Merge pull request #67 from NawfalMotii79/feat/agc-fpga-gui

feat: hybrid AGC system + GUI feature parity + cross-layer tests

.github/workflows/ci-tests.yml

@@ -46,7 +46,7 @@ jobs:
       - name: Unit tests
         run: >
           uv run pytest
-          9_Firmware/9_3_GUI/test_radar_dashboard.py
+          9_Firmware/9_3_GUI/test_GUI_V65_Tk.py
           9_Firmware/9_3_GUI/test_v7.py
           -v --tb=short
 

9_Firmware/9_3_GUI/GUI_V65_Tk.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-AERIS-10 Radar Dashboard
+AERIS-10 Radar Dashboard (Tkinter)
 ===================================================
 Real-time visualization and control for the AERIS-10 phased-array radar
 via FT2232H USB 2.0 interface.
@@ -14,36 +14,52 @@ Features:
     0x01-0x04, 0x10-0x16, 0x20-0x27, 0x30-0x31, 0xFF)
   - Configuration panel for all radar parameters
   - HDF5 data recording for offline analysis
+  - Replay mode (co-sim dirs, raw IQ .npy, HDF5) with transport controls
+  - Demo mode with synthetic moving targets
+  - Detected targets table
+  - Dual dispatch: FPGA controls route to SoftwareFPGA during replay
   - Mock mode for development/testing without hardware
 
 Usage:
-  python radar_dashboard.py              # Launch with mock data
+  python GUI_V65_Tk.py              # Launch with mock data
-  python radar_dashboard.py --live       # Launch with FT2232H hardware
+  python GUI_V65_Tk.py --live       # Launch with FT2232H hardware
-  python radar_dashboard.py --record     # Launch with HDF5 recording
+  python GUI_V65_Tk.py --record     # Launch with HDF5 recording
+  python GUI_V65_Tk.py --replay path/to/data  # Auto-load replay
+  python GUI_V65_Tk.py --demo       # Start in demo mode
 """
 
 import os
+import math
 import time
+import copy
 import queue
+import random
 import logging
 import argparse
 import threading
 import contextlib
 from collections import deque
+from pathlib import Path
+from typing import ClassVar
 
 import numpy as np
 
-import tkinter as tk
+try:
-from tkinter import ttk, filedialog
+    import tkinter as tk
+    from tkinter import ttk, filedialog
 
-import matplotlib
+    import matplotlib
-matplotlib.use("TkAgg")
+    matplotlib.use("TkAgg")
-from matplotlib.figure import Figure
+    from matplotlib.figure import Figure
-from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+    from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+
+    _HAS_GUI = True
+except (ModuleNotFoundError, ImportError):
+    _HAS_GUI = False
 
 # Import protocol layer (no GUI deps)
 from radar_protocol import (
-    RadarProtocol, FT2232HConnection, ReplayConnection,
+    RadarProtocol, FT2232HConnection,
     DataRecorder, RadarAcquisition,
     RadarFrame, StatusResponse,
     NUM_RANGE_BINS, NUM_DOPPLER_BINS, WATERFALL_DEPTH,
@@ -54,7 +70,7 @@ logging.basicConfig(
     format="%(asctime)s [%(levelname)s] %(message)s",
     datefmt="%H:%M:%S",
 )
-log = logging.getLogger("radar_dashboard")
+log = logging.getLogger("GUI_V65_Tk")
 
 
 
@@ -73,6 +89,296 @@ YELLOW = "#f9e2af"
 SURFACE = "#313244"
 
 
+# ============================================================================
+# Demo Target Simulator (Tkinter timer-based)
+# ============================================================================
+
+class DemoTarget:
+    """Single simulated target with kinematics."""
+
+    __slots__ = ("azimuth", "classification", "id", "range_m", "snr", "velocity")
+
+    # Physical range grid: 64 bins x ~4.8 m/bin = ~307 m max
+    _RANGE_PER_BIN: float = (3e8 / (2 * 500e6)) * 16  # ~4.8 m
+    _MAX_RANGE: float = _RANGE_PER_BIN * NUM_RANGE_BINS  # ~307 m
+
+    def __init__(self, tid: int):
+        self.id = tid
+        self.range_m = random.uniform(20, self._MAX_RANGE - 20)
+        self.velocity = random.uniform(-10, 10)
+        self.azimuth = random.uniform(0, 360)
+        self.snr = random.uniform(10, 35)
+        self.classification = random.choice(
+            ["aircraft", "drone", "bird", "unknown"])
+
+    def step(self) -> bool:
+        """Advance one tick.  Return False if target exits coverage."""
+        self.range_m -= self.velocity * 0.1
+        if self.range_m < 5 or self.range_m > self._MAX_RANGE:
+            return False
+        self.velocity = max(-20, min(20, self.velocity + random.uniform(-1, 1)))
+        self.azimuth = (self.azimuth + random.uniform(-0.5, 0.5)) % 360
+        self.snr = max(0, min(50, self.snr + random.uniform(-1, 1)))
+        return True
+
+
+class DemoSimulator:
+    """Timer-driven demo target generator for the Tkinter dashboard.
+
+    Produces synthetic ``RadarFrame`` objects and a target list each tick,
+    pushing them into the dashboard's ``frame_queue`` and ``_ui_queue``.
+    """
+
+    def __init__(self, frame_queue: queue.Queue, ui_queue: queue.Queue,
+                 root: tk.Tk, interval_ms: int = 500):
+        self._frame_queue = frame_queue
+        self._ui_queue = ui_queue
+        self._root = root
+        self._interval_ms = interval_ms
+        self._targets: list[DemoTarget] = []
+        self._next_id = 1
+        self._frame_number = 0
+        self._after_id: str | None = None
+
+        # Seed initial targets
+        for _ in range(8):
+            self._add_target()
+
+    def start(self):
+        self._tick()
+
+    def stop(self):
+        if self._after_id is not None:
+            self._root.after_cancel(self._after_id)
+            self._after_id = None
+
+    def add_random_target(self):
+        self._add_target()
+
+    def _add_target(self):
+        t = DemoTarget(self._next_id)
+        self._next_id += 1
+        self._targets.append(t)
+
+    def _tick(self):
+        updated: list[DemoTarget] = [t for t in self._targets if t.step()]
+        if len(updated) < 5 or (random.random() < 0.05 and len(updated) < 15):
+            self._add_target()
+            updated.append(self._targets[-1])
+        self._targets = updated
+
+        # Synthesize a RadarFrame with Gaussian blobs for each target
+        frame = self._make_frame(updated)
+        with contextlib.suppress(queue.Full):
+            self._frame_queue.put_nowait(frame)
+
+        # Post target info for the detected-targets treeview
+        target_dicts = [
+            {"id": t.id, "range_m": t.range_m, "velocity": t.velocity,
+             "azimuth": t.azimuth, "snr": t.snr, "class": t.classification}
+            for t in updated
+        ]
+        self._ui_queue.put(("demo_targets", target_dicts))
+
+        self._after_id = self._root.after(self._interval_ms, self._tick)
+
+    def _make_frame(self, targets: list[DemoTarget]) -> RadarFrame:
+        """Build a synthetic RadarFrame from target list."""
+        mag = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=np.float64)
+        det = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=np.uint8)
+
+        # Range/Doppler scaling (approximate)
+        range_per_bin = (3e8 / (2 * 500e6)) * 16  # ~4.8 m/bin
+        max_range = range_per_bin * NUM_RANGE_BINS
+        vel_per_bin = 1.484  # m/s per Doppler bin (from WaveformConfig)
+
+        for t in targets:
+            if t.range_m > max_range or t.range_m < 0:
+                continue
+            r_bin = int(t.range_m / range_per_bin)
+            d_bin = int((t.velocity / vel_per_bin) + NUM_DOPPLER_BINS / 2)
+            r_bin = max(0, min(NUM_RANGE_BINS - 1, r_bin))
+            d_bin = max(0, min(NUM_DOPPLER_BINS - 1, d_bin))
+
+            # Gaussian-ish blob
+            amplitude = 500 + t.snr * 200
+            for dr in range(-2, 3):
+                for dd in range(-1, 2):
+                    ri = r_bin + dr
+                    di = d_bin + dd
+                    if 0 <= ri < NUM_RANGE_BINS and 0 <= di < NUM_DOPPLER_BINS:
+                        w = math.exp(-0.5 * (dr**2 + dd**2))
+                        mag[ri, di] += amplitude * w
+                        if w > 0.5:
+                            det[ri, di] = 1
+
+        rd_i = (mag * 0.5).astype(np.int16)
+        rd_q = np.zeros_like(rd_i)
+        rp = mag.max(axis=1)
+
+        self._frame_number += 1
+        return RadarFrame(
+            timestamp=time.time(),
+            range_doppler_i=rd_i,
+            range_doppler_q=rd_q,
+            magnitude=mag,
+            detections=det,
+            range_profile=rp,
+            detection_count=int(det.sum()),
+            frame_number=self._frame_number,
+        )
+
+
+# ============================================================================
+# Replay Controller (threading-based, reuses v7.ReplayEngine)
+# ============================================================================
+
+class _ReplayController:
+    """Manages replay playback in a background thread for the Tkinter dashboard.
+
+    Imports ``ReplayEngine`` and ``SoftwareFPGA`` from ``v7`` lazily so
+    they are only required when replay is actually used.
+    """
+
+    # Speed multiplier → frame interval in seconds
+    SPEED_MAP: ClassVar[dict[str, float]] = {
+        "0.25x": 0.400,
+        "0.5x": 0.200,
+        "1x": 0.100,
+        "2x": 0.050,
+        "5x": 0.020,
+        "10x": 0.010,
+    }
+
+    def __init__(self, frame_queue: queue.Queue, ui_queue: queue.Queue):
+        self._frame_queue = frame_queue
+        self._ui_queue = ui_queue
+        self._engine = None  # lazy
+        self._software_fpga = None  # lazy
+        self._thread: threading.Thread | None = None
+        self._play_event = threading.Event()
+        self._stop_event = threading.Event()
+        self._lock = threading.Lock()
+        self._current_index = 0
+        self._last_emitted_index = -1
+        self._loop = False
+        self._frame_interval = 0.100  # 1x speed
+
+    def load(self, path: str) -> int:
+        """Load replay data from path.  Returns total frames or raises."""
+        from v7.replay import ReplayEngine, ReplayFormat, detect_format
+        from v7.software_fpga import SoftwareFPGA
+
+        fmt = detect_format(path)
+        if fmt == ReplayFormat.RAW_IQ_NPY:
+            self._software_fpga = SoftwareFPGA()
+            self._engine = ReplayEngine(path, software_fpga=self._software_fpga)
+        else:
+            self._engine = ReplayEngine(path)
+
+        self._current_index = 0
+        self._last_emitted_index = -1
+        self._stop_event.clear()
+        self._play_event.clear()
+        return self._engine.total_frames
+
+    @property
+    def total_frames(self) -> int:
+        return self._engine.total_frames if self._engine else 0
+
+    @property
+    def current_index(self) -> int:
+        return self._last_emitted_index if self._last_emitted_index >= 0 else 0
+
+    @property
+    def is_playing(self) -> bool:
+        return self._play_event.is_set()
+
+    @property
+    def software_fpga(self):
+        return self._software_fpga
+
+    def set_speed(self, label: str):
+        self._frame_interval = self.SPEED_MAP.get(label, 0.100)
+
+    def set_loop(self, loop: bool):
+        self._loop = loop
+
+    def play(self):
+        self._play_event.set()
+        with self._lock:
+            if self._current_index >= self.total_frames:
+                self._current_index = 0
+        self._ui_queue.put(("replay_state", "playing"))
+        if self._thread is None or not self._thread.is_alive():
+            self._stop_event.clear()
+            self._thread = threading.Thread(target=self._run, daemon=True)
+            self._thread.start()
+
+    def pause(self):
+        self._play_event.clear()
+        self._ui_queue.put(("replay_state", "paused"))
+
+    def stop(self):
+        self._stop_event.set()
+        self._play_event.set()  # unblock wait so thread exits promptly
+        with self._lock:
+            self._current_index = 0
+            self._last_emitted_index = -1
+        if self._thread is not None:
+            self._thread.join(timeout=2)
+            self._thread = None
+        self._play_event.clear()
+        self._ui_queue.put(("replay_state", "stopped"))
+
+    def close(self):
+        """Stop playback and release underlying engine resources."""
+        self.stop()
+        if self._engine is not None:
+            self._engine.close()
+            self._engine = None
+        self._software_fpga = None
+
+    def seek(self, index: int):
+        with self._lock:
+            self._current_index = max(0, min(index, self.total_frames - 1))
+            self._emit_frame()
+            self._last_emitted_index = self._current_index
+            # Advance past the emitted frame so _run doesn't re-emit it
+            self._current_index += 1
+
+    def _run(self):
+        while not self._stop_event.is_set():
+            # Block until play or stop is signalled — no busy-sleep
+            self._play_event.wait()
+            if self._stop_event.is_set():
+                break
+            with self._lock:
+                if self._current_index >= self.total_frames:
+                    if self._loop:
+                        self._current_index = 0
+                    else:
+                        self._play_event.clear()
+                        self._ui_queue.put(("replay_state", "paused"))
+                        continue
+                self._emit_frame()
+                self._last_emitted_index = self._current_index
+                idx = self._current_index
+                self._current_index += 1
+            self._ui_queue.put(("replay_index", (idx, self.total_frames)))
+            time.sleep(self._frame_interval)
+
+    def _emit_frame(self):
+        """Get current frame and push to queue. Must be called with lock held."""
+        if self._engine is None:
+            return
+        frame = self._engine.get_frame(self._current_index)
+        if frame is not None:
+            frame = copy.deepcopy(frame)
+            with contextlib.suppress(queue.Full):
+                self._frame_queue.put_nowait(frame)
+
+
 class RadarDashboard:
     """Main tkinter application: real-time radar visualization and control."""
 
