.stop_demo_button = ttk.Button( + control_frame, text="Stop Demo", command=self.stop_demo_mode, state="disabled" + ) self.stop_demo_button.grid(row=0, column=8, padx=5) - + # GPS and Pitch info self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) - + self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) + # Pitch display self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) - + # Status info self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) - + self.status_label.grid(row=1, column=6, sticky="e", padx=5, pady=2) + # Main display area display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill='both', expand=True, padx=10, pady=5) - + display_frame.pack(fill="both", expand=True, padx=10, pady=5) + # Range-Doppler Map with dark theme - plt.style.use('dark_background') + plt.style.use("dark_background") fig = Figure(figsize=(10, 6), facecolor=DARK_BG) self.range_doppler_ax = fig.add_subplot(111, facecolor=DARK_ACCENT) self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect='auto', cmap='hot', - extent=[0, 32, 0, 1024]) - self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)', color=DARK_FG) - self.range_doppler_ax.set_xlabel('Doppler Bin', color=DARK_FG) - self.range_doppler_ax.set_ylabel('Range Bin', color=DARK_FG) + np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] + ) + self.range_doppler_ax.set_title("Range-Doppler Map (Pitch Corrected)", color=DARK_FG) + self.range_doppler_ax.set_xlabel("Doppler Bin", color=DARK_FG) + self.range_doppler_ax.set_ylabel("Range Bin", color=DARK_FG) self.range_doppler_ax.tick_params(colors=DARK_FG) - self.range_doppler_ax.spines['bottom'].set_color(DARK_FG) - self.range_doppler_ax.spines['top'].set_color(DARK_FG) - self.range_doppler_ax.spines['left'].set_color(DARK_FG) - self.range_doppler_ax.spines['right'].set_color(DARK_FG) - + self.range_doppler_ax.spines["bottom"].set_color(DARK_FG) + self.range_doppler_ax.spines["top"].set_color(DARK_FG) + self.range_doppler_ax.spines["left"].set_color(DARK_FG) + self.range_doppler_ax.spines["right"].set_color(DARK_FG) + self.canvas = FigureCanvasTkAgg(fig, display_frame) self.canvas.draw() - self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) - + self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) + # Targets list targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets") - targets_frame.pack(side='right', fill='y', padx=5) - - self.targets_tree = ttk.Treeview(targets_frame, - columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'SNR'), - show='headings', height=20) - self.targets_tree.heading('ID', text='Track ID') - self.targets_tree.heading('Range', text='Range (m)') - self.targets_tree.heading('Velocity', text='Velocity (m/s)') - self.targets_tree.heading('Azimuth', text='Azimuth') - self.targets_tree.heading('Elevation', text='Elevation') - self.targets_tree.heading('SNR', text='SNR (dB)') - - self.targets_tree.column('ID', width=70) - self.targets_tree.column('Range', width=90) - self.targets_tree.column('Velocity', width=90) - self.targets_tree.column('Azimuth', width=70) - self.targets_tree.column('Elevation', width=70) - self.targets_tree.column('SNR', width=70) - + targets_frame.pack(side="right", fill="y", padx=5) + + self.targets_tree = ttk.Treeview( + targets_frame, + columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "SNR"), + show="headings", + height=20, + ) + self.targets_tree.heading("ID", text="Track ID") + self.targets_tree.heading("Range", text="Range (m)") + self.targets_tree.heading("Velocity", text="Velocity (m/s)") + self.targets_tree.heading("Azimuth", text="Azimuth") + self.targets_tree.heading("Elevation", text="Elevation") + self.targets_tree.heading("SNR", text="SNR (dB)") + + self.targets_tree.column("ID", width=70) + self.targets_tree.column("Range", width=90) + self.targets_tree.column("Velocity", width=90) + self.targets_tree.column("Azimuth", width=70) + self.targets_tree.column("Elevation", width=70) + self.targets_tree.column("SNR", width=70) + # Add scrollbar to targets tree - tree_scroll = ttk.Scrollbar(targets_frame, orient="vertical", command=self.targets_tree.yview) + tree_scroll = ttk.Scrollbar( + targets_frame, orient="vertical", command=self.targets_tree.yview + ) self.targets_tree.configure(yscrollcommand=tree_scroll.set) - self.targets_tree.pack(side='left', fill='both', expand=True, padx=5, pady=5) - tree_scroll.pack(side='right', fill='y', padx=(0, 5), pady=5) + self.targets_tree.pack(side="left", fill="both", expand=True, padx=5, pady=5) + tree_scroll.pack(side="right", fill="y", padx=(0, 5), pady=5) def setup_map_tab(self): """Setup the map display tab with embedded browser""" # Main container main_container = ttk.Frame(self.tab_map) - main_container.pack(fill='both', expand=True, padx=10, pady=10) - + main_container.pack(fill="both", expand=True, padx=10, pady=10) + # Top frame for controls controls_frame = ttk.Frame(main_container) - controls_frame.pack(fill='x', pady=(0, 10)) - + controls_frame.pack(fill="x", pady=(0, 10)) + # Map controls - ttk.Button(controls_frame, text="Generate/Refresh Map", - command=self.generate_map).pack(side='left', padx=5) - + ttk.Button(controls_frame, text="Generate/Refresh Map", command=self.generate_map).pack( + side="left", padx=5 + ) + if TKINTERWEB_AVAILABLE: - ttk.Button(controls_frame, text="Open in External Browser", - command=self.open_external_browser).pack(side='left', padx=5) + ttk.Button( + controls_frame, text="Open in External Browser", command=self.open_external_browser + ).pack(side="left", padx=5) else: - ttk.Label(controls_frame, text="Install tkinterweb: pip install tkinterweb", - foreground='orange', font=('Arial', 9)).pack(side='left', padx=5) - ttk.Button(controls_frame, text="Open in Browser", - command=self.open_external_browser).pack(side='left', padx=5) - + ttk.Label( + controls_frame, + text="Install tkinterweb: pip install tkinterweb", + foreground="orange", + font=("Arial", 9), + ).pack(side="left", padx=5) + ttk.Button( + controls_frame, text="Open in Browser", command=self.open_external_browser + ).pack(side="left", padx=5) + self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") - self.map_status_label.pack(side='left', padx=20) - + self.map_status_label.pack(side="left", padx=20) + # Map info display info_frame = ttk.Frame(main_container) - info_frame.pack(fill='x', pady=(0, 10)) - - self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) + info_frame.pack(fill="x", pady=(0, 10)) + + self.map_info_label = ttk.Label( + info_frame, text="No GPS data received yet", font=("Arial", 10) + ) self.map_info_label.pack() - + # Embedded browser area - This is where the map will appear self.browser_container = ttk.Frame(main_container) - self.browser_container.pack(fill='both', expand=True) - + self.browser_container.pack(fill="both", expand=True) + # Create browser widget if tkinterweb is available if TKINTERWEB_AVAILABLE: try: self.browser = tkinterweb.HtmlFrame(self.browser_container) - self.browser.pack(fill='both', expand=True) - + self.browser.pack(fill="both", expand=True) + # Initial placeholder HTML placeholder_html = """ @@ -1170,7 +1241,7 @@ class RadarGUI: """ self.browser.load_html(placeholder_html) - + except Exception as e: logging.error(f"Failed to create embedded browser: {e}") self.create_browser_fallback() @@ -1180,56 +1251,60 @@ class RadarGUI: def setup_settings_tab(self): """Setup the settings tab""" settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill='both', expand=True, padx=10, pady=10) - + settings_frame.pack(fill="both", expand=True, padx=10, pady=10) + entries = [ - ('System Frequency (Hz):', 'system_frequency', 10e9), - ('Chirp Duration 1 - Long (s):', 'chirp_duration_1', 30e-6), - ('Chirp Duration 2 - Short (s):', 'chirp_duration_2', 0.5e-6), - ('Chirps per Position:', 'chirps_per_position', 32), - ('Frequency Min (Hz):', 'freq_min', 10e6), - ('Frequency Max (Hz):', 'freq_max', 30e6), - ('PRF1 (Hz):', 'prf1', 1000), - ('PRF2 (Hz):', 'prf2', 2000), - ('Max Distance (m):', 'max_distance', 50000), - ('Map Size (m):', 'map_size', 