@@ -93,7 +399,7 @@ class RadarDashboard:
         self.root.geometry("1600x950")
         self.root.configure(bg=BG)
 
-        # Frame queue (acquisition → display)
+        # Frame queue (acquisition / replay / demo → display)
         self.frame_queue: queue.Queue[RadarFrame] = queue.Queue(maxsize=8)
         self._acq_thread: RadarAcquisition | None = None
 
@@ -126,6 +432,17 @@ class RadarDashboard:
         self._agc_last_redraw: float = 0.0  # throttle chart redraws
         self._AGC_REDRAW_INTERVAL: float = 0.5  # seconds between redraws
 
+        # Replay state
+        self._replay_ctrl: _ReplayController | None = None
+        self._replay_active = False
+
+        # Demo state
+        self._demo_sim: DemoSimulator | None = None
+        self._demo_active = False
+
+        # Detected targets (from demo or replay host-DSP)
+        self._detected_targets: list[dict] = []
+
         self._build_ui()
         self._schedule_update()
 
@@ -171,30 +488,33 @@ class RadarDashboard:
         self.btn_record = ttk.Button(top, text="Record", command=self._on_record)
         self.btn_record.pack(side="right", padx=4)
 
+        self.btn_demo = ttk.Button(top, text="Start Demo",
+                                    command=self._toggle_demo)
+        self.btn_demo.pack(side="right", padx=4)
+
         # -- Tabbed notebook layout --
         nb = ttk.Notebook(self.root)
         nb.pack(fill="both", expand=True, padx=8, pady=8)
 
         tab_display = ttk.Frame(nb)
         tab_control = ttk.Frame(nb)
+        tab_replay = ttk.Frame(nb)
         tab_agc = ttk.Frame(nb)
         tab_log = ttk.Frame(nb)
         nb.add(tab_display, text="  Display  ")
         nb.add(tab_control, text="  Control  ")
+        nb.add(tab_replay, text="  Replay  ")
         nb.add(tab_agc, text="  AGC Monitor  ")
         nb.add(tab_log, text="  Log  ")
 
         self._build_display_tab(tab_display)
         self._build_control_tab(tab_control)
+        self._build_replay_tab(tab_replay)
         self._build_agc_tab(tab_agc)
         self._build_log_tab(tab_log)
 
     def _build_display_tab(self, parent):
         # Compute physical axis limits
-        # Range resolution: dR = c / (2 * BW) per range bin
-        # But we decimate 1024→64 bins, so each bin spans 16 FFT bins.
-        # Range resolution derivation: c/(2*BW) gives ~0.3 m per FFT bin.
-        # After 1024-to-64 decimation each displayed range bin spans 16 FFT bins.
         range_res = self.C / (2.0 * self.BANDWIDTH)  # ~0.3 m per FFT bin
         # After decimation 1024→64, each range bin = 16 FFT bins
         range_per_bin = range_res * 16
@@ -203,8 +523,12 @@ class RadarDashboard:
         doppler_bin_lo = 0
         doppler_bin_hi = NUM_DOPPLER_BINS
 
+        # Top pane: plots
+        plot_frame = ttk.Frame(parent)
+        plot_frame.pack(fill="both", expand=True)
+
         # Matplotlib figure with 3 subplots
-        self.fig = Figure(figsize=(14, 7), facecolor=BG)
+        self.fig = Figure(figsize=(14, 5), facecolor=BG)
         self.fig.subplots_adjust(left=0.07, right=0.98, top=0.94, bottom=0.10,
                                   wspace=0.30, hspace=0.35)
 
@@ -245,11 +569,35 @@ class RadarDashboard:
         self.ax_wf.set_ylabel("Frame", color=FG)
         self.ax_wf.tick_params(colors=FG)
 
-        canvas = FigureCanvasTkAgg(self.fig, master=parent)
+        canvas = FigureCanvasTkAgg(self.fig, master=plot_frame)
         canvas.draw()
         canvas.get_tk_widget().pack(fill="both", expand=True)
         self._canvas = canvas
 
+        # Bottom pane: detected targets table
+        tgt_frame = ttk.LabelFrame(parent, text="Detected Targets", padding=4)
+        tgt_frame.pack(fill="x", padx=8, pady=(0, 4))
+
+        cols = ("id", "range_m", "velocity", "azimuth", "snr", "class")
+        self._tgt_tree = ttk.Treeview(
+            tgt_frame, columns=cols, show="headings", height=5)
+        for col, heading, width in [
+            ("id", "ID", 50),
+            ("range_m", "Range (m)", 100),
+            ("velocity", "Vel (m/s)", 90),
+            ("azimuth", "Az (deg)", 90),
+            ("snr", "SNR (dB)", 80),
+            ("class", "Class", 100),
+        ]:
+            self._tgt_tree.heading(col, text=heading)
+            self._tgt_tree.column(col, width=width, anchor="center")
+
+        scrollbar = ttk.Scrollbar(
+            tgt_frame, orient="vertical", command=self._tgt_tree.yview)
+        self._tgt_tree.configure(yscrollcommand=scrollbar.set)
+        self._tgt_tree.pack(side="left", fill="x", expand=True)
+        scrollbar.pack(side="right", fill="y")
+
     def _build_control_tab(self, parent):
         """Host command sender — organized by FPGA register groups.
 
@@ -492,6 +840,86 @@ class RadarDashboard:
             var.set(str(clamped))
         self._send_cmd(opcode, clamped)
 
+    def _build_replay_tab(self, parent):
+        """Replay tab — load file, transport controls, seek slider."""
+        # File selection
+        file_frame = ttk.LabelFrame(parent, text="Replay Source", padding=10)
+        file_frame.pack(fill="x", padx=8, pady=(8, 4))
+
+        self._replay_path_var = tk.StringVar(value="(none)")
+        ttk.Label(file_frame, textvariable=self._replay_path_var,
+                  font=("Menlo", 9)).pack(side="left", fill="x", expand=True)
+
+        ttk.Button(file_frame, text="Browse File...",
+                   command=self._replay_browse_file).pack(side="right", padx=(4, 0))
+        ttk.Button(file_frame, text="Browse Dir...",
+                   command=self._replay_browse_dir).pack(side="right", padx=(4, 0))
+
+        # Transport controls
+        ctrl_frame = ttk.LabelFrame(parent, text="Transport", padding=10)
+        ctrl_frame.pack(fill="x", padx=8, pady=4)
+
+        btn_row = ttk.Frame(ctrl_frame)
+        btn_row.pack(fill="x", pady=(0, 6))
+
+        self._rp_play_btn = ttk.Button(
+            btn_row, text="Play", command=self._replay_play, state="disabled")
+        self._rp_play_btn.pack(side="left", padx=2)
+
+        self._rp_pause_btn = ttk.Button(
+            btn_row, text="Pause", command=self._replay_pause, state="disabled")
+        self._rp_pause_btn.pack(side="left", padx=2)
+
+        self._rp_stop_btn = ttk.Button(
+            btn_row, text="Stop", command=self._replay_stop, state="disabled")
+        self._rp_stop_btn.pack(side="left", padx=2)
+
+        # Speed selector
+        ttk.Label(btn_row, text="Speed:").pack(side="left", padx=(16, 4))
+        self._rp_speed_var = tk.StringVar(value="1x")
+        speed_combo = ttk.Combobox(
+            btn_row, textvariable=self._rp_speed_var,
+            values=list(_ReplayController.SPEED_MAP.keys()),
+            state="readonly", width=6)
+        speed_combo.pack(side="left", padx=2)
+        speed_combo.bind("<<ComboboxSelected>>", self._replay_speed_changed)
+
+        # Loop checkbox
+        self._rp_loop_var = tk.BooleanVar(value=False)
+        ttk.Checkbutton(btn_row, text="Loop",
+                        variable=self._rp_loop_var,
+                        command=self._replay_loop_changed).pack(side="left", padx=8)
+
+        # Seek slider
+        slider_row = ttk.Frame(ctrl_frame)
+        slider_row.pack(fill="x")
+
+        self._rp_slider = tk.Scale(
+            slider_row, from_=0, to=0, orient="horizontal",
+            bg=SURFACE, fg=FG, highlightthickness=0,
+            troughcolor=BG2, command=self._replay_seek)
+        self._rp_slider.pack(side="left", fill="x", expand=True)
+
+        self._rp_frame_label = ttk.Label(
+            slider_row, text="0 / 0", font=("Menlo", 10))
+        self._rp_frame_label.pack(side="right", padx=8)
+
+        # Status
+        self._rp_status_label = ttk.Label(
+            parent, text="No replay loaded", font=("Menlo", 10))
+        self._rp_status_label.pack(padx=8, pady=4, anchor="w")
+
+        # Info frame for FPGA controls during replay
+        info = ttk.LabelFrame(parent, text="Replay FPGA Controls", padding=10)
+        info.pack(fill="x", padx=8, pady=4)
+        ttk.Label(
+            info,
+            text=("When replaying Raw IQ data, FPGA Control tab "
+                  "parameters are routed to the SoftwareFPGA.\n"
+                  "Changes take effect on the next frame."),
+            font=("Menlo", 9), foreground=ACCENT,
+        ).pack(anchor="w")
+
     def _build_agc_tab(self, parent):
         """AGC Monitor tab — real-time strip charts for gain, peak, and saturation."""
         # Top row: AGC status badge + saturation indicator
@@ -602,6 +1030,12 @@ class RadarDashboard:
             log.info("Disconnected")
             return
 
+        # Stop any active demo or replay before going live
+        if self._demo_active:
+            self._stop_demo()
+        if self._replay_active:
+            self._replay_stop()
+
         # Open connection in a background thread to avoid blocking the GUI
         self.lbl_status.config(text="CONNECTING...", foreground=YELLOW)
         self.btn_connect.config(state="disabled")
@@ -644,7 +1078,37 @@ class RadarDashboard:
             self.recorder.start(filepath)
             self.btn_record.config(text="Stop Rec")
 
+    # Opcode → SoftwareFPGA setter method name for dual dispatch during replay
+    _SFPGA_SETTER_NAMES: ClassVar[dict[int, str]] = {
+        0x03: "set_detect_threshold",
+        0x16: "set_gain_shift",
+        0x21: "set_cfar_guard",
+        0x22: "set_cfar_train",
+        0x23: "set_cfar_alpha",
+        0x24: "set_cfar_mode",
+        0x25: "set_cfar_enable",
+        0x26: "set_mti_enable",
+        0x27: "set_dc_notch_width",
+        0x28: "set_agc_enable",
+    }
+
     def _send_cmd(self, opcode: int, value: int):
+        """Send command — routes to SoftwareFPGA when replaying raw IQ."""
+        if (self._replay_active and self._replay_ctrl is not None
+                and self._replay_ctrl.software_fpga is not None):
+            sfpga = self._replay_ctrl.software_fpga
+            setter_name = self._SFPGA_SETTER_NAMES.get(opcode)
+            if setter_name is not None:
+                getattr(sfpga, setter_name)(value)
+                log.info(
+                    f"SoftwareFPGA 0x{opcode:02X} val={value}")
+                return
+            log.warning(
+                f"Opcode 0x{opcode:02X} not routable in replay mode")
+            self._ui_queue.put(
+                ("status_msg",
+                 f"Opcode 0x{opcode:02X} is hardware-only (ignored in replay)"))
+            return
         cmd = RadarProtocol.build_command(opcode, value)
         ok = self.conn.write(cmd)
         log.info(f"CMD 0x{opcode:02X} val={value} ({'OK' if ok else 'FAIL'})")
@@ -657,6 +1121,133 @@ class RadarDashboard:
         except ValueError:
             log.error("Invalid custom command values")
 
+    # -------------------------------------------------------- Replay actions
+    def _replay_browse_file(self):
+        path = filedialog.askopenfilename(
+            title="Select replay file",
+            filetypes=[
+                ("NumPy files", "*.npy"),
+                ("HDF5 files", "*.h5"),
+                ("All files", "*.*"),
+            ],
+        )
+        if path:
+            self._replay_load(path)
+
+    def _replay_browse_dir(self):
+        path = filedialog.askdirectory(title="Select co-sim directory")
+        if path:
+            self._replay_load(path)
+
+    def _replay_load(self, path: str):
+        """Load replay data and enable transport controls."""
+        # Stop any running mode
+        if self._demo_active:
+            self._stop_demo()
+        # Safely shutdown and disable UI controls before loading the new file
+        if self._replay_active or self._replay_ctrl is not None:
+            self._replay_stop()
+        if self._acq_thread is not None:
+            if self.conn.is_open:
+                self._on_connect()  # disconnect
+            else:
+                # Connection dropped unexpectedly — just clean up the thread
+                self._acq_thread.stop()
+                self._acq_thread.join(timeout=2)
+                self._acq_thread = None
+
+        try:
+            self._replay_ctrl = _ReplayController(
+                self.frame_queue, self._ui_queue)
+            total = self._replay_ctrl.load(path)
+        except Exception as exc:  # noqa: BLE001
+            log.error(f"Failed to load replay: {exc}")
+            self._rp_status_label.config(
+                text=f"Load failed: {exc}", foreground=RED)
+            self._replay_ctrl = None
+            return
+
+        short_path = Path(path).name
+        self._replay_path_var.set(short_path)
+        self._rp_slider.config(to=max(0, total - 1))
+        self._rp_frame_label.config(text=f"0 / {total}")
+        self._rp_status_label.config(
+            text=f"Loaded: {total} frames from {short_path}",
+            foreground=GREEN)
+
+        # Enable transport buttons
+        for btn in (self._rp_play_btn, self._rp_pause_btn, self._rp_stop_btn):
+            btn.config(state="normal")
+
+        self._replay_active = True
+        self.lbl_status.config(text="REPLAY", foreground=ACCENT)
+        log.info(f"Replay loaded: {total} frames from {path}")
+
+    def _replay_play(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.play()
+
+    def _replay_pause(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.pause()
+
+    def _replay_stop(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.close()
+            self._replay_ctrl = None
+        self._replay_active = False
+        self.lbl_status.config(text="DISCONNECTED", foreground=RED)
+        self._rp_slider.set(0)
+        self._rp_frame_label.config(text="0 / 0")
+        for btn in (self._rp_play_btn, self._rp_pause_btn, self._rp_stop_btn):
+            btn.config(state="disabled")
+
+    def _replay_seek(self, value):
+        if (self._replay_ctrl and self._replay_active
+                and not self._replay_ctrl.is_playing):
+            self._replay_ctrl.seek(int(value))
+
+    def _replay_speed_changed(self, _event=None):
+        if self._replay_ctrl:
+            self._replay_ctrl.set_speed(self._rp_speed_var.get())
+
+    def _replay_loop_changed(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.set_loop(self._rp_loop_var.get())
+
+    # ---------------------------------------------------------- Demo actions
+    def _toggle_demo(self):
+        if self._demo_active:
+            self._stop_demo()
+        else:
+            self._start_demo()
+
+    def _start_demo(self):
+        """Start demo mode with synthetic targets."""
+        # Mutual exclusion
+        if self._replay_active:
+            self._replay_stop()
+        if self._acq_thread is not None:
+            log.warning("Cannot start demo while radar is connected")
+            return
+
+        self._demo_sim = DemoSimulator(
+            self.frame_queue, self._ui_queue, self.root, interval_ms=500)
+        self._demo_sim.start()
+        self._demo_active = True
+        self.lbl_status.config(text="DEMO", foreground=YELLOW)
+        self.btn_demo.config(text="Stop Demo")
+        log.info("Demo mode started")
+
+    def _stop_demo(self):
+        if self._demo_sim is not None:
+            self._demo_sim.stop()
+            self._demo_sim = None
+        self._demo_active = False
+        self.lbl_status.config(text="DISCONNECTED", foreground=RED)
+        self.btn_demo.config(text="Start Demo")
+        log.info("Demo mode stopped")
+
     def _on_status_received(self, status: StatusResponse):
         """Called from acquisition thread — post to UI queue for main thread."""
         self._ui_queue.put(("status", status))
@@ -804,6 +1395,46 @@ class RadarDashboard:
                 self._update_self_test_labels(payload)
             elif tag == "log":
                 self._log_handler_append(payload)
+            elif tag == "replay_state":
+                self._on_replay_state(payload)
+            elif tag == "replay_index":
+                self._on_replay_index(*payload)
+            elif tag == "demo_targets":
+                self._on_demo_targets(payload)
+            elif tag == "status_msg":
+                self.lbl_status.config(text=str(payload), foreground=YELLOW)
+
+    def _on_replay_state(self, state: str):
+        if state == "playing":
+            self._rp_status_label.config(text="Playing", foreground=GREEN)
+        elif state == "paused":
+            self._rp_status_label.config(text="Paused", foreground=YELLOW)
+        elif state == "stopped":
+            self._rp_status_label.config(text="Stopped", foreground=FG)
+
+    def _on_replay_index(self, index: int, total: int):
+        self._rp_frame_label.config(text=f"{index} / {total}")
+        self._rp_slider.set(index)
+
+    def _on_demo_targets(self, targets: list[dict]):
+        """Update the detected targets treeview from demo data."""
+        self._update_targets_table(targets)
+
+    def _update_targets_table(self, targets: list[dict]):
+        """Refresh the detected targets treeview."""
+        # Clear existing rows
+        for item in self._tgt_tree.get_children():
+            self._tgt_tree.delete(item)
+        # Insert new rows
+        for t in targets:
+            self._tgt_tree.insert("", "end", values=(
+                t.get("id", ""),
+                f"{t.get('range_m', 0):.0f}",
+                f"{t.get('velocity', 0):.1f}",
+                f"{t.get('azimuth', 0):.1f}",
+                f"{t.get('snr', 0):.1f}",
+                t.get("class", ""),
+            ))
 
     def _log_handler_append(self, msg: str):
         """Append a log message to the log Text widget (main thread only)."""
@@ -902,24 +1533,20 @@ class _TextHandler(logging.Handler):
 
 def main():
     parser = argparse.ArgumentParser(description="AERIS-10 Radar Dashboard")
-    parser.add_argument("--live", action="store_true",
-                        help="Use real FT2232H hardware (default: mock mode)")
-    parser.add_argument("--replay", type=str, metavar="NPY_DIR",
-                        help="Replay real data from .npy directory "
-                             "(e.g. tb/cosim/real_data/hex/)")
-    parser.add_argument("--no-mti", action="store_true",
-                        help="With --replay, use non-MTI Doppler data")
     parser.add_argument("--record", action="store_true",
                         help="Start HDF5 recording immediately")
     parser.add_argument("--device", type=int, default=0,
                         help="FT2232H device index (default: 0)")
+    mode_group = parser.add_mutually_exclusive_group()
+    mode_group.add_argument("--live", action="store_true",
+                            help="Use real FT2232H hardware (default: mock mode)")
+    mode_group.add_argument("--replay", type=str, default=None,
+                            help="Auto-load replay file or directory on startup")
+    mode_group.add_argument("--demo", action="store_true",
+                            help="Start in demo mode with synthetic targets")
     args = parser.parse_args()
 