50000) + ("System Frequency (Hz):", "system_frequency", 10e9), + ("Chirp Duration 1 - Long (s):", "chirp_duration_1", 30e-6), + ("Chirp Duration 2 - Short (s):", "chirp_duration_2", 0.5e-6), + ("Chirps per Position:", "chirps_per_position", 32), + ("Frequency Min (Hz):", "freq_min", 10e6), + ("Frequency Max (Hz):", "freq_max", 30e6), + ("PRF1 (Hz):", "prf1", 1000), + ("PRF2 (Hz):", "prf2", 2000), + ("Max Distance (m):", "max_distance", 50000), + ("Map Size (m):", "map_size", 50000), ] - + self.settings_vars = {} - + for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) var = tk.StringVar(value=str(default)) entry = ttk.Entry(settings_frame, textvariable=var, width=25) entry.grid(row=i, column=1, padx=5, pady=5) self.settings_vars[attr] = var - + # Map type info - ttk.Label(settings_frame, text="Map Type:", font=('Arial', 10, 'bold')).grid( - row=len(entries), column=0, sticky='w', padx=5, pady=10) - ttk.Label(settings_frame, text="OpenStreetMap (Free)", foreground='green').grid( - row=len(entries), column=1, sticky='w', padx=5, pady=10) - - ttk.Button(settings_frame, text="Apply Settings", - command=self.apply_settings).grid(row=len(entries)+1, column=0, columnspan=2, pady=10) - + ttk.Label(settings_frame, text="Map Type:", font=("Arial", 10, "bold")).grid( + row=len(entries), column=0, sticky="w", padx=5, pady=10 + ) + ttk.Label(settings_frame, text="OpenStreetMap (Free)", foreground="green").grid( + row=len(entries), column=1, sticky="w", padx=5, pady=10 + ) + + ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( + row=len(entries) + 1, column=0, columnspan=2, pady=10 + ) + def create_browser_fallback(self): """Create a fallback display when tkinterweb is not available""" for widget in self.browser_container.winfo_children(): widget.destroy() - + # Create text widget as fallback text_frame = ttk.Frame(self.browser_container) - text_frame.pack(fill='both', expand=True) - - text_widget = tk.Text(text_frame, wrap='word', bg=DARK_ACCENT, fg=DARK_FG, - font=('Courier', 10)) - scrollbar = ttk.Scrollbar(text_frame, orient='vertical', command=text_widget.yview) + text_frame.pack(fill="both", expand=True) + + text_widget = tk.Text( + text_frame, wrap="word", bg=DARK_ACCENT, fg=DARK_FG, font=("Courier", 10) + ) + scrollbar = ttk.Scrollbar(text_frame, orient="vertical", command=text_widget.yview) text_widget.configure(yscrollcommand=scrollbar.set) - - text_widget.pack(side='left', fill='both', expand=True) - scrollbar.pack(side='right', fill='y') - + + text_widget.pack(side="left", fill="both", expand=True) + scrollbar.pack(side="right", fill="y") + # Insert placeholder text placeholder = """EMBEDDED BROWSER NOT AVAILABLE @@ -1244,26 +1319,26 @@ Without tkinterweb, you can still: Map HTML will appear here when generated. """ - text_widget.insert('1.0', placeholder) - text_widget.configure(state='disabled') - + text_widget.insert("1.0", placeholder) + text_widget.configure(state="disabled") + # Store reference for later updates self.fallback_text = text_widget - + def update_embedded_browser(self, html_content): """Update the embedded browser with new HTML content""" try: - if TKINTERWEB_AVAILABLE and hasattr(self, 'browser') and self.browser: + if TKINTERWEB_AVAILABLE and hasattr(self, "browser") and self.browser: # Update existing browser self.browser.load_html(html_content) logging.info("Embedded browser updated with new map") - elif hasattr(self, 'fallback_text'): + elif hasattr(self, "fallback_text"): # Update fallback text widget - self.fallback_text.configure(state='normal') - self.fallback_text.delete('1.0', tk.END) - self.fallback_text.insert('1.0', html_content) - self.fallback_text.configure(state='disabled') - self.fallback_text.see('1.0') # Scroll to top + self.fallback_text.configure(state="normal") + self.fallback_text.delete("1.0", tk.END) + self.fallback_text.insert("1.0", html_content) + self.fallback_text.configure(state="disabled") + self.fallback_text.see("1.0") # Scroll to top logging.info("Fallback text widget updated with map HTML") except