-    if args.replay:
+    if args.live:
-        npy_dir = os.path.abspath(args.replay)
-        conn = ReplayConnection(npy_dir, use_mti=not args.no_mti)
-        mode_str = f"REPLAY ({npy_dir}, MTI={'OFF' if args.no_mti else 'ON'})"
-    elif args.live:
         conn = FT2232HConnection(mock=False)
         mode_str = "LIVE"
     else:
@@ -939,7 +1566,19 @@ def main():
         )
         recorder.start(filepath)
 
+    if args.replay:
+        dashboard._replay_load(args.replay)
+
+    if args.demo:
+        dashboard._start_demo()
+
     def on_closing():
+        # Stop demo if active
+        if dashboard._demo_active:
+            dashboard._stop_demo()
+        # Stop replay if active
+        if dashboard._replay_ctrl is not None:
+            dashboard._replay_ctrl.close()
         if dashboard._acq_thread is not None:
             dashboard._acq_thread.stop()
             dashboard._acq_thread.join(timeout=2)

9_Firmware/9_3_GUI/GUI_versions.txt

@@ -8,6 +8,6 @@ GUI_V5 ==> Added Mercury Color
 
 GUI_V6 ==> Added USB3 FT601 support
 
-radar_dashboard ==> Board bring-up dashboard (FT2232H reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording)
+GUI_V65_Tk ==> Board bring-up dashboard (FT2232H reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording, replay, demo mode)
 radar_protocol ==> Protocol layer (packet parsing, command building, FT2232H connection, data recorder, acquisition thread)
 smoke_test ==> Board bring-up smoke test host script (triggers FPGA self-test via opcode 0x30)

9_Firmware/9_3_GUI/adi_agc_analysis.py

@@ -32,83 +32,24 @@ from pathlib import Path
 import matplotlib.pyplot as plt
 import numpy as np
 
+from v7.agc_sim import (
+    encoding_to_signed,
+    apply_gain_shift,
+    quantize_iq,
+    AGCConfig,
+    AGCState,
+    process_agc_frame,
+)
+
 # ---------------------------------------------------------------------------
 # FPGA AGC parameters (rx_gain_control.v reset defaults)
 # ---------------------------------------------------------------------------
 AGC_TARGET = 200       # host_agc_target (8-bit, default 200)
-AGC_ATTACK = 1         # host_agc_attack (4-bit, default 1)
-AGC_DECAY = 1          # host_agc_decay  (4-bit, default 1)
-AGC_HOLDOFF = 4        # host_agc_holdoff (4-bit, default 4)
 ADC_RAIL = 4095        # 12-bit ADC max absolute value
 
 
 # ---------------------------------------------------------------------------
-# Gain encoding helpers (match RTL signed_to_encoding / encoding_to_signed)
+# Per-frame AGC simulation using v7.agc_sim (bit-accurate to RTL)
-# ---------------------------------------------------------------------------
-
-def signed_to_encoding(g: int) -> int:
-    """Convert signed gain (-7..+7) to gain_shift[3:0] encoding.
-    [3]=0, [2:0]=N → amplify (left shift) by N
-    [3]=1, [2:0]=N → attenuate (right shift) by N
-    """
-    if g >= 0:
-        return g & 0x07
-    return 0x08 | ((-g) & 0x07)
-
-
-def encoding_to_signed(enc: int) -> int:
-    """Convert gain_shift[3:0] encoding to signed gain."""
-    if (enc & 0x08) == 0:
-        return enc & 0x07
-    return -(enc & 0x07)
-
-
-def clamp_gain(val: int) -> int:
-    """Clamp to [-7, +7] (matches RTL clamp_gain function)."""
-    return max(-7, min(7, val))
-
-
-# ---------------------------------------------------------------------------
-# Apply gain shift to IQ data (matches RTL combinational logic)
-# ---------------------------------------------------------------------------
-
-def apply_gain_shift(frame_i: np.ndarray, frame_q: np.ndarray,
-                     gain_enc: int) -> tuple[np.ndarray, np.ndarray, int]:
-    """Apply gain_shift encoding to 16-bit signed IQ arrays.
-
-    Returns (shifted_i, shifted_q, overflow_count).
-    Matches the RTL: left shift = amplify, right shift = attenuate,
-    saturate to ±32767 on overflow.
-    """
-    direction = (gain_enc >> 3) & 1  # 0=amplify, 1=attenuate
-    amount = gain_enc & 0x07
-
-    if amount == 0:
-        return frame_i.copy(), frame_q.copy(), 0
-
-    if direction == 0:
-        # Left shift (amplify)
-        si = frame_i.astype(np.int64) * (1 << amount)
-        sq = frame_q.astype(np.int64) * (1 << amount)
-    else:
-        # Arithmetic right shift (attenuate)
-        si = frame_i.astype(np.int64) >> amount
-        sq = frame_q.astype(np.int64) >> amount
-
-    # Count overflows (post-shift values outside 16-bit signed range)
-    overflow_i = (si > 32767) | (si < -32768)
-    overflow_q = (sq > 32767) | (sq < -32768)
-    overflow_count = int((overflow_i | overflow_q).sum())
-
-    # Saturate to ±32767
-    si = np.clip(si, -32768, 32767).astype(np.int16)
-    sq = np.clip(sq, -32768, 32767).astype(np.int16)
-
-    return si, sq, overflow_count
-
-
-# ---------------------------------------------------------------------------
-# Per-frame AGC simulation (bit-accurate to rx_gain_control.v)
 # ---------------------------------------------------------------------------
 
 def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
@@ -126,79 +67,46 @@ def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
     n_frames = frames.shape[0]
 
     # Output arrays
-    out_gain_enc = np.zeros(n_frames, dtype=int)     # gain_shift encoding [3:0]
+    out_gain_enc = np.zeros(n_frames, dtype=int)
-    out_gain_signed = np.zeros(n_frames, dtype=int)   # signed gain for plotting
+    out_gain_signed = np.zeros(n_frames, dtype=int)
-    out_peak_mag = np.zeros(n_frames, dtype=int)      # peak_magnitude[7:0]
+    out_peak_mag = np.zeros(n_frames, dtype=int)
-    out_sat_count = np.zeros(n_frames, dtype=int)     # saturation_count[7:0]
+    out_sat_count = np.zeros(n_frames, dtype=int)
     out_sat_rate = np.zeros(n_frames, dtype=float)
-    out_rms_post = np.zeros(n_frames, dtype=float)    # RMS after gain shift
+    out_rms_post = np.zeros(n_frames, dtype=float)
 
-    # AGC internal state
+    # AGC state — managed by process_agc_frame()
-    agc_gain = 0          # signed, -7..+7
+    state = AGCState(
-    holdoff_counter = 0
+        gain=encoding_to_signed(initial_gain_enc),
-    agc_was_enabled = False
+        holdoff_counter=0,
+        was_enabled=False,
+    )
 
     for i in range(n_frames):
-        frame = frames[i]
+        frame_i, frame_q = quantize_iq(frames[i])
-        # Quantize to 16-bit signed (ADC is 12-bit, sign-extended to 16)
-        frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
-        frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
 
-        # --- PRE-gain peak measurement (RTL lines 133-135, 211-213) ---
-        abs_i = np.abs(frame_i.astype(np.int32))
-        abs_q = np.abs(frame_q.astype(np.int32))
-        max_iq = np.maximum(abs_i, abs_q)
-        frame_peak_15bit = int(max_iq.max())  # 15-bit unsigned
-        peak_8bit = (frame_peak_15bit >> 7) & 0xFF  # Upper 8 bits
-
-        # --- Determine effective gain ---
         agc_active = agc_enabled and (i >= enable_at_frame)
 
-        # AGC enable transition (RTL lines 250-253)
+        # Build per-frame config (enable toggles at enable_at_frame)
-        if agc_active and not agc_was_enabled:
+        config = AGCConfig(enabled=agc_active)
-            agc_gain = encoding_to_signed(initial_gain_enc)
-            holdoff_counter = AGC_HOLDOFF
 
-        effective_enc = signed_to_encoding(agc_gain) if agc_active else initial_gain_enc
+        result = process_agc_frame(frame_i, frame_q, config, state)
-
-        agc_was_enabled = agc_active
-
-        # --- Apply gain shift + count POST-gain overflow (RTL lines 114-126, 207-209) ---
-        shifted_i, shifted_q, frame_overflow = apply_gain_shift(
-            frame_i, frame_q, effective_enc)
-        frame_sat = min(255, frame_overflow)
 
         # RMS of shifted signal
         rms = float(np.sqrt(np.mean(
-            shifted_i.astype(np.float64)**2 + shifted_q.astype(np.float64)**2)))
+            result.shifted_i.astype(np.float64)**2
+            + result.shifted_q.astype(np.float64)**2)))
 
         total_samples = frame_i.size + frame_q.size
-        sat_rate = frame_overflow / total_samples if total_samples > 0 else 0.0
+        sat_rate = result.overflow_raw / total_samples if total_samples > 0 else 0.0
 
-        # --- Record outputs ---
+        # Record outputs
-        out_gain_enc[i] = effective_enc
+        out_gain_enc[i] = result.gain_enc
-        out_gain_signed[i] = agc_gain if agc_active else encoding_to_signed(initial_gain_enc)
+        out_gain_signed[i] = result.gain_signed
-        out_peak_mag[i] = peak_8bit
+        out_peak_mag[i] = result.peak_mag_8bit
-        out_sat_count[i] = frame_sat
+        out_sat_count[i] = result.saturation_count
         out_sat_rate[i] = sat_rate
         out_rms_post[i] = rms
 
-        # --- AGC update at frame boundary (RTL lines 226-246) ---
-        if agc_active:
-            if frame_sat > 0:
-                # Clipping: reduce gain immediately (attack)
-                agc_gain = clamp_gain(agc_gain - AGC_ATTACK)
-                holdoff_counter = AGC_HOLDOFF
-            elif peak_8bit < AGC_TARGET:
-                # Signal too weak: increase gain after holdoff
-                if holdoff_counter == 0:
-                    agc_gain = clamp_gain(agc_gain + AGC_DECAY)
-                else:
-                    holdoff_counter -= 1
-            else:
-                # Good range (peak >= target, no sat): hold, reset holdoff
-                holdoff_counter = AGC_HOLDOFF
-
     return {
         "gain_enc": out_gain_enc,
         "gain_signed": out_gain_signed,
@@ -217,8 +125,7 @@ def process_frame_rd(frame: np.ndarray, gain_enc: int,
                      n_range: int = 64,
                      n_doppler: int = 32) -> np.ndarray:
     """Range-Doppler magnitude for one frame with gain applied."""
-    frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
+    frame_i, frame_q = quantize_iq(frame)
-    frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
     si, sq, _ = apply_gain_shift(frame_i, frame_q, gain_enc)
 
     iq = si.astype(np.float64) + 1j * sq.astype(np.float64)

9_Firmware/9_3_GUI/radar_protocol.py

@@ -15,7 +15,6 @@ USB Packet Protocol (11-byte):
     Command: 4 bytes received sequentially {opcode, addr, value_hi, value_lo}
 """
 
-import os
 import struct
 import time
 import threading
@@ -443,391 +442,7 @@ class FT2232HConnection:
         return bytes(buf)
 
 
-# ============================================================================
-# Replay Connection — feed real .npy data through the dashboard
-# ============================================================================
 
-# Hardware-only opcodes that cannot be adjusted in replay mode
-# Values must match radar_system_top.v case(usb_cmd_opcode).
-_HARDWARE_ONLY_OPCODES = {
-    0x01,  # RADAR_MODE
-    0x02,  # TRIGGER_PULSE
-    # 0x03 (DETECT_THRESHOLD) is NOT hardware-only — it's in _REPLAY_ADJUSTABLE_OPCODES
-    0x04,  # STREAM_CONTROL
-    0x10,  # LONG_CHIRP
-    0x11,  # LONG_LISTEN
-    0x12,  # GUARD
-    0x13,  # SHORT_CHIRP
-    0x14,  # SHORT_LISTEN
-    0x15,  # CHIRPS_PER_ELEV
-    0x16,  # GAIN_SHIFT
-    0x20,  # RANGE_MODE
-    0x28,  # AGC_ENABLE
-    0x29,  # AGC_TARGET
-    0x2A,  # AGC_ATTACK
-    0x2B,  # AGC_DECAY
-    0x2C,  # AGC_HOLDOFF
-    0x30,  # SELF_TEST_TRIGGER
-    0x31,  # SELF_TEST_STATUS
-    0xFF,  # STATUS_REQUEST
-}
-
-# Replay-adjustable opcodes (re-run signal processing)
-_REPLAY_ADJUSTABLE_OPCODES = {
-    0x03,  # DETECT_THRESHOLD
-    0x21,  # CFAR_GUARD
-    0x22,  # CFAR_TRAIN
-    0x23,  # CFAR_ALPHA
-    0x24,  # CFAR_MODE
-    0x25,  # CFAR_ENABLE
-    0x26,  # MTI_ENABLE
-    0x27,  # DC_NOTCH_WIDTH
-}
-
-
-def _saturate(val: int, bits: int) -> int:
-    """Saturate signed value to fit in 'bits' width."""
-    max_pos = (1 << (bits - 1)) - 1
-    max_neg = -(1 << (bits - 1))
-    return max(max_neg, min(max_pos, int(val)))
-
-
-def _replay_dc_notch(doppler_i: np.ndarray, doppler_q: np.ndarray,
-                     width: int) -> tuple[np.ndarray, np.ndarray]:
-    """Bit-accurate DC notch filter (matches radar_system_top.v inline).
-
-    Dual sub-frame notch: doppler_bin[4:0] = {sub_frame, bin[3:0]}.
-    Each 16-bin sub-frame has its own DC at bin 0, so we zero bins
-    where ``bin_within_sf < width`` or ``bin_within_sf > (15 - width + 1)``.
-    """
-    out_i = doppler_i.copy()
-    out_q = doppler_q.copy()
-    if width == 0:
-        return out_i, out_q
-    n_doppler = doppler_i.shape[1]
-    for dbin in range(n_doppler):
-        bin_within_sf = dbin & 0xF
-        if bin_within_sf < width or bin_within_sf > (15 - width + 1):
-            out_i[:, dbin] = 0
-            out_q[:, dbin] = 0
-    return out_i, out_q
-
-
-def _replay_cfar(doppler_i: np.ndarray, doppler_q: np.ndarray,
-                 guard: int, train: int, alpha_q44: int,
-                 mode: int) -> tuple[np.ndarray, np.ndarray]:
-    """
-    Bit-accurate CA-CFAR detector (matches cfar_ca.v).
-    Returns (detect_flags, magnitudes) both (64, 32).
-    """
-    ALPHA_FRAC_BITS = 4
-    n_range, n_doppler = doppler_i.shape
-    if train == 0:
-        train = 1
-
-    # Compute magnitudes: |I| + |Q| (17-bit unsigned L1 norm)
-    magnitudes = np.zeros((n_range, n_doppler), dtype=np.int64)
-    for r in range(n_range):
-        for d in range(n_doppler):
-            i_val = int(doppler_i[r, d])
-            q_val = int(doppler_q[r, d])
-            abs_i = (-i_val) & 0xFFFF if i_val < 0 else i_val & 0xFFFF
-            abs_q = (-q_val) & 0xFFFF if q_val < 0 else q_val & 0xFFFF
-            magnitudes[r, d] = abs_i + abs_q
-
-    detect_flags = np.zeros((n_range, n_doppler), dtype=np.bool_)
-    MAX_MAG = (1 << 17) - 1
-
-    mode_names = {0: 'CA', 1: 'GO', 2: 'SO'}
-    mode_str = mode_names.get(mode, 'CA')
-
-    for dbin in range(n_doppler):
-        col = magnitudes[:, dbin]
-        for cut in range(n_range):
-            lead_sum, lead_cnt = 0, 0
-            for t in range(1, train + 1):
-                idx = cut - guard - t
-                if 0 <= idx < n_range:
-                    lead_sum += int(col[idx])
-                    lead_cnt += 1
-            lag_sum, lag_cnt = 0, 0
-            for t in range(1, train + 1):
-                idx = cut + guard + t
-                if 0 <= idx < n_range:
-                    lag_sum += int(col[idx])
-                    lag_cnt += 1
-
-            if mode_str == 'CA':
-                noise = lead_sum + lag_sum
-            elif mode_str == 'GO':
-                if lead_cnt > 0 and lag_cnt > 0:
-                    noise = lead_sum if lead_sum * lag_cnt > lag_sum * lead_cnt else lag_sum
-                else:
-                    noise = lead_sum if lead_cnt > 0 else lag_sum
-            elif mode_str == 'SO':
-                if lead_cnt > 0 and lag_cnt > 0:
-                    noise = lead_sum if lead_sum * lag_cnt < lag_sum * lead_cnt else lag_sum
-                else:
-                    noise = lead_sum if lead_cnt > 0 else lag_sum
-            else:
-                noise = lead_sum + lag_sum
-
-            thr = min((alpha_q44 * noise) >> ALPHA_FRAC_BITS, MAX_MAG)
-            if int(col[cut]) > thr:
-                detect_flags[cut, dbin] = True
-
-    return detect_flags, magnitudes
-
-
-class ReplayConnection:
-    """
-    Loads pre-computed .npy arrays (from golden_reference.py co-sim output)
-    and serves them as USB data packets to the dashboard, exercising the full
-    parsing pipeline with real ADI CN0566 radar data.
-
-    Signal processing parameters (CFAR guard/train/alpha/mode, MTI enable,
-    DC notch width) can be adjusted at runtime via write() — the connection
-    re-runs the bit-accurate processing pipeline and rebuilds packets.
-
-    Required npy directory layout (e.g. tb/cosim/real_data/hex/):
-      decimated_range_i.npy       (32, 64) int   — pre-Doppler range I
-      decimated_range_q.npy       (32, 64) int   — pre-Doppler range Q
-      doppler_map_i.npy           (64, 32) int   — Doppler I  (no MTI)
-      doppler_map_q.npy           (64, 32) int   — Doppler Q  (no MTI)
-      fullchain_mti_doppler_i.npy (64, 32) int   — Doppler I  (with MTI)
-      fullchain_mti_doppler_q.npy (64, 32) int   — Doppler Q  (with MTI)
-      fullchain_cfar_flags.npy    (64, 32) bool  — CFAR detections
-      fullchain_cfar_mag.npy      (64, 32) int   — CFAR |I|+|Q| magnitude
-    """
-
-    def __init__(self, npy_dir: str, use_mti: bool = True,
-                 replay_fps: float = 5.0):
-        self._npy_dir = npy_dir
-        self._use_mti = use_mti
-        self._replay_fps = max(replay_fps, 0.1)
-        self._lock = threading.Lock()
-        self.is_open = False
-        self._packets: bytes = b""
-        self._read_offset = 0
-        self._frame_len = 0
-        # Current signal-processing parameters
-        self._mti_enable: bool = use_mti
-        self._dc_notch_width: int = 2
-        self._cfar_guard: int = 2
-        self._cfar_train: int = 8
-        self._cfar_alpha: int = 0x30
-        self._cfar_mode: int = 0  # 0=CA, 1=GO, 2=SO
-        self._cfar_enable: bool = True
-        self._detect_threshold: int = 10000  # RTL default (host_detect_threshold)
-        # Raw source arrays (loaded once, reprocessed on param change)
-        self._dop_mti_i: np.ndarray | None = None
-        self._dop_mti_q: np.ndarray | None = None
-        self._dop_nomti_i: np.ndarray | None = None
-        self._dop_nomti_q: np.ndarray | None = None
-        self._range_i_vec: np.ndarray | None = None
-        self._range_q_vec: np.ndarray | None = None
-        # Rebuild flag
-        self._needs_rebuild = False
-
-    def open(self, _device_index: int = 0) -> bool:
-        try:
-            self._load_arrays()
-            self._packets = self._build_packets()
-            self._frame_len = len(self._packets)
-            self._read_offset = 0
-            self.is_open = True
-            log.info(f"Replay connection opened: {self._npy_dir} "
-                     f"(MTI={'ON' if self._mti_enable else 'OFF'}, "
-                     f"{self._frame_len} bytes/frame)")
-            return True
-        except (OSError, ValueError, IndexError, struct.error) as e:
-            log.error(f"Replay open failed: {e}")
-            return False
-
-    def close(self):
-        self.is_open = False
-
-    def read(self, size: int = 4096) -> bytes | None:
-        if not self.is_open:
-            return None
-        # Pace reads to target FPS (spread across ~64 reads per frame)
-        time.sleep((1.0 / self._replay_fps) / (NUM_CELLS / 32))
-        with self._lock:
-            # If params changed, rebuild packets
-            if self._needs_rebuild:
-                self._packets = self._build_packets()
-                self._frame_len = len(self._packets)
-                self._read_offset = 0
-                self._needs_rebuild = False
-            end = self._read_offset + size
-            if end <= self._frame_len:
-                chunk = self._packets[self._read_offset:end]
-                self._read_offset = end
-            else:
-                chunk = self._packets[self._read_offset:]
-                self._read_offset = 0
-            return chunk
-
-    def write(self, data: bytes) -> bool:
-        """
-        Handle host commands in replay mode.
-        Signal-processing params (CFAR, MTI, DC notch) trigger re-processing.
-        Hardware-only params are silently ignored.
-        """
-        if len(data) < 4:
-            return True
-        word = struct.unpack(">I", data[:4])[0]
-        opcode = (word >> 24) & 0xFF
-        value = word & 0xFFFF
-
-        if opcode in _REPLAY_ADJUSTABLE_OPCODES:
-            changed = False
-            with self._lock:
-                if opcode == 0x03:  # DETECT_THRESHOLD
-                    if self._detect_threshold != value:
-                        self._detect_threshold = value
-                        changed = True
-                elif opcode == 0x21:  # CFAR_GUARD
-                    if self._cfar_guard != value:
-                        self._cfar_guard = value
-                        changed = True
-                elif opcode == 0x22:  # CFAR_TRAIN
-                    if self._cfar_train != value:
-                        self._cfar_train = value
-                        changed = True
-                elif opcode == 0x23:  # CFAR_ALPHA
-                    if self._cfar_alpha != value:
-                        self._cfar_alpha = value
-                        changed = True
-                elif opcode == 0x24:  # CFAR_MODE
-                    if self._cfar_mode != value:
-                        self._cfar_mode = value
-                        changed = True
-                elif opcode == 0x25:  # CFAR_ENABLE
-                    new_en = bool(value)
-                    if self._cfar_enable != new_en:
-                        self._cfar_enable = new_en
-                        changed = True
-                elif opcode == 0x26:  # MTI_ENABLE
-                    new_en = bool(value)
-                    if self._mti_enable != new_en:
-                        self._mti_enable = new_en
-                        changed = True
-                elif opcode == 0x27 and self._dc_notch_width != value:  # DC_NOTCH_WIDTH
-                    self._dc_notch_width = value
-                    changed = True
-                if changed:
-                    self._needs_rebuild = True
-            if changed:
-                log.info(f"Replay param updated: opcode=0x{opcode:02X} "
-                         f"value={value} — will re-process")
-            else:
-                log.debug(f"Replay param unchanged: opcode=0x{opcode:02X} "
-                          f"value={value}")
-        elif opcode in _HARDWARE_ONLY_OPCODES:
-            log.debug(f"Replay: hardware-only opcode 0x{opcode:02X} "
-                      f"(ignored in replay mode)")
-        else:
-            log.debug(f"Replay: unknown opcode 0x{opcode:02X} (ignored)")
-        return True
-
-    def _load_arrays(self):
-        """Load source npy arrays once."""
-        npy = self._npy_dir
-        # MTI Doppler
-        self._dop_mti_i = np.load(
-            os.path.join(npy, "fullchain_mti_doppler_i.npy")).astype(np.int64)
-        self._dop_mti_q = np.load(
-            os.path.join(npy, "fullchain_mti_doppler_q.npy")).astype(np.int64)
-        # Non-MTI Doppler
-        self._dop_nomti_i = np.load(
-            os.path.join(npy, "doppler_map_i.npy")).astype(np.int64)
-        self._dop_nomti_q = np.load(
-            os.path.join(npy, "doppler_map_q.npy")).astype(np.int64)
-        # Range data
-        try:
-            range_i_all = np.load(
-                os.path.join(npy, "decimated_range_i.npy")).astype(np.int64)
-            range_q_all = np.load(
-                os.path.join(npy, "decimated_range_q.npy")).astype(np.int64)
-            self._range_i_vec = range_i_all[-1, :]  # last chirp
-            self._range_q_vec = range_q_all[-1, :]
-        except FileNotFoundError:
-            self._range_i_vec = np.zeros(NUM_RANGE_BINS, dtype=np.int64)
-            self._range_q_vec = np.zeros(NUM_RANGE_BINS, dtype=np.int64)
-
-    def _build_packets(self) -> bytes:
-        """Build a full frame of USB data packets from current params."""
-        # Select Doppler data based on MTI
-        if self._mti_enable:
-            dop_i = self._dop_mti_i
-            dop_q = self._dop_mti_q
-        else:
-            dop_i = self._dop_nomti_i
-            dop_q = self._dop_nomti_q
-
-        # Apply DC notch
-        dop_i, dop_q = _replay_dc_notch(dop_i, dop_q, self._dc_notch_width)
-
-        # Run CFAR
-        if self._cfar_enable:
-            det, _mag = _replay_cfar(
-                dop_i, dop_q,
-                guard=self._cfar_guard,
-                train=self._cfar_train,
-                alpha_q44=self._cfar_alpha,
-                mode=self._cfar_mode,
-            )
-        else:
-            # Simple threshold fallback matching RTL cfar_ca.v:
-            # detect = (|I| + |Q|) > detect_threshold  (L1 norm)
-            mag = np.abs(dop_i) + np.abs(dop_q)
-            det = mag > self._detect_threshold
-
-        det_count = int(det.sum())
-        log.info(f"Replay: rebuilt {NUM_CELLS} packets ("
-                 f"MTI={'ON' if self._mti_enable else 'OFF'}, "
-                 f"DC_notch={self._dc_notch_width}, "
-                 f"CFAR={'ON' if self._cfar_enable else 'OFF'} "
-                 f"G={self._cfar_guard} T={self._cfar_train} "
-                 f"a=0x{self._cfar_alpha:02X} m={self._cfar_mode}, "
-                 f"{det_count} detections)")
-
-        range_i = self._range_i_vec
-        range_q = self._range_q_vec
-
-        return self._build_packets_data(range_i, range_q, dop_i, dop_q, det)
-
-    def _build_packets_data(self, range_i, range_q, dop_i, dop_q, det) -> bytes:
-        """Build 11-byte data packets for FT2232H interface."""
-        buf = bytearray(NUM_CELLS * DATA_PACKET_SIZE)
-        pos = 0
-        for rbin in range(NUM_RANGE_BINS):
-            ri = int(np.clip(range_i[rbin], -32768, 32767))
-            rq = int(np.clip(range_q[rbin], -32768, 32767))
-            rq_bytes = struct.pack(">h", rq)
-            ri_bytes = struct.pack(">h", ri)
-            for dbin in range(NUM_DOPPLER_BINS):
-                di = int(np.clip(dop_i[rbin, dbin], -32768, 32767))
-                dq = int(np.clip(dop_q[rbin, dbin], -32768, 32767))
-                d = 1 if det[rbin, dbin] else 0
-
-                buf[pos] = HEADER_BYTE
-                pos += 1
-                buf[pos:pos+2] = rq_bytes
-                pos += 2
-                buf[pos:pos+2] = ri_bytes
-                pos += 2
-                buf[pos:pos+2] = struct.pack(">h", di)
-                pos += 2
-                buf[pos:pos+2] = struct.pack(">h", dq)
-                pos += 2
-                buf[pos] = d
-                pos += 1
-                buf[pos] = FOOTER_BYTE
-                pos += 1
-
-        return bytes(buf)
 
 
 # ============================================================================

9_Firmware/9_3_GUI/test_GUI_V65_Tk.py

@@ -3,8 +3,8 @@
 Tests for AERIS-10 Radar Dashboard protocol parsing, command building,
 data recording, and acquisition logic.
 