Exception as e: logging.error(f"Error updating embedded browser: {e}") @@ -1271,46 +1346,46 @@ Map HTML will appear here when generated. def generate_map(self): """Generate or update the map display""" if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: - messagebox.showinfo("Info", "No GPS data available yet. Start demo mode or wait for GPS data.") + messagebox.showinfo( + "Info", "No GPS data available yet. Start demo mode or wait for GPS data." + ) return - + current_time = time.time() - + # Only update map at specified intervals if current_time - self.last_map_update < 1.0: # 1 second minimum between updates return - + try: # Get current targets (demo + real) targets = self.get_combined_targets() - + # Generate map HTML map_html = self.map_generator.generate_map_html_content( - self.current_gps, - targets, - self.settings.map_size + self.current_gps, targets, self.settings.map_size ) - + self.current_map_html = map_html - + # Update embedded browser self.update_embedded_browser(map_html) - + # Update map status self.map_status_label.config(text=f"Map: Generated with {len(targets)} targets") - + # Update map info display self.map_info_label.config( text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " - f"Targets: {len(targets)} | " - f"Pitch: {self.current_gps.pitch:+.1f}° | " - f"Coverage: {self.settings.map_size/1000:.1f}km" + f"Targets: {len(targets)} | " + f"Pitch: {self.current_gps.pitch:+.1f}° | " + f"Coverage: {self.settings.map_size / 1000:.1f}km" ) - + self.last_map_update = current_time - + logging.info(f"Map generated with {len(targets)} targets") - + except Exception as e: logging.error(f"Error generating map: {e}") self.map_status_label.config(text=f"Map: Error - {str(e)[:50]}") @@ -1320,37 +1395,42 @@ Map HTML will appear here when generated. if not self.current_map_html: messagebox.showinfo("Info", "Generate a map first using 'Generate/Refresh Map' button.") return - + try: # Create temporary HTML file import tempfile - temp_file = tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') + + temp_file = tempfile.NamedTemporaryFile( + mode="w", suffix=".html", delete=False, encoding="utf-8" + ) temp_file.write(self.current_map_html) temp_file.close() - + # Open in default browser - webbrowser.open('file://' + os.path.abspath(temp_file.name)) + webbrowser.open("file://" + os.path.abspath(temp_file.name)) logging.info(f"Map opened in external browser: {temp_file.name}") - + except Exception as e: logging.error(f"Error opening external browser: {e}") messagebox.showerror("Error", f"Failed to open browser: {e}") # ... [Rest of the methods remain the same - demo mode, radar processing, etc.] ... + # IMPORTANT: You need to install tkinterweb first! # Run: pip install tkinterweb + def main(): """Main application entry point""" try: root = tk.Tk() - app = RadarGUI(root) + _app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + if __name__ == "__main__": main() - diff --git a/9_Firmware/9_3_GUI/GUI_V6.py b/9_Firmware/9_3_GUI/GUI_V6.py index b005c1c..0396266 100644 --- a/9_Firmware/9_3_GUI/GUI_V6.py +++ b/9_Firmware/9_3_GUI/GUI_V6.py @@ -194,7 +194,9 @@ class MapGenerator: var targetMarker = new google.maps.Marker({{ position: {{lat: target.lat, lng: target.lng}}, map: map, - title: `Target: ${{target.range:.1f}}m, ${{target.velocity:.1f}}m/s`, + title: ( + `Target: ${{target.range:.1f}}m, ${{target.velocity:.1f}}m/s` + ), icon: {{ path: google.maps.SymbolPath.CIRCLE, scale: 6, @@ -276,8 +278,14 @@ class FT601Interface: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: - product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "FT601 USB3.0" - serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" + product = ( + usb.util.get_string(dev, dev.iProduct) + if dev.iProduct else "FT601 USB3.0" + ) + serial = ( + usb.util.get_string(dev, dev.iSerialNumber) + if dev.iSerialNumber else "Unknown" + ) # Create FTDI URL for the device url = f"ftdi://{vid:04x}:{pid:04x}:{serial}/1" @@ -541,8 +549,14 @@ class STM32USBInterface: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: - product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" + product = ( + usb.util.get_string(dev, dev.iProduct) + if dev.iProduct else "STM32 CDC" + ) + serial = ( + usb.util.get_string(dev, dev.iSerialNumber) + if dev.iSerialNumber else "Unknown" + ) devices.append({ 'description': f"{product} ({serial})", 'vendor_id': vid, @@ -561,7 +575,11 @@ class STM32USBInterface: except Exception as e: logging.error(f"Error listing USB devices: {e}") # Return mock devices for testing - return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] + return [{ + 'description': 'STM32 Virtual COM Port', + 'vendor_id': 0x0483, + 'product_id': 0x5740, + }] def open_device(self, device_info): """Open STM32 USB CDC device""" @@ -586,12 +604,18 @@ class STM32USBInterface: # Find bulk endpoints (CDC data interface) self.ep_out = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) + == usb.util.ENDPOINT_OUT + ) ) self.ep_in = usb.util.find_descriptor( intf, - custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + custom_match=lambda e: ( + usb.util.endpoint_direction(e.bEndpointAddress) + == usb.util.ENDPOINT_IN + ) ) if self.ep_out is None or self.ep_in is None: @@ -826,7 +850,13 @@ class USBPacketParser: lon = float(parts[1]) alt = float(parts[2]) pitch = float(parts[3]) # Pitch angle in degrees - return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) + return GPSData( + latitude=lat, + longitude=lon, + altitude=alt, + pitch=pitch, + timestamp=time.time(), + ) # Try binary format (30 bytes with pitch) if len(data) >= 30 and data[0:4] == b'GPSB': @@ -918,7 +948,10 @@ class RadarPacketParser: crc_calculated = self.calculate_crc(packet[0:4+length]) if crc_calculated != crc_received: - logging.warning(f"CRC mismatch: got {crc_received:04X}, calculated {crc_calculated:04X}") + logging.warning( + f"CRC mismatch: got {crc_received:04X}, " + f"calculated {crc_calculated:04X}" + ) return None if packet_type == 0x01: @@ -1037,7 +1070,13 @@ class RadarGUI: # Counters self.received_packets = 0 - self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.current_gps = GPSData( + latitude=41.9028, + longitude=12.4964, + altitude=0, + pitch=0.0, + timestamp=0, + ) self.corrected_elevations = [] self.map_file_path = None self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" @@ -1219,9 +1258,20 @@ class RadarGUI: targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") targets_frame.pack(side='right', fill='y', padx=5) - self.targets_tree = ttk.Treeview(targets_frame, - columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), - show='headings', height=20) + self.targets_tree = ttk.Treeview( + targets_frame, + columns=( + 'ID', + 'Range', + 'Velocity', + 'Azimuth', + 'Elevation', + 'Corrected Elev', + 'SNR', + ), + show='headings', + height=20, + ) self.targets_tree.heading('ID', text='Track ID') self.targets_tree.heading('Range', text='Range (m)') self.targets_tree.heading('Velocity', text='Velocity (m/s)') @@ -1239,7 +1289,11 @@ class RadarGUI: self.targets_tree.column('SNR', width=70) # Add scrollbar to targets tree - tree_scroll = ttk.Scrollbar(targets_frame, orient="vertical", command=self.targets_tree.yview) + tree_scroll = ttk.Scrollbar( + targets_frame, + orient="vertical", + command=self.targets_tree.yview, + ) self.targets_tree.configure(yscrollcommand=tree_scroll.set) self.targets_tree.pack(side='left', fill='both', expand=True, padx=5, pady=5) tree_scroll.pack(side='right', fill='y', padx=(0, 5), pady=5) @@ -1288,7 +1342,9 @@ class RadarGUI: if not self.ft601_interface.open_device_direct(ft601_devices[ft601_index]): device_url = ft601_devices[ft601_index]['url'] if not self.ft601_interface.open_device(device_url): - logging.warning("Failed to open FT601 device, continuing without radar data") + logging.warning( + "Failed to open FT601 device, continuing without radar data" + ) messagebox.showwarning("Warning", "Failed to open FT601 device") else: # Configure burst mode if enabled @@ -1382,7 +1438,11 @@ class RadarGUI: gps_data = self.usb_packet_parser.parse_gps_data(data) if gps_data: self.gps_data_queue.put(gps_data) - logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + logging.info( + f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°" + ) except Exception as e: logging.error(f"Error processing GPS data via USB: {e}") time.sleep(0.1) @@ -1395,7 +1455,10 @@ class RadarGUI: # Apply pitch correction to elevation raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + corrected_elevation = self.apply_pitch_correction( + raw_elevation, + self.current_gps.pitch, + ) # Store correction for display self.corrected_elevations.append({ @@ -1423,16 +1486,25 @@ class RadarGUI: elif packet['type'] == 'doppler': lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + velocity = (packet['doppler_real'] / 32767.0) * ( + self.settings.prf1 * lambda_wavelength / 2 + ) self.update_target_velocity(packet, velocity) elif packet['type'] == 'detection': if packet['detected']: # Apply pitch correction to detection elevation raw_elevation = packet['elevation'] - corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + corrected_elevation = self.apply_pitch_correction( + raw_elevation, + self.current_gps.pitch, + ) - logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") + logging.info( + f"CFAR Detection: Raw Elev {raw_elevation}°, " + f"Corrected Elev {corrected_elevation:.1f}°, " + f"Pitch {self.current_gps.pitch:.1f}°" + ) except Exception as e: logging.error(f"Error processing radar packet: {e}") @@ -1480,7 +1552,11 @@ class RadarGUI: info_frame = ttk.Frame(map_frame) info_frame.pack(fill='x', pady=5) - self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) + self.map_info_label = ttk.Label( + info_frame, + text="No GPS data received yet", + font=('Arial', 10), + ) self.map_info_label.pack() def open_map_in_browser(self): @@ -1488,7 +1564,10 @@ class RadarGUI: if self.map_file_path and os.path.exists(self.map_file_path): webbrowser.open('file://' + os.path.abspath(self.map_file_path)) else: - messagebox.showwarning("Warning", "No map file available. Generate map first by receiving GPS data.") + messagebox.showwarning( + "Warning", + "No map file available. Generate map first by receiving GPS data.", + ) def refresh_map(self): """Refresh the map with current data""" @@ -1502,7 +1581,12 @@ class RadarGUI: try: # Create temporary HTML file - with tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') as f: + with tempfile.NamedTemporaryFile( + mode='w', + suffix='.html', + delete=False, + encoding='utf-8', + ) as f: map_html = self.map_generator.generate_map( self.current_gps, self.radar_processor.detected_targets, @@ -1533,7 +1617,12 @@ class RadarGUI: # Update GPS label self.gps_label.config( - text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + text=( + f"GPS: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m" + ) + ) # Update pitch label with color coding pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" @@ -1581,8 +1670,11 @@ class RadarGUI: entry.grid(row=i, column=1, padx=5, pady=5) self.settings_vars[attr] = var - ttk.Button(settings_frame, text="Apply Settings", - command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) + ttk.Button( + settings_frame, + text="Apply Settings", + command=self.apply_settings, + ).grid(row=len(entries), column=0, columnspan=2, pady=10) def apply_settings(self): """Step 13: Apply and send radar settings via USB""" @@ -1678,7 +1770,11 @@ class RadarGUI: gps_data = self.usb_packet_parser.parse_gps_data(data) if gps_data: self.gps_data_queue.put(gps_data) - logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + logging.info( + f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, " + f"Lon {gps_data.longitude:.6f}, " + f"Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°" + ) except Exception as e: logging.error(f"Error processing GPS data via USB: {e}") time.sleep(0.1) @@ -1688,8 +1784,12 @@ class RadarGUI: try: # Update status with pitch information if self.running: - self.status_label.config( - text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") + self.status_label.config( + text=( + f"Status: Running - Packets: {self.received_packets} - " + f"Pitch: {self.current_gps.pitch:+.1f}°" + ) + ) # Update range-Doppler map if hasattr(self, 'range_doppler_plot'): diff --git a/9_Firmware/9_3_GUI/GUI_V6_Demo.py b/9_Firmware/9_3_GUI/GUI_V6_Demo.py index 904e9ab..e68c9bd 100644 --- a/9_Firmware/9_3_GUI/GUI_V6_Demo.py +++ b/9_Firmware/9_3_GUI/GUI_V6_Demo.py @@ -621,7 +621,9 @@ class RadarDemoGUI: self.update_rate.grid(row=0, column=1, padx=10, pady=5) self.update_rate_value = ttk.Label(frame, text="20") self.update_rate_value.grid(row=0, column=2, sticky='w') - self.update_rate.configure(command=lambda v: self.update_rate_value.config(text=f"{float(v):.0f}")) + self.update_rate.configure( + command=lambda v: self.update_rate_value.config(text=f"{float(v):.0f}") + ) # Color map ttk.Label(frame, text="Color Map:").grid(row=1, column=0, sticky='w', pady=5) @@ -658,7 +660,9 @@ class RadarDemoGUI: self.noise_floor.grid(row=0, column=1, padx=10, pady=5) self.noise_value = ttk.Label(frame, text="10") self.noise_value.grid(row=0, column=2, sticky='w') - self.noise_floor.configure(command=lambda v: self.noise_value.config(text=f"{float(v):.1f}")) + self.noise_floor.configure( + command=lambda v: self.noise_value.config(text=f"{float(v):.1f}") + ) # Clutter level ttk.Label(frame, text="Clutter Level:").grid(row=1, column=0, sticky='w', pady=5) @@ -668,7 +672,9 @@ class RadarDemoGUI: self.clutter_level.grid(row=1, column=1, padx=10, pady=5) self.clutter_value = ttk.Label(frame, text="5") self.clutter_value.grid(row=1, column=2, sticky='w') - self.clutter_level.configure(command=lambda v: self.clutter_value.config(text=f"{float(v):.1f}")) + self.clutter_level.configure( + command=lambda v: self.clutter_value.config(text=f"{float(v):.1f}") + ) # Number of targets ttk.Label(frame, text="Number of Targets:").grid(row=2, column=0, sticky='w', pady=5) @@ -678,7 +684,9 @@ class RadarDemoGUI: self.num_targets.grid(row=2, column=1, padx=10, pady=5) self.targets_value = ttk.Label(frame, text="5") self.targets_value.grid(row=2, column=2, sticky='w') - self.num_targets.configure(command=lambda v: self.targets_value.config(text=f"{float(v):.0f}")) + self.num_targets.configure( + command=lambda v: self.targets_value.config(text=f"{float(v):.0f}") + ) # Reset button ttk.Button(frame, text="Reset Simulation", diff --git a/9_Firmware/9_3_GUI/test_radar_dashboard.py b/9_Firmware/9_3_GUI/test_radar_dashboard.py index 6fe0410..e5fc05a 100644 --- a/9_Firmware/9_3_GUI/test_radar_dashboard.py +++ b/9_Firmware/9_3_GUI/test_radar_dashboard.py @@ -321,7 +321,10 @@ class TestDataRecorder(unittest.TestCase): os.rmdir(self.tmpdir) @unittest.skipUnless( - (lambda: (__import__("importlib.util") and __import__("importlib").util.find_spec("h5py") is not None))(), + (lambda: ( + __import__("importlib.util") + and __import__("importlib").util.find_spec("h5py") is not None + ))(), "h5py not installed" ) def test_record_and_stop(self): diff --git a/9_Firmware/9_3_GUI/v7/dashboard.py b/9_Firmware/9_3_GUI/v7/dashboard.py index db65027..dd638b6 100644 --- a/9_Firmware/9_3_GUI/v7/dashboard.py +++ b/9_Firmware/9_3_GUI/v7/dashboard.py @@ -755,7 +755,9 @@ class RadarDashboard(QMainWindow): self._det_thresh_spin.setValue(self._processing_config.detection_threshold_db) self._det_thresh_spin.setSuffix(" dB") self._det_thresh_spin.setSingleStep(1.0) - self._det_thresh_spin.setToolTip("SNR threshold above noise floor (used when CFAR is disabled)") + self._det_thresh_spin.setToolTip( + "SNR threshold above noise floor (used when CFAR is disabled)" + ) p_layout.addWidget(self._det_thresh_spin, row, 1) row += 1 @@ -906,8 +908,11 @@ class RadarDashboard(QMainWindow): if idx2 >= 0 and idx2 < len(self._ft2232hq_devices): url = self._ft2232hq_devices[idx2]["url"] if not self._ft2232hq.open_device(url): - QMessageBox.warning(self, "Warning", - "Failed to open FT2232HQ device. Radar data may not be available.") + QMessageBox.warning( + self, + "Warning", + "Failed