-Run: python -m pytest test_radar_dashboard.py -v
+Run: python -m pytest test_GUI_V65_Tk.py -v
-  or: python test_radar_dashboard.py
+  or: python test_GUI_V65_Tk.py
 """
 
 import struct
@@ -19,10 +19,10 @@ from radar_protocol import (
     RadarProtocol, FT2232HConnection, DataRecorder, RadarAcquisition,
     RadarFrame, StatusResponse, Opcode,
     HEADER_BYTE, FOOTER_BYTE, STATUS_HEADER_BYTE,
-    NUM_RANGE_BINS, NUM_DOPPLER_BINS, NUM_CELLS,
+    NUM_RANGE_BINS, NUM_DOPPLER_BINS,
     DATA_PACKET_SIZE,
-    _HARDWARE_ONLY_OPCODES,
 )
+from GUI_V65_Tk import DemoTarget, DemoSimulator, _ReplayController
 
 
 class TestRadarProtocol(unittest.TestCase):
@@ -459,218 +459,6 @@ class TestEndToEnd(unittest.TestCase):
         self.assertEqual(result["detection"], 1)
 
 
-class TestReplayConnection(unittest.TestCase):
-    """Test ReplayConnection with real .npy data files."""
-
-    NPY_DIR = os.path.join(
-        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
-        "real_data", "hex"
-    )
-
-    def _npy_available(self):
-        """Check if the npy data files exist."""
-        return os.path.isfile(os.path.join(self.NPY_DIR,
-                                            "fullchain_mti_doppler_i.npy"))
-
-    def test_replay_open_close(self):
-        """ReplayConnection opens and closes without error."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        self.assertTrue(conn.open())
-        self.assertTrue(conn.is_open)
-        conn.close()
-        self.assertFalse(conn.is_open)
-
-    def test_replay_packet_count(self):
-        """Replay builds exactly NUM_CELLS (2048) packets."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Each packet is 11 bytes, total = 2048 * 11
-        expected_bytes = NUM_CELLS * DATA_PACKET_SIZE
-        self.assertEqual(conn._frame_len, expected_bytes)
-        conn.close()
-
-    def test_replay_packets_parseable(self):
-        """Every packet from replay can be parsed by RadarProtocol."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        self.assertEqual(len(boundaries), NUM_CELLS)
-        parsed_count = 0
-        det_count = 0
-        for start, end, ptype in boundaries:
-            self.assertEqual(ptype, "data")
-            result = RadarProtocol.parse_data_packet(raw[start:end])
-            self.assertIsNotNone(result)
-            parsed_count += 1
-            if result["detection"]:
-                det_count += 1
-        self.assertEqual(parsed_count, NUM_CELLS)
-        # Default: MTI=ON, DC_notch=2, CFAR CA g=2 t=8 a=0x30 → 4 detections
-        self.assertEqual(det_count, 4)
-        conn.close()
-
-    def test_replay_read_loops(self):
-        """Read returns data and loops back around."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True, replay_fps=1000)
-        conn.open()
-        total_read = 0
-        for _ in range(100):
-            chunk = conn.read(1024)
-            self.assertIsNotNone(chunk)
-            total_read += len(chunk)
-        self.assertGreater(total_read, 0)
-        conn.close()
-
-    def test_replay_no_mti(self):
-        """ReplayConnection works with use_mti=False (CFAR still runs)."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=False)
-        conn.open()
-        self.assertEqual(conn._frame_len, NUM_CELLS * DATA_PACKET_SIZE)
-        # No-MTI with DC notch=2 and default CFAR → 0 detections
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        det_count = sum(1 for s, e, t in boundaries
-                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
-        self.assertEqual(det_count, 0)
-        conn.close()
-
-    def test_replay_write_returns_true(self):
-        """Write on replay connection returns True."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR)
-        conn.open()
-        self.assertTrue(conn.write(b"\x01\x00\x00\x01"))
-        conn.close()
-
-    def test_replay_adjustable_param_cfar_guard(self):
-        """Changing CFAR guard via write() triggers re-processing."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Initial: guard=2 → 4 detections
-        self.assertFalse(conn._needs_rebuild)
-        # Send CFAR_GUARD=4
-        cmd = RadarProtocol.build_command(0x21, 4)
-        conn.write(cmd)
-        self.assertTrue(conn._needs_rebuild)
-        self.assertEqual(conn._cfar_guard, 4)
-        # Read triggers rebuild
-        conn.read(1024)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-    def test_replay_adjustable_param_mti_toggle(self):
-        """Toggling MTI via write() triggers re-processing."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Disable MTI
-        cmd = RadarProtocol.build_command(0x26, 0)
-        conn.write(cmd)
-        self.assertTrue(conn._needs_rebuild)
-        self.assertFalse(conn._mti_enable)
-        # Read to trigger rebuild, then count detections
-        # Drain all packets after rebuild
-        conn.read(1024)  # triggers rebuild
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        det_count = sum(1 for s, e, t in boundaries
-                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
-        # No-MTI with default CFAR → 0 detections
-        self.assertEqual(det_count, 0)
-        conn.close()
-
-    def test_replay_adjustable_param_dc_notch(self):
-        """Changing DC notch width via write() triggers re-processing."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Change DC notch to 0 (no notch)
-        cmd = RadarProtocol.build_command(0x27, 0)
-        conn.write(cmd)
-        self.assertTrue(conn._needs_rebuild)
-        self.assertEqual(conn._dc_notch_width, 0)
-        conn.read(1024)  # triggers rebuild
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        det_count = sum(1 for s, e, t in boundaries
-                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
-        # DC notch=0 with MTI → 6 detections (more noise passes through)
-        self.assertEqual(det_count, 6)
-        conn.close()
-
-    def test_replay_hardware_opcode_ignored(self):
-        """Hardware-only opcodes don't trigger rebuild."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Send TRIGGER (hardware-only)
-        cmd = RadarProtocol.build_command(0x01, 1)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        # Send STREAM_CONTROL (hardware-only, opcode 0x04)
-        cmd = RadarProtocol.build_command(0x04, 7)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-    def test_replay_same_value_no_rebuild(self):
-        """Setting same value as current doesn't trigger rebuild."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # CFAR guard already 2
-        cmd = RadarProtocol.build_command(0x21, 2)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-    def test_replay_self_test_opcodes_are_hardware_only(self):
-        """Self-test opcodes 0x30/0x31 are hardware-only (ignored in replay)."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Send self-test trigger
-        cmd = RadarProtocol.build_command(0x30, 1)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        # Send self-test status request
-        cmd = RadarProtocol.build_command(0x31, 0)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-
 class TestOpcodeEnum(unittest.TestCase):
     """Verify Opcode enum matches RTL host register map (radar_system_top.v)."""
 
@@ -690,15 +478,6 @@ class TestOpcodeEnum(unittest.TestCase):
         """SELF_TEST_STATUS opcode must be 0x31."""
         self.assertEqual(Opcode.SELF_TEST_STATUS, 0x31)
 
-    def test_self_test_in_hardware_only(self):
-        """Self-test opcodes must be in _HARDWARE_ONLY_OPCODES."""
-        self.assertIn(0x30, _HARDWARE_ONLY_OPCODES)
-        self.assertIn(0x31, _HARDWARE_ONLY_OPCODES)
-
-    def test_0x16_in_hardware_only(self):
-        """GAIN_SHIFT 0x16 must be in _HARDWARE_ONLY_OPCODES."""
-        self.assertIn(0x16, _HARDWARE_ONLY_OPCODES)
-
     def test_stream_control_is_0x04(self):
         """STREAM_CONTROL must be 0x04 (matches radar_system_top.v:906)."""
         self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
@@ -717,11 +496,6 @@ class TestOpcodeEnum(unittest.TestCase):
         self.assertEqual(Opcode.DETECT_THRESHOLD, 0x03)
         self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
 
-    def test_stale_opcodes_not_in_hardware_only(self):
-        """Old wrong opcode values must not be in _HARDWARE_ONLY_OPCODES."""
-        self.assertNotIn(0x05, _HARDWARE_ONLY_OPCODES)  # was wrong STREAM_ENABLE
-        self.assertNotIn(0x06, _HARDWARE_ONLY_OPCODES)  # was wrong GAIN_SHIFT
-
     def test_all_rtl_opcodes_present(self):
         """Every RTL opcode (from radar_system_top.v) has a matching Opcode enum member."""
         expected = {0x01, 0x02, 0x03, 0x04,
@@ -946,5 +720,199 @@ class TestAGCVisualizationHistory(unittest.TestCase):
         self.assertAlmostEqual(max(200 * 1.5, 5), 300.0)
 
 
+# =====================================================================
+# Tests for DemoTarget, DemoSimulator, and _ReplayController
+# =====================================================================
+
+
+class TestDemoTarget(unittest.TestCase):
+    """Unit tests for DemoTarget kinematics."""
+
+    def test_initial_values_in_range(self):
+        t = DemoTarget(1)
+        self.assertEqual(t.id, 1)
+        self.assertGreaterEqual(t.range_m, 20)
+        self.assertLessEqual(t.range_m, DemoTarget._MAX_RANGE)
+        self.assertIn(t.classification, ["aircraft", "drone", "bird", "unknown"])
+
+    def test_step_returns_true_in_normal_range(self):
+        t = DemoTarget(2)
+        t.range_m = 150.0
+        t.velocity = 0.0
+        self.assertTrue(t.step())
+
+    def test_step_returns_false_when_out_of_range_high(self):
+        t = DemoTarget(3)
+        t.range_m = DemoTarget._MAX_RANGE + 1
+        t.velocity = -1.0  # moving away
+        self.assertFalse(t.step())
+
+    def test_step_returns_false_when_out_of_range_low(self):
+        t = DemoTarget(4)
+        t.range_m = 2.0
+        t.velocity = 1.0  # moving closer
+        self.assertFalse(t.step())
+
+    def test_velocity_clamped(self):
+        t = DemoTarget(5)
+        t.velocity = 19.0
+        t.range_m = 150.0
+        # Step many times — velocity should stay within [-20, 20]
+        for _ in range(100):
+            t.range_m = 150.0  # keep in range
+            t.step()
+        self.assertGreaterEqual(t.velocity, -20)
+        self.assertLessEqual(t.velocity, 20)
+
+    def test_snr_clamped(self):
+        t = DemoTarget(6)
+        t.snr = 49.5
+        t.range_m = 150.0
+        for _ in range(100):
+            t.range_m = 150.0
+            t.step()
+        self.assertGreaterEqual(t.snr, 0)
+        self.assertLessEqual(t.snr, 50)
+
+
+class TestDemoSimulatorNoTk(unittest.TestCase):
+    """Test DemoSimulator logic without a real Tk event loop.
+
+    We replace ``root.after`` with a mock to avoid needing a display.
+    """
+
+    def _make_simulator(self):
+        from unittest.mock import MagicMock
+
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        mock_root = MagicMock()
+        # root.after(ms, fn) should return an id (str)
+        mock_root.after.return_value = "mock_after_id"
+        sim = DemoSimulator(fq, uq, mock_root, interval_ms=100)
+        return sim, fq, uq, mock_root
+
+    def test_initial_targets_created(self):
+        sim, _fq, _uq, _root = self._make_simulator()
+        # Should seed 8 initial targets
+        self.assertEqual(len(sim._targets), 8)
+
+    def test_tick_produces_frame_and_targets(self):
+        sim, fq, uq, _root = self._make_simulator()
+        sim._tick()
+        # Should have a frame
+        self.assertFalse(fq.empty())
+        frame = fq.get_nowait()
+        self.assertIsInstance(frame, RadarFrame)
+        self.assertEqual(frame.frame_number, 1)
+        # Should have demo_targets in ui_queue
+        tag, payload = uq.get_nowait()
+        self.assertEqual(tag, "demo_targets")
+        self.assertIsInstance(payload, list)
+
+    def test_tick_produces_nonzero_detections(self):
+        """Demo targets should actually render into the range-Doppler grid."""
+        sim, fq, _uq, _root = self._make_simulator()
+        sim._tick()
+        frame = fq.get_nowait()
+        # At least some targets should produce magnitude > 0 and detections
+        self.assertGreater(frame.magnitude.sum(), 0,
+                           "Demo targets should render into range-Doppler grid")
+        self.assertGreater(frame.detection_count, 0,
+                           "Demo targets should produce detections")
+
+    def test_stop_cancels_after(self):
+        sim, _fq, _uq, mock_root = self._make_simulator()
+        sim._tick()  # sets _after_id
+        sim.stop()
+        mock_root.after_cancel.assert_called_once_with("mock_after_id")
+        self.assertIsNone(sim._after_id)
+
+
+class TestReplayController(unittest.TestCase):
+    """Unit tests for _ReplayController (no GUI required)."""
+
+    def test_initial_state(self):
+        fq = queue.Queue()
+        uq = queue.Queue()
+        ctrl = _ReplayController(fq, uq)
+        self.assertEqual(ctrl.total_frames, 0)
+        self.assertEqual(ctrl.current_index, 0)
+        self.assertFalse(ctrl.is_playing)
+        self.assertIsNone(ctrl.software_fpga)
+
+    def test_set_speed(self):
+        ctrl = _ReplayController(queue.Queue(), queue.Queue())
+        ctrl.set_speed("2x")
+        self.assertAlmostEqual(ctrl._frame_interval, 0.050)
+
+    def test_set_speed_unknown_falls_back(self):
+        ctrl = _ReplayController(queue.Queue(), queue.Queue())
+        ctrl.set_speed("99x")
+        self.assertAlmostEqual(ctrl._frame_interval, 0.100)
+
+    def test_set_loop(self):
+        ctrl = _ReplayController(queue.Queue(), queue.Queue())
+        ctrl.set_loop(True)
+        self.assertTrue(ctrl._loop)
+        ctrl.set_loop(False)
+        self.assertFalse(ctrl._loop)
+
+    def test_seek_increments_past_emitted(self):
+        """After seek(), _current_index should be one past the seeked frame."""
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        ctrl = _ReplayController(fq, uq)
+        # Manually set engine to a mock to allow seek
+        from unittest.mock import MagicMock
+        mock_engine = MagicMock()
+        mock_engine.total_frames = 10
+        mock_engine.get_frame.return_value = RadarFrame()
+        ctrl._engine = mock_engine
+        ctrl.seek(5)
+        # _current_index should be 6 (past the emitted frame)
+        self.assertEqual(ctrl._current_index, 6)
+        self.assertEqual(ctrl._last_emitted_index, 5)
+        # Frame should be in the queue
+        self.assertFalse(fq.empty())
+
+    def test_seek_clamps_to_bounds(self):
+        from unittest.mock import MagicMock
+
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        ctrl = _ReplayController(fq, uq)
+        mock_engine = MagicMock()
+        mock_engine.total_frames = 5
+        mock_engine.get_frame.return_value = RadarFrame()
+        ctrl._engine = mock_engine
+
+        ctrl.seek(100)
+        # Should clamp to last frame (index 4), then _current_index = 5
+        self.assertEqual(ctrl._last_emitted_index, 4)
+        self.assertEqual(ctrl._current_index, 5)
+
+        ctrl.seek(-10)
+        # Should clamp to 0, then _current_index = 1
+        self.assertEqual(ctrl._last_emitted_index, 0)
+        self.assertEqual(ctrl._current_index, 1)
+
+    def test_close_releases_engine(self):
+        from unittest.mock import MagicMock
+
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        ctrl = _ReplayController(fq, uq)
+        mock_engine = MagicMock()
+        mock_engine.total_frames = 5
+        mock_engine.get_frame.return_value = RadarFrame()
+        ctrl._engine = mock_engine
+
+        ctrl.close()
+        mock_engine.close.assert_called_once()
+        self.assertIsNone(ctrl._engine)
+        self.assertIsNone(ctrl.software_fpga)
+
+
 if __name__ == "__main__":
     unittest.main(verbosity=2)

9_Firmware/9_3_GUI/test_v7.py

@@ -11,6 +11,7 @@ Does NOT require a running Qt event loop — only unit-testable components.
 Run with:  python -m unittest test_v7 -v
 """
 
+import os
 import struct
 import unittest
 from dataclasses import asdict
@@ -414,6 +415,559 @@ class TestAGCVisualizationV7(unittest.TestCase):
         self.assertEqual(pick_color(11), DARK_ERROR)
 
 
+# =============================================================================
+# Test: v7.models.WaveformConfig
+# =============================================================================
+
+class TestWaveformConfig(unittest.TestCase):
+    """WaveformConfig dataclass and derived physical properties."""
+
+    def test_defaults(self):
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertEqual(wc.sample_rate_hz, 4e6)
+        self.assertEqual(wc.bandwidth_hz, 500e6)
+        self.assertEqual(wc.chirp_duration_s, 300e-6)
+        self.assertEqual(wc.center_freq_hz, 10.525e9)
+        self.assertEqual(wc.n_range_bins, 64)
+        self.assertEqual(wc.n_doppler_bins, 32)
+        self.assertEqual(wc.fft_size, 1024)
+        self.assertEqual(wc.decimation_factor, 16)
+
+    def test_range_resolution(self):
+        """range_resolution_m should be ~5.62 m/bin with ADI defaults."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(wc.range_resolution_m, 5.621, places=1)
+
+    def test_velocity_resolution(self):
+        """velocity_resolution_mps should be ~1.484 m/s/bin."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(wc.velocity_resolution_mps, 1.484, places=2)
+
+    def test_max_range(self):
+        """max_range_m = range_resolution * n_range_bins."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(wc.max_range_m, wc.range_resolution_m * 64, places=1)
+
+    def test_max_velocity(self):
+        """max_velocity_mps = velocity_resolution * n_doppler_bins / 2."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(
+            wc.max_velocity_mps,
+            wc.velocity_resolution_mps * 16,
+            places=2,
+        )
+
+    def test_custom_params(self):
+        """Non-default parameters correctly change derived values."""
+        from v7.models import WaveformConfig
+        wc1 = WaveformConfig()
+        wc2 = WaveformConfig(bandwidth_hz=1e9)  # double BW → halve range res
+        self.assertAlmostEqual(wc2.range_resolution_m, wc1.range_resolution_m / 2, places=2)
+
+    def test_zero_center_freq_velocity(self):
+        """Zero center freq should cause ZeroDivisionError in velocity calc."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig(center_freq_hz=0.0)
+        with self.assertRaises(ZeroDivisionError):
+            _ = wc.velocity_resolution_mps
+
+
+# =============================================================================
+# Test: v7.software_fpga.SoftwareFPGA
+# =============================================================================
+
+class TestSoftwareFPGA(unittest.TestCase):
+    """SoftwareFPGA register interface and signal chain."""
+
+    def _make_fpga(self):
+        from v7.software_fpga import SoftwareFPGA
+        return SoftwareFPGA()
+
+    def test_reset_defaults(self):
+        """Register reset values match FPGA RTL (radar_system_top.v)."""
+        fpga = self._make_fpga()
+        self.assertEqual(fpga.detect_threshold, 10_000)
+        self.assertEqual(fpga.gain_shift, 0)
+        self.assertFalse(fpga.cfar_enable)
+        self.assertEqual(fpga.cfar_guard, 2)
+        self.assertEqual(fpga.cfar_train, 8)
+        self.assertEqual(fpga.cfar_alpha, 0x30)
+        self.assertEqual(fpga.cfar_mode, 0)
+        self.assertFalse(fpga.mti_enable)
+        self.assertEqual(fpga.dc_notch_width, 0)
+        self.assertFalse(fpga.agc_enable)
+        self.assertEqual(fpga.agc_target, 200)
+        self.assertEqual(fpga.agc_attack, 1)
+        self.assertEqual(fpga.agc_decay, 1)
+        self.assertEqual(fpga.agc_holdoff, 4)
+
+    def test_setter_detect_threshold(self):
+        fpga = self._make_fpga()
+        fpga.set_detect_threshold(5000)
+        self.assertEqual(fpga.detect_threshold, 5000)
+
+    def test_setter_detect_threshold_clamp_16bit(self):
+        fpga = self._make_fpga()
+        fpga.set_detect_threshold(0x1FFFF)  # 17-bit
+        self.assertEqual(fpga.detect_threshold, 0xFFFF)
+
+    def test_setter_gain_shift_clamp_4bit(self):
+        fpga = self._make_fpga()
+        fpga.set_gain_shift(0xFF)
+        self.assertEqual(fpga.gain_shift, 0x0F)
+
+    def test_setter_cfar_enable(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_enable(True)
+        self.assertTrue(fpga.cfar_enable)
+        fpga.set_cfar_enable(False)
+        self.assertFalse(fpga.cfar_enable)
+
+    def test_setter_cfar_guard_clamp_4bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_guard(0x1F)
+        self.assertEqual(fpga.cfar_guard, 0x0F)
+
+    def test_setter_cfar_train_min_1(self):
+        """CFAR train cells clamped to min 1."""
+        fpga = self._make_fpga()
+        fpga.set_cfar_train(0)
+        self.assertEqual(fpga.cfar_train, 1)
+
+    def test_setter_cfar_train_clamp_5bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_train(0x3F)
+        self.assertEqual(fpga.cfar_train, 0x1F)
+
+    def test_setter_cfar_alpha_clamp_8bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_alpha(0x1FF)
+        self.assertEqual(fpga.cfar_alpha, 0xFF)
+
+    def test_setter_cfar_mode_clamp_2bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_mode(7)
+        self.assertEqual(fpga.cfar_mode, 3)
+
+    def test_setter_mti_enable(self):
+        fpga = self._make_fpga()
+        fpga.set_mti_enable(True)
+        self.assertTrue(fpga.mti_enable)
+
+    def test_setter_dc_notch_clamp_3bit(self):
+        fpga = self._make_fpga()
+        fpga.set_dc_notch_width(0xFF)
+        self.assertEqual(fpga.dc_notch_width, 7)
+
+    def test_setter_agc_params_selective(self):
+        """set_agc_params only changes provided fields."""
+        fpga = self._make_fpga()
+        fpga.set_agc_params(target=100)
+        self.assertEqual(fpga.agc_target, 100)
+        self.assertEqual(fpga.agc_attack, 1)  # unchanged
+        fpga.set_agc_params(attack=3, decay=5)
+        self.assertEqual(fpga.agc_attack, 3)
+        self.assertEqual(fpga.agc_decay, 5)
+        self.assertEqual(fpga.agc_target, 100)  # unchanged
+
+    def test_setter_agc_params_clamp(self):
+        fpga = self._make_fpga()
+        fpga.set_agc_params(target=0xFFF, attack=0xFF, decay=0xFF, holdoff=0xFF)
+        self.assertEqual(fpga.agc_target, 0xFF)
+        self.assertEqual(fpga.agc_attack, 0x0F)
+        self.assertEqual(fpga.agc_decay, 0x0F)
+        self.assertEqual(fpga.agc_holdoff, 0x0F)
+
+
+class TestSoftwareFPGASignalChain(unittest.TestCase):
+    """SoftwareFPGA.process_chirps with real co-sim data."""
+
+    COSIM_DIR = os.path.join(
+        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
+        "real_data", "hex"
+    )
+
+    def _cosim_available(self):
+        return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
+
+    def test_process_chirps_returns_radar_frame(self):
+        """process_chirps produces a RadarFrame with correct shapes."""
+        if not self._cosim_available():
+            self.skipTest("co-sim data not found")
+        from v7.software_fpga import SoftwareFPGA
+        from radar_protocol import RadarFrame
+
+        # Load decimated range data as minimal input (32 chirps x 64 bins)
+        dec_i = np.load(os.path.join(self.COSIM_DIR, "decimated_range_i.npy"))
+        dec_q = np.load(os.path.join(self.COSIM_DIR, "decimated_range_q.npy"))
+
+        # Build fake 1024-sample chirps from decimated data (pad with zeros)
+        n_chirps = dec_i.shape[0]
+        iq_i = np.zeros((n_chirps, 1024), dtype=np.int64)
+        iq_q = np.zeros((n_chirps, 1024), dtype=np.int64)
+        # Put decimated data into first 64 bins so FFT has something
+        iq_i[:, :dec_i.shape[1]] = dec_i
+        iq_q[:, :dec_q.shape[1]] = dec_q
+
+        fpga = SoftwareFPGA()
+        frame = fpga.process_chirps(iq_i, iq_q, frame_number=42, timestamp=1.0)
+
+        self.assertIsInstance(frame, RadarFrame)
+        self.assertEqual(frame.frame_number, 42)
+        self.assertAlmostEqual(frame.timestamp, 1.0)
+        self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+        self.assertEqual(frame.range_doppler_q.shape, (64, 32))
+        self.assertEqual(frame.magnitude.shape, (64, 32))
+        self.assertEqual(frame.detections.shape, (64, 32))
+        self.assertEqual(frame.range_profile.shape, (64,))
+        self.assertEqual(frame.detection_count, int(frame.detections.sum()))
+
+    def test_cfar_enable_changes_detections(self):
+        """Enabling CFAR vs simple threshold should yield different detection counts."""
+        if not self._cosim_available():
+            self.skipTest("co-sim data not found")
+        from v7.software_fpga import SoftwareFPGA
+
+        iq_i = np.zeros((32, 1024), dtype=np.int64)
+        iq_q = np.zeros((32, 1024), dtype=np.int64)
+        # Inject a single strong tone in bin 10 of every chirp
+        iq_i[:, 10] = 5000
+        iq_q[:, 10] = 3000
+
+        fpga_thresh = SoftwareFPGA()
+        fpga_thresh.set_detect_threshold(1)  # very low → many detections
+        frame_thresh = fpga_thresh.process_chirps(iq_i, iq_q)
+
+        fpga_cfar = SoftwareFPGA()
+        fpga_cfar.set_cfar_enable(True)
+        fpga_cfar.set_cfar_alpha(0x10)  # low alpha → more detections
+        frame_cfar = fpga_cfar.process_chirps(iq_i, iq_q)
+
+        # Just verify both produce valid frames — exact counts depend on chain
+        self.assertIsNotNone(frame_thresh)
+        self.assertIsNotNone(frame_cfar)
+        self.assertEqual(frame_thresh.magnitude.shape, (64, 32))
+        self.assertEqual(frame_cfar.magnitude.shape, (64, 32))
+
+
+class TestQuantizeRawIQ(unittest.TestCase):
+    """quantize_raw_iq utility function."""
+
+    def test_3d_input(self):
+        """3-D (frames, chirps, samples) → uses first frame."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.random.randn(5, 32, 1024) + 1j * np.random.randn(5, 32, 1024)
+        iq_i, iq_q = quantize_raw_iq(raw)
+        self.assertEqual(iq_i.shape, (32, 1024))
+        self.assertEqual(iq_q.shape, (32, 1024))
+        self.assertTrue(np.all(np.abs(iq_i) <= 32767))
+        self.assertTrue(np.all(np.abs(iq_q) <= 32767))
+
+    def test_2d_input(self):
+        """2-D (chirps, samples) → works directly."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.random.randn(32, 1024) + 1j * np.random.randn(32, 1024)
+        iq_i, _iq_q = quantize_raw_iq(raw)
+        self.assertEqual(iq_i.shape, (32, 1024))
+
+    def test_zero_input(self):
+        """All-zero complex input → all-zero output."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.zeros((32, 1024), dtype=np.complex128)
+        iq_i, iq_q = quantize_raw_iq(raw)
+        self.assertTrue(np.all(iq_i == 0))
+        self.assertTrue(np.all(iq_q == 0))
+
+    def test_peak_target_scaling(self):
+        """Peak of output should be near peak_target."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.zeros((32, 1024), dtype=np.complex128)
+        raw[0, 0] = 1.0 + 0j  # single peak
+        iq_i, _iq_q = quantize_raw_iq(raw, peak_target=500)
+        # The peak I value should be exactly 500 (sole max)
+        self.assertEqual(int(iq_i[0, 0]), 500)
+
+
+# =============================================================================
+# Test: v7.replay (ReplayEngine, detect_format)
+# =============================================================================
+
+class TestDetectFormat(unittest.TestCase):
+    """detect_format auto-detection logic."""
+
+    COSIM_DIR = os.path.join(
+        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
+        "real_data", "hex"
+    )
+
+    def test_cosim_dir(self):
+        if not os.path.isdir(self.COSIM_DIR):
+            self.skipTest("co-sim dir not found")
+        from v7.replay import detect_format, ReplayFormat
+        self.assertEqual(detect_format(self.COSIM_DIR), ReplayFormat.COSIM_DIR)
+
+    def test_npy_file(self):
+        """A .npy file → RAW_IQ_NPY."""
+        from v7.replay import detect_format, ReplayFormat
+        import tempfile
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, np.zeros((2, 32, 1024), dtype=np.complex128))
+            tmp = f.name
+        try:
+            self.assertEqual(detect_format(tmp), ReplayFormat.RAW_IQ_NPY)
+        finally:
+            os.unlink(tmp)
+
+    def test_h5_file(self):
+        """A .h5 file → HDF5."""
+        from v7.replay import detect_format, ReplayFormat
+        self.assertEqual(detect_format("/tmp/fake_recording.h5"), ReplayFormat.HDF5)
+
+    def test_unknown_extension_raises(self):
+        from v7.replay import detect_format
+        with self.assertRaises(ValueError):
+            detect_format("/tmp/data.csv")
+
+    def test_empty_dir_raises(self):
+        """Directory without co-sim files → ValueError."""
+        from v7.replay import detect_format
+        import tempfile
+        with tempfile.TemporaryDirectory() as td, self.assertRaises(ValueError):
+            detect_format(td)
+
+
+class TestReplayEngineCosim(unittest.TestCase):
+    """ReplayEngine loading from FPGA co-sim directory."""
+
+    COSIM_DIR = os.path.join(
+        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
+        "real_data", "hex"
+    )
+
+    def _available(self):
+        return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
+
+    def test_load_cosim(self):
+        if not self._available():
+            self.skipTest("co-sim data not found")
+        from v7.replay import ReplayEngine, ReplayFormat
+        engine = ReplayEngine(self.COSIM_DIR)
+        self.assertEqual(engine.fmt, ReplayFormat.COSIM_DIR)
+        self.assertEqual(engine.total_frames, 1)
+
+    def test_get_frame_cosim(self):
+        if not self._available():
+            self.skipTest("co-sim data not found")
+        from v7.replay import ReplayEngine
+        from radar_protocol import RadarFrame
+        engine = ReplayEngine(self.COSIM_DIR)
+        frame = engine.get_frame(0)
+        self.assertIsInstance(frame, RadarFrame)
+        self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+        self.assertEqual(frame.magnitude.shape, (64, 32))
+
+    def test_get_frame_out_of_range(self):
+        if not self._available():
+            self.skipTest("co-sim data not found")
+        from v7.replay import ReplayEngine
+        engine = ReplayEngine(self.COSIM_DIR)
+        with self.assertRaises(IndexError):
+            engine.get_frame(1)
+        with self.assertRaises(IndexError):
+            engine.get_frame(-1)
+
+
+class TestReplayEngineRawIQ(unittest.TestCase):
+    """ReplayEngine loading from raw IQ .npy cube."""
+
+    def test_load_raw_iq_synthetic(self):
+        """Synthetic raw IQ cube loads and produces correct frame count."""
+        import tempfile
+        from v7.replay import ReplayEngine, ReplayFormat
+        from v7.software_fpga import SoftwareFPGA
+
+        raw = np.random.randn(3, 32, 1024) + 1j * np.random.randn(3, 32, 1024)
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, raw)
+            tmp = f.name
+        try:
+            fpga = SoftwareFPGA()
+            engine = ReplayEngine(tmp, software_fpga=fpga)
+            self.assertEqual(engine.fmt, ReplayFormat.RAW_IQ_NPY)
+            self.assertEqual(engine.total_frames, 3)
+        finally:
+            os.unlink(tmp)
+
+    def test_get_frame_raw_iq_synthetic(self):
+        """get_frame on raw IQ runs SoftwareFPGA and returns RadarFrame."""
+        import tempfile
+        from v7.replay import ReplayEngine
+        from v7.software_fpga import SoftwareFPGA
+        from radar_protocol import RadarFrame
+
+        raw = np.random.randn(2, 32, 1024) + 1j * np.random.randn(2, 32, 1024)
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, raw)
+            tmp = f.name
+        try:
+            fpga = SoftwareFPGA()
+            engine = ReplayEngine(tmp, software_fpga=fpga)
+            frame = engine.get_frame(0)
+            self.assertIsInstance(frame, RadarFrame)
+            self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+            self.assertEqual(frame.frame_number, 0)
+        finally:
+            os.unlink(tmp)
+
+    def test_raw_iq_no_fpga_raises(self):
+        """Raw IQ get_frame without SoftwareFPGA → RuntimeError."""
+        import tempfile
+        from v7.replay import ReplayEngine
+
+        raw = np.random.randn(1, 32, 1024) + 1j * np.random.randn(1, 32, 1024)
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, raw)
+            tmp = f.name
+        try:
+            engine = ReplayEngine(tmp)
+            with self.assertRaises(RuntimeError):
+                engine.get_frame(0)
+        finally:
+            os.unlink(tmp)
+
+
+class TestReplayEngineHDF5(unittest.TestCase):
+    """ReplayEngine loading from HDF5 recordings."""
+
+    def _skip_no_h5py(self):
+        try:
+            import h5py  # noqa: F401
+        except ImportError:
+            self.skipTest("h5py not installed")
+
+    def test_load_hdf5_synthetic(self):
+        """Synthetic HDF5 loads and iterates frames."""
+        self._skip_no_h5py()
+        import tempfile
+        import h5py
+        from v7.replay import ReplayEngine, ReplayFormat
+        from radar_protocol import RadarFrame
+
+        with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as f:
+            tmp = f.name
+
+        try:
+            with h5py.File(tmp, "w") as hf:
+                hf.attrs["creator"] = "test"
+                hf.attrs["range_bins"] = 64
+                hf.attrs["doppler_bins"] = 32
+                grp = hf.create_group("frames")
+                for i in range(3):
+                    fg = grp.create_group(f"frame_{i:06d}")
+                    fg.attrs["timestamp"] = float(i)
+                    fg.attrs["frame_number"] = i
+                    fg.attrs["detection_count"] = 0
+                    fg.create_dataset("range_doppler_i",
+                                      data=np.zeros((64, 32), dtype=np.int16))
+                    fg.create_dataset("range_doppler_q",
+                                      data=np.zeros((64, 32), dtype=np.int16))
+                    fg.create_dataset("magnitude",
+                                      data=np.zeros((64, 32), dtype=np.float64))
+                    fg.create_dataset("detections",
+                                      data=np.zeros((64, 32), dtype=np.uint8))
+                    fg.create_dataset("range_profile",
+                                      data=np.zeros(64, dtype=np.float64))
+
+            engine = ReplayEngine(tmp)
+            self.assertEqual(engine.fmt, ReplayFormat.HDF5)
+            self.assertEqual(engine.total_frames, 3)
+
+            frame = engine.get_frame(1)
+            self.assertIsInstance(frame, RadarFrame)
+            self.assertEqual(frame.frame_number, 1)
+            self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+            engine.close()
+        finally:
+            os.unlink(tmp)
+
+
+# =============================================================================
+# Test: v7.processing.extract_targets_from_frame
+# =============================================================================
+
+class TestExtractTargetsFromFrame(unittest.TestCase):
+    """extract_targets_from_frame bin-to-physical conversion."""
+
+    def _make_frame(self, det_cells=None):
+        """Create a minimal RadarFrame with optional detection cells."""
+        from radar_protocol import RadarFrame
+        frame = RadarFrame()
+        if det_cells:
+            for rbin, dbin in det_cells:
+                frame.detections[rbin, dbin] = 1
+                frame.magnitude[rbin, dbin] = 1000.0
+        frame.detection_count = int(frame.detections.sum())
+        frame.timestamp = 1.0
+        return frame
+
+    def test_no_detections(self):
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame()
+        targets = extract_targets_from_frame(frame)
+        self.assertEqual(len(targets), 0)
+
+    def test_single_detection_range(self):
+        """Detection at range bin 10 → range = 10 * range_resolution."""
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(10, 16)])  # dbin=16 = center → vel=0
+        targets = extract_targets_from_frame(frame, range_resolution=5.621)
+        self.assertEqual(len(targets), 1)
+        self.assertAlmostEqual(targets[0].range, 10 * 5.621, places=2)
+        self.assertAlmostEqual(targets[0].velocity, 0.0, places=2)
+
+    def test_velocity_sign(self):
+        """Doppler bin < center → negative velocity, > center → positive."""
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(5, 10), (5, 20)])
+        targets = extract_targets_from_frame(frame, velocity_resolution=1.484)
+        # dbin=10: vel = (10-16)*1.484 = -8.904  (approaching)
+        # dbin=20: vel = (20-16)*1.484 = +5.936  (receding)
+        self.assertLess(targets[0].velocity, 0)
+        self.assertGreater(targets[1].velocity, 0)
+
+    def test_snr_positive_for_nonzero_mag(self):
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(3, 16)])
+        targets = extract_targets_from_frame(frame)
+        self.assertGreater(targets[0].snr, 0)
+
+    def test_gps_georef(self):
+        """With GPS data, targets get non-zero lat/lon."""
+        from v7.processing import extract_targets_from_frame
+        from v7.models import GPSData
+        gps = GPSData(latitude=41.9, longitude=12.5, altitude=0.0,
+                      pitch=0.0, heading=90.0)
+        frame = self._make_frame(det_cells=[(10, 16)])
+        targets = extract_targets_from_frame(
+            frame, range_resolution=100.0, gps=gps)
+        # Should be roughly east of radar position
+        self.assertAlmostEqual(targets[0].latitude, 41.9, places=2)
+        self.assertGreater(targets[0].longitude, 12.5)
+
+    def test_multiple_detections(self):
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(0, 0), (10, 10), (63, 31)])
+        targets = extract_targets_from_frame(frame)
+        self.assertEqual(len(targets), 3)
+        # IDs should be sequential 0, 1, 2
+        self.assertEqual([t.id for t in targets], [0, 1, 2])
+
+
 # =============================================================================
 # Helper: lazy import of v7.models
 # =============================================================================