to open FT2232HQ device. Radar data may not be available.", + ) # Send start flag + settings if not self._stm32.send_start_flag(): diff --git a/9_Firmware/9_3_GUI/v7/map_widget.py b/9_Firmware/9_3_GUI/v7/map_widget.py index 7a26e0f..8c481e4 100644 --- a/9_Firmware/9_3_GUI/v7/map_widget.py +++ b/9_Firmware/9_3_GUI/v7/map_widget.py @@ -305,7 +305,10 @@ function initMap() {{ function setTileServer(id) {{ var cfg = tileServers[id]; if(!cfg) return; if(currentTileLayer) map.removeLayer(currentTileLayer); - currentTileLayer = L.tileLayer(cfg.url, {{ attribution:cfg.attribution, maxZoom:cfg.maxZoom }}).addTo(map); + currentTileLayer = L.tileLayer( + cfg.url, + {{ attribution:cfg.attribution, maxZoom:cfg.maxZoom }} + ).addTo(map); }} function updateRadarPopup() {{ @@ -313,9 +316,18 @@ function updateRadarPopup() {{ var ll = radarMarker.getLatLng(); radarMarker.bindPopup( '
Radar System
'+ - '
Lat:'+ll.lat.toFixed(6)+'
'+ - '
Lon:'+ll.lng.toFixed(6)+'
'+ - '
Status:Active
' + ( + '
Lat:'+ + ''+ll.lat.toFixed(6)+'
' + )+ + ( + '
Lon:'+ + ''+ll.lng.toFixed(6)+'
' + )+ + ( + '
Status:'+ + 'Active
' + ) ); }} @@ -325,10 +337,22 @@ function addLegend() {{ var d = L.DomUtil.create('div','legend'); d.innerHTML = '
Target Legend
'+ - '
Approaching
'+ - '
Receding
'+ - '
Stationary
'+ - '
Radar
'; + ( + '
Approaching
' + )+ + ( + '
Receding
' + )+ + ( + '
Stationary
' + )+ + ( + '
Radar
' + ); return d; }}; legend.addTo(map); @@ -365,7 +389,12 @@ function updateTargets(targetsJson) {{ }} }} else {{ var marker = L.marker([lat,lon], {{ icon:makeIcon(color,sz) }}).addTo(map); - marker.on('click', (function(id){{ return function(){{ if(bridge) bridge.onMarkerClick(id); }}; }})(t.id)); + marker.on( + 'click', + (function(id){{ + return function(){{ if(bridge) bridge.onMarkerClick(id); }}; + }})(t.id) + ); targetMarkers[t.id] = marker; if(showTrails) {{ targetTrails[t.id] = L.polyline(targetTrailHistory[t.id], {{ @@ -389,24 +418,50 @@ function makeIcon(color,sz) {{ return L.divIcon({{ className:'target-icon', html:'
', + ( + 'border-radius:50%;border:2px solid white;'+ + 'box-shadow:0 2px 6px rgba(0,0,0,0.4);' + )+'
', iconSize:[sz,sz], iconAnchor:[sz/2,sz/2] }}); }} function updateTargetPopup(t) {{ if(!targetMarkers[t.id]) return; - var sc = t.velocity>1?'status-approaching':(t.velocity<-1?'status-receding':'status-stationary'); + var sc = t.velocity>1 + ? 'status-approaching' + : (t.velocity<-1 ? 'status-receding' : 'status-stationary'); var st = t.velocity>1?'Approaching':(t.velocity<-1?'Receding':'Stationary'); targetMarkers[t.id].bindPopup( '
Target #'+t.id+'
'+ - '
Range:'+t.range.toFixed(1)+' m
'+ - '
Velocity:'+t.velocity.toFixed(1)+' m/s
'+ - '
Azimuth:'+t.azimuth.toFixed(1)+'°
'+ - '
Elevation:'+t.elevation.toFixed(1)+'°
'+ - '
SNR:'+t.snr.toFixed(1)+' dB
'+ - '
Track:'+t.track_id+'
'+ - '
Status:'+st+'
' + ( + '
Range:'+ + ''+t.range.toFixed(1)+' m
' + )+ + ( + '
Velocity:'+ + ''+t.velocity.toFixed(1)+' m/s
' + )+ + ( + '
Azimuth:'+ + ''+t.azimuth.toFixed(1)+'°
' + )+ + ( + '
Elevation:'+ + ''+t.elevation.toFixed(1)+'°
' + )+ + ( + '
SNR:'+ + ''+t.snr.toFixed(1)+' dB
' + )+ + ( + '
Track:'+ + ''+t.track_id+'
' + )+ + ( + '
Status:'+ + ''+st+'
' + ) ); }} diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..e517b2d --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,27 @@ +[project] +name = "aeris-10-radar" +version = "1.0.0" +description = "AERIS-10 FMCW Radar Platform — host software & FPGA cosim tools" +requires-python = ">=3.12" + +# Runtime dependencies intentionally empty — GUI deps are optional and +# listed in requirements_*.txt files for local installs. +dependencies = [] + +[dependency-groups] +dev = [ + "ruff>=0.5", + "pytest>=8", + "numpy>=1.26", + "h5py>=3.10", +] + +# --------------------------------------------------------------------------- +# Ruff configuration +# --------------------------------------------------------------------------- +[tool.ruff] +target-version = "py312" +line-length = 100 + +[tool.ruff.lint] +select = ["E", "F"]