9_Firmware/9_3_GUI/v7/__init__.py

@@ -14,6 +14,7 @@ from .models import (
     GPSData,
     ProcessingConfig,
     TileServer,
+    WaveformConfig,
     DARK_BG, DARK_FG, DARK_ACCENT, DARK_HIGHLIGHT, DARK_BORDER,
     DARK_TEXT, DARK_BUTTON, DARK_BUTTON_HOVER,
     DARK_TREEVIEW, DARK_TREEVIEW_ALT,
@@ -25,7 +26,6 @@ from .models import (
 # Hardware interfaces — production protocol via radar_protocol.py
 from .hardware import (
     FT2232HConnection,
-    ReplayConnection,
     RadarProtocol,
     Opcode,
     RadarAcquisition,
@@ -40,8 +40,22 @@ from .processing import (
     RadarProcessor,
     USBPacketParser,
     apply_pitch_correction,
+    polar_to_geographic,
+    extract_targets_from_frame,
 )
 
+# Software FPGA (depends on golden_reference.py in FPGA cosim tree)
+try:  # noqa: SIM105
+    from .software_fpga import SoftwareFPGA, quantize_raw_iq
+except ImportError:  # golden_reference.py not available (e.g. deployment without FPGA tree)
+    pass
+
+# Replay engine (no PyQt6 dependency, but needs SoftwareFPGA for raw IQ path)
+try:  # noqa: SIM105
+    from .replay import ReplayEngine, ReplayFormat
+except ImportError:  # software_fpga unavailable → replay also unavailable
+    pass
+
 # Workers, map widget, and dashboard require PyQt6 — import lazily so that
 # tests/CI environments without PyQt6 can still access models/hardware/processing.
 try:
@@ -49,7 +63,7 @@ try:
         RadarDataWorker,
         GPSDataWorker,
         TargetSimulator,
-        polar_to_geographic,
+        ReplayWorker,
     )
 
     from .map_widget import (
@@ -67,6 +81,7 @@ except ImportError:  # PyQt6 not installed (e.g. CI headless runner)
 __all__ = [  # noqa: RUF022
     # models
     "RadarTarget", "RadarSettings", "GPSData", "ProcessingConfig", "TileServer",
+    "WaveformConfig",
     "DARK_BG", "DARK_FG", "DARK_ACCENT", "DARK_HIGHLIGHT", "DARK_BORDER",
     "DARK_TEXT", "DARK_BUTTON", "DARK_BUTTON_HOVER",
     "DARK_TREEVIEW", "DARK_TREEVIEW_ALT",
@@ -74,15 +89,18 @@ __all__ = [  # noqa: RUF022
     "USB_AVAILABLE", "FTDI_AVAILABLE", "SCIPY_AVAILABLE",
     "SKLEARN_AVAILABLE", "FILTERPY_AVAILABLE",
     # hardware — production FPGA protocol
-    "FT2232HConnection", "ReplayConnection", "RadarProtocol", "Opcode",
+    "FT2232HConnection", "RadarProtocol", "Opcode",
     "RadarAcquisition", "RadarFrame", "StatusResponse", "DataRecorder",
     "STM32USBInterface",
     # processing
     "RadarProcessor", "USBPacketParser",
-    "apply_pitch_correction",
+    "apply_pitch_correction", "polar_to_geographic",
+    "extract_targets_from_frame",
+    # software FPGA + replay
+    "SoftwareFPGA", "quantize_raw_iq",
+    "ReplayEngine", "ReplayFormat",
     # workers
-    "RadarDataWorker", "GPSDataWorker", "TargetSimulator",
+    "RadarDataWorker", "GPSDataWorker", "TargetSimulator", "ReplayWorker",
-    "polar_to_geographic",
     # map
     "MapBridge", "RadarMapWidget",
     # dashboard

9_Firmware/9_3_GUI/v7/agc_sim.py

@@ -0,0 +1,222 @@
+"""
+v7.agc_sim -- Bit-accurate AGC simulation matching rx_gain_control.v.
+
+Provides stateful, frame-by-frame AGC processing for the Raw IQ Replay
+mode and offline analysis.  All gain encoding, clamping, and attack/decay/
+holdoff logic is identical to the FPGA RTL.
+
+Classes:
+  - AGCState       -- mutable internal AGC state (gain, holdoff counter)
+  - AGCFrameResult -- per-frame AGC metrics after processing
+
+Functions:
+  - signed_to_encoding  -- signed gain (-7..+7) -> 4-bit encoding
+  - encoding_to_signed  -- 4-bit encoding -> signed gain
+  - clamp_gain          -- clamp to [-7, +7]
+  - apply_gain_shift    -- apply gain_shift to 16-bit IQ arrays
+  - process_agc_frame   -- run one frame through AGC, update state
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+
+import numpy as np
+
+
+# ---------------------------------------------------------------------------
+# FPGA AGC parameters (rx_gain_control.v reset defaults)
+# ---------------------------------------------------------------------------
+AGC_TARGET_DEFAULT = 200   # host_agc_target (8-bit)
+AGC_ATTACK_DEFAULT = 1     # host_agc_attack (4-bit)
+AGC_DECAY_DEFAULT = 1      # host_agc_decay  (4-bit)
+AGC_HOLDOFF_DEFAULT = 4    # host_agc_holdoff (4-bit)
+
+
+# ---------------------------------------------------------------------------
+# Gain encoding helpers (match RTL signed_to_encoding / encoding_to_signed)
+# ---------------------------------------------------------------------------
+
+def signed_to_encoding(g: int) -> int:
+    """Convert signed gain (-7..+7) to gain_shift[3:0] encoding.
+
+    [3]=0, [2:0]=N  ->  amplify  (left shift) by N
+    [3]=1, [2:0]=N  ->  attenuate (right shift) by N
+    """
+    if g >= 0:
+        return g & 0x07
+    return 0x08 | ((-g) & 0x07)
+
+
+def encoding_to_signed(enc: int) -> int:
+    """Convert gain_shift[3:0] encoding to signed gain."""
+    if (enc & 0x08) == 0:
+        return enc & 0x07
+    return -(enc & 0x07)
+
+
+def clamp_gain(val: int) -> int:
+    """Clamp to [-7, +7] (matches RTL clamp_gain function)."""
+    return max(-7, min(7, val))
+
+
+# ---------------------------------------------------------------------------
+# Apply gain shift to IQ data (matches RTL combinational logic)
+# ---------------------------------------------------------------------------
+
+def apply_gain_shift(
+    frame_i: np.ndarray,
+    frame_q: np.ndarray,
+    gain_enc: int,
+) -> tuple[np.ndarray, np.ndarray, int]:
+    """Apply gain_shift encoding to 16-bit signed IQ arrays.
+
+    Returns (shifted_i, shifted_q, overflow_count).
+    Matches the RTL: left shift = amplify, right shift = attenuate,
+    saturate to +/-32767 on overflow.
+    """
+    direction = (gain_enc >> 3) & 1  # 0=amplify, 1=attenuate
+    amount = gain_enc & 0x07
+
+    if amount == 0:
+        return frame_i.copy(), frame_q.copy(), 0
+
+    if direction == 0:
+        # Left shift (amplify)
+        si = frame_i.astype(np.int64) * (1 << amount)
+        sq = frame_q.astype(np.int64) * (1 << amount)
+    else:
+        # Arithmetic right shift (attenuate)
+        si = frame_i.astype(np.int64) >> amount
+        sq = frame_q.astype(np.int64) >> amount
+
+    # Count overflows (post-shift values outside 16-bit signed range)
+    overflow_i = (si > 32767) | (si < -32768)
+    overflow_q = (sq > 32767) | (sq < -32768)
+    overflow_count = int((overflow_i | overflow_q).sum())
+
+    # Saturate to +/-32767
+    si = np.clip(si, -32768, 32767).astype(np.int16)
+    sq = np.clip(sq, -32768, 32767).astype(np.int16)
+
+    return si, sq, overflow_count
+
+
+# ---------------------------------------------------------------------------
+# AGC state and per-frame result dataclasses
+# ---------------------------------------------------------------------------
+
+@dataclass
+class AGCConfig:
+    """AGC tuning parameters (mirrors FPGA host registers 0x28-0x2C)."""
+
+    enabled: bool = False
+    target: int = AGC_TARGET_DEFAULT    # 8-bit peak target
+    attack: int = AGC_ATTACK_DEFAULT    # 4-bit attenuation step
+    decay: int = AGC_DECAY_DEFAULT      # 4-bit gain-up step
+    holdoff: int = AGC_HOLDOFF_DEFAULT  # 4-bit frames to hold
+
+
+@dataclass
+class AGCState:
+    """Mutable internal AGC state — persists across frames."""
+
+    gain: int = 0                # signed gain, -7..+7
+    holdoff_counter: int = 0     # frames remaining before gain-up allowed
+    was_enabled: bool = False    # tracks enable transitions
+
+
+@dataclass
+class AGCFrameResult:
+    """Per-frame AGC metrics returned by process_agc_frame()."""
+
+    gain_enc: int = 0         # gain_shift[3:0] encoding applied this frame
+    gain_signed: int = 0      # signed gain for display
+    peak_mag_8bit: int = 0    # pre-gain peak magnitude (upper 8 of 15 bits)
+    saturation_count: int = 0  # post-gain overflow count (clamped to 255)
+    overflow_raw: int = 0     # raw overflow count (unclamped)
+    shifted_i: np.ndarray = field(default_factory=lambda: np.array([], dtype=np.int16))
+    shifted_q: np.ndarray = field(default_factory=lambda: np.array([], dtype=np.int16))
+
+
+# ---------------------------------------------------------------------------
+# Per-frame AGC processing (bit-accurate to rx_gain_control.v)
+# ---------------------------------------------------------------------------
+
+def quantize_iq(frame: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
+    """Quantize complex IQ to 16-bit signed I and Q arrays.
+
+    Input: 2-D complex array (chirps x samples) — any complex dtype.
+    Output: (frame_i, frame_q) as int16.
+    """
+    frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
+    frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
+    return frame_i, frame_q
+
+
+def process_agc_frame(
+    frame_i: np.ndarray,
+    frame_q: np.ndarray,
+    config: AGCConfig,
+    state: AGCState,
+) -> AGCFrameResult:
+    """Run one frame through the FPGA AGC inner loop.
+
+    Mutates *state* in place (gain and holdoff_counter).
+    Returns AGCFrameResult with metrics and shifted IQ data.
+
+    Parameters
+    ----------
+    frame_i, frame_q : int16 arrays (any shape, typically chirps x samples)
+    config : AGC tuning parameters
+    state  : mutable AGC state from previous frame
+    """
+    # --- PRE-gain peak measurement (RTL lines 133-135, 211-213) ---
+    abs_i = np.abs(frame_i.astype(np.int32))
+    abs_q = np.abs(frame_q.astype(np.int32))
+    max_iq = np.maximum(abs_i, abs_q)
+    frame_peak_15bit = int(max_iq.max()) if max_iq.size > 0 else 0
+    peak_8bit = (frame_peak_15bit >> 7) & 0xFF
+
+    # --- Handle AGC enable transition (RTL lines 250-253) ---
+    if config.enabled and not state.was_enabled:
+        state.gain = 0
+        state.holdoff_counter = config.holdoff
+    state.was_enabled = config.enabled
+
+    # --- Determine effective gain encoding ---
+    if config.enabled:
+        effective_enc = signed_to_encoding(state.gain)
+    else:
+        effective_enc = signed_to_encoding(state.gain)
+
+    # --- Apply gain shift + count POST-gain overflow ---
+    shifted_i, shifted_q, overflow_raw = apply_gain_shift(
+        frame_i, frame_q, effective_enc)
+    sat_count = min(255, overflow_raw)
+
+    # --- AGC update at frame boundary (RTL lines 226-246) ---
+    if config.enabled:
+        if sat_count > 0:
+            # Clipping: reduce gain immediately (attack)
+            state.gain = clamp_gain(state.gain - config.attack)
+            state.holdoff_counter = config.holdoff
+        elif peak_8bit < config.target:
+            # Signal too weak: increase gain after holdoff
+            if state.holdoff_counter == 0:
+                state.gain = clamp_gain(state.gain + config.decay)
+            else:
+                state.holdoff_counter -= 1
+        else:
+            # Good range (peak >= target, no sat): hold, reset holdoff
+            state.holdoff_counter = config.holdoff
+
+    return AGCFrameResult(
+        gain_enc=effective_enc,
+        gain_signed=state.gain if config.enabled else encoding_to_signed(effective_enc),
+        peak_mag_8bit=peak_8bit,
+        saturation_count=sat_count,
+        overflow_raw=overflow_raw,
+        shifted_i=shifted_i,
+        shifted_q=shifted_q,
+    )

9_Firmware/9_3_GUI/v7/dashboard.py

@@ -14,7 +14,7 @@ RadarDashboard is a QMainWindow with six tabs:
 
 Uses production radar_protocol.py for all FPGA communication:
   - FT2232HConnection for real hardware
-  - ReplayConnection for offline .npy replay
+  - Unified replay via SoftwareFPGA + ReplayEngine + ReplayWorker
   - Mock mode (FT2232HConnection(mock=True)) for development
 
 The old STM32 magic-packet start flow has been removed. FPGA registers
@@ -22,9 +22,12 @@ are controlled directly via 4-byte {opcode, addr, value_hi, value_lo}
 commands sent over FT2232H.
 """
 
+from __future__ import annotations
+
 import time
 import logging
 from collections import deque
+from typing import TYPE_CHECKING
 
 import numpy as np
 
@@ -32,11 +35,11 @@ from PyQt6.QtWidgets import (
     QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout,
     QTabWidget, QSplitter, QGroupBox, QFrame, QScrollArea,
     QLabel, QPushButton, QComboBox, QCheckBox,
-    QDoubleSpinBox, QSpinBox, QLineEdit,
+    QDoubleSpinBox, QSpinBox, QLineEdit, QSlider, QFileDialog,
     QTableWidget, QTableWidgetItem, QHeaderView,
     QPlainTextEdit, QStatusBar, QMessageBox,
 )
-from PyQt6.QtCore import Qt, QTimer, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtCore import Qt, QLocale, QTimer, pyqtSignal, pyqtSlot, QObject
 
 from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg
 from matplotlib.figure import Figure
@@ -52,7 +55,6 @@ from .models import (
 )
 from .hardware import (
     FT2232HConnection,
-    ReplayConnection,
     RadarProtocol,
     RadarFrame,
     StatusResponse,
@@ -60,15 +62,30 @@ from .hardware import (
     STM32USBInterface,
 )
 from .processing import RadarProcessor, USBPacketParser
-from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator
+from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator, ReplayWorker
 from .map_widget import RadarMapWidget
 
+if TYPE_CHECKING:
+    from .software_fpga import SoftwareFPGA
+    from .replay import ReplayEngine
+
 logger = logging.getLogger(__name__)
 
 # Frame dimensions from FPGA
 NUM_RANGE_BINS = 64
 NUM_DOPPLER_BINS = 32
 
+# Force C locale (period as decimal separator) for all QDoubleSpinBox instances.
+_C_LOCALE = QLocale(QLocale.Language.C)
+_C_LOCALE.setNumberOptions(QLocale.NumberOption.RejectGroupSeparator)
+
+
+def _make_dspin() -> QDoubleSpinBox:
+    """Create a QDoubleSpinBox with C locale (no comma decimals)."""
+    sb = QDoubleSpinBox()
+    sb.setLocale(_C_LOCALE)
+    return sb
+
 
 # =============================================================================
 # Range-Doppler Canvas (matplotlib)
@@ -142,6 +159,12 @@ class RadarDashboard(QMainWindow):
         self._gps_worker: GPSDataWorker | None = None
         self._simulator: TargetSimulator | None = None
 
+        # Replay-specific objects (created when entering replay mode)
+        self._replay_worker: ReplayWorker | None = None
+        self._replay_engine: ReplayEngine | None = None
+        self._software_fpga: SoftwareFPGA | None = None
+        self._replay_mode = False
+
         # State
         self._running = False
         self._demo_mode = False
@@ -341,7 +364,7 @@ class RadarDashboard(QMainWindow):
         # Row 0: connection mode + device combos + buttons
         ctrl_layout.addWidget(QLabel("Mode:"), 0, 0)
         self._mode_combo = QComboBox()
-        self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay (.npy)"])
+        self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay"])
         self._mode_combo.setCurrentIndex(0)
         ctrl_layout.addWidget(self._mode_combo, 0, 1)
 
@@ -390,6 +413,55 @@ class RadarDashboard(QMainWindow):
         self._status_label_main.setAlignment(Qt.AlignmentFlag.AlignRight)
         ctrl_layout.addWidget(self._status_label_main, 1, 5, 1, 5)
 
+        # Row 2: replay transport controls (hidden until replay mode)
+        self._replay_file_label = QLabel("No file loaded")
+        self._replay_file_label.setMinimumWidth(200)
+        ctrl_layout.addWidget(self._replay_file_label, 2, 0, 1, 2)
+
+        self._replay_browse_btn = QPushButton("Browse...")
+        self._replay_browse_btn.clicked.connect(self._browse_replay_file)
+        ctrl_layout.addWidget(self._replay_browse_btn, 2, 2)
+
+        self._replay_play_btn = QPushButton("Play")
+        self._replay_play_btn.clicked.connect(self._replay_play_pause)
+        ctrl_layout.addWidget(self._replay_play_btn, 2, 3)
+
+        self._replay_stop_btn = QPushButton("Stop")
+        self._replay_stop_btn.clicked.connect(self._replay_stop)
+        ctrl_layout.addWidget(self._replay_stop_btn, 2, 4)
+
+        self._replay_slider = QSlider(Qt.Orientation.Horizontal)
+        self._replay_slider.setMinimum(0)
+        self._replay_slider.setMaximum(0)
+        self._replay_slider.valueChanged.connect(self._replay_seek)
+        ctrl_layout.addWidget(self._replay_slider, 2, 5, 1, 2)
+
+        self._replay_frame_label = QLabel("0 / 0")
+        ctrl_layout.addWidget(self._replay_frame_label, 2, 7)
+
+        self._replay_speed_combo = QComboBox()
+        self._replay_speed_combo.addItems(["50 ms", "100 ms", "200 ms", "500 ms"])
+        self._replay_speed_combo.setCurrentIndex(1)
+        self._replay_speed_combo.currentIndexChanged.connect(self._replay_speed_changed)
+        ctrl_layout.addWidget(self._replay_speed_combo, 2, 8)
+
+        self._replay_loop_cb = QCheckBox("Loop")
+        self._replay_loop_cb.stateChanged.connect(self._replay_loop_changed)
+        ctrl_layout.addWidget(self._replay_loop_cb, 2, 9)
+
+        # Collect replay widgets to toggle visibility
+        self._replay_controls = [
+            self._replay_file_label, self._replay_browse_btn,
+            self._replay_play_btn, self._replay_stop_btn,
+            self._replay_slider, self._replay_frame_label,
+            self._replay_speed_combo, self._replay_loop_cb,
+        ]
+        for w in self._replay_controls:
+            w.setVisible(False)
+
+        # Show/hide replay row when mode changes
+        self._mode_combo.currentTextChanged.connect(self._on_mode_changed)
+
         layout.addWidget(ctrl)
 
         # ---- Display area (range-doppler + targets table) ------------------
@@ -452,19 +524,19 @@ class RadarDashboard(QMainWindow):
         pos_group = QGroupBox("Radar Position")
         pos_layout = QGridLayout(pos_group)
 
-        self._lat_spin = QDoubleSpinBox()
+        self._lat_spin = _make_dspin()
         self._lat_spin.setRange(-90, 90)
         self._lat_spin.setDecimals(6)
         self._lat_spin.setValue(self._radar_position.latitude)
         self._lat_spin.valueChanged.connect(self._on_position_changed)
 
-        self._lon_spin = QDoubleSpinBox()
+        self._lon_spin = _make_dspin()
         self._lon_spin.setRange(-180, 180)
         self._lon_spin.setDecimals(6)
         self._lon_spin.setValue(self._radar_position.longitude)
         self._lon_spin.valueChanged.connect(self._on_position_changed)
 
-        self._alt_spin = QDoubleSpinBox()
+        self._alt_spin = _make_dspin()
         self._alt_spin.setRange(0, 50000)
         self._alt_spin.setDecimals(1)
         self._alt_spin.setValue(0.0)
@@ -483,7 +555,7 @@ class RadarDashboard(QMainWindow):
         cov_group = QGroupBox("Coverage")
         cov_layout = QGridLayout(cov_group)
 
-        self._coverage_spin = QDoubleSpinBox()
+        self._coverage_spin = _make_dspin()
         self._coverage_spin.setRange(1, 200)
         self._coverage_spin.setDecimals(1)
         self._coverage_spin.setValue(self._settings.coverage_radius / 1000)
@@ -899,7 +971,7 @@ class RadarDashboard(QMainWindow):
         for spine in self._agc_ax_sat.spines.values():
             spine.set_color(DARK_BORDER)
         self._agc_sat_line, = self._agc_ax_sat.plot(
-            [], [], color=DARK_ERROR, linewidth=1.0)
+            [], [], color=DARK_ERROR, linewidth=1.0, label="Saturation")
         self._agc_sat_fill_artist = None
         self._agc_ax_sat.legend(
             loc="upper right", fontsize=8,
@@ -1047,7 +1119,7 @@ class RadarDashboard(QMainWindow):
         row += 1
 
         p_layout.addWidget(QLabel("DBSCAN eps:"), row, 0)
-        self._cluster_eps_spin = QDoubleSpinBox()
+        self._cluster_eps_spin = _make_dspin()
         self._cluster_eps_spin.setRange(1.0, 5000.0)
         self._cluster_eps_spin.setDecimals(1)
         self._cluster_eps_spin.setValue(self._processing_config.clustering_eps)
@@ -1164,7 +1236,11 @@ class RadarDashboard(QMainWindow):
             logger.error(f"Failed to send FPGA cmd: 0x{opcode:02X}")
 
     def _send_fpga_validated(self, opcode: int, value: int, bits: int):
-        """Clamp value to bit-width and send."""
+        """Clamp value to bit-width and send.
+
+        In replay mode, also dispatch to the SoftwareFPGA setter and
+        re-process the current frame so the user sees immediate effect.
+        """
         max_val = (1 << bits) - 1
         clamped = max(0, min(value, max_val))
         if clamped != value:
@@ -1174,7 +1250,18 @@ class RadarDashboard(QMainWindow):
             key = f"0x{opcode:02X}"
             if key in self._param_spins:
                 self._param_spins[key].setValue(clamped)
-        self._send_fpga_cmd(opcode, clamped)
+
+        # Dispatch to real FPGA (live/mock mode)
+        if not self._replay_mode:
+            self._send_fpga_cmd(opcode, clamped)
+            return
+
+        # Dispatch to SoftwareFPGA (replay mode)
+        if self._software_fpga is not None:
+            self._dispatch_to_software_fpga(opcode, clamped)
+            # Re-process current frame so the effect is visible immediately
+            if self._replay_worker is not None:
+                self._replay_worker.seek(self._replay_worker.current_index)
 
     def _send_custom_command(self):
         """Send custom opcode + value from the FPGA Control tab."""
@@ -1191,36 +1278,112 @@ class RadarDashboard(QMainWindow):
 
     def _start_radar(self):
         """Start radar data acquisition using production protocol."""
+        # Mutual exclusion: stop demo if running
+        if self._demo_mode:
+            self._stop_demo()
+
         try:
             mode = self._mode_combo.currentText()
 
             if "Mock" in mode:
+                self._replay_mode = False
                 self._connection = FT2232HConnection(mock=True)
                 if not self._connection.open():
                     QMessageBox.critical(self, "Error", "Failed to open mock connection.")
                     return
             elif "Live" in mode:
+                self._replay_mode = False
                 self._connection = FT2232HConnection(mock=False)
                 if not self._connection.open():
                     QMessageBox.critical(self, "Error",
                                          "Failed to open FT2232H. Check USB connection.")
                     return
             elif "Replay" in mode:
-                from PyQt6.QtWidgets import QFileDialog
+                self._replay_mode = True
-                npy_dir = QFileDialog.getExistingDirectory(
+                replay_path = self._replay_file_label.text()
-                    self, "Select .npy replay directory")
+                if replay_path == "No file loaded" or not replay_path:
-                if not npy_dir:
+                    QMessageBox.warning(
+                        self, "Replay",
+                        "Use 'Browse...' to select a replay"
+                        " file or directory first.")
                     return
-                self._connection = ReplayConnection(npy_dir)
+
-                if not self._connection.open():
+                from .software_fpga import SoftwareFPGA
-                    QMessageBox.critical(self, "Error",
+                from .replay import ReplayEngine
-                                         "Failed to open replay connection.")
+
+                self._software_fpga = SoftwareFPGA()
+                # Enable CFAR by default for raw IQ replay (avoids 2000+ detections)
+                self._software_fpga.set_cfar_enable(True)
+
+                try:
+                    self._replay_engine = ReplayEngine(
+                        replay_path, self._software_fpga)
+                except (OSError, ValueError, RuntimeError) as exc:
+                    QMessageBox.critical(self, "Replay Error",
+                                         f"Failed to open replay data:\n{exc}")
+                    self._software_fpga = None
                     return
+
+                if self._replay_engine.total_frames == 0:
+                    QMessageBox.warning(self, "Replay", "No frames found in the selected source.")
+                    self._replay_engine.close()
+                    self._replay_engine = None
+                    self._software_fpga = None
+                    return
+
+                speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
+                interval = speed_map.get(self._replay_speed_combo.currentIndex(), 100)
+
+                self._replay_worker = ReplayWorker(
+                    replay_engine=self._replay_engine,
+                    settings=self._settings,
+                    gps=self._radar_position,
+                    frame_interval_ms=interval,
+                )
+                self._replay_worker.frameReady.connect(self._on_frame_ready)
+                self._replay_worker.targetsUpdated.connect(self._on_radar_targets)
+                self._replay_worker.statsUpdated.connect(self._on_radar_stats)
+                self._replay_worker.errorOccurred.connect(self._on_worker_error)
+                self._replay_worker.playbackStateChanged.connect(
+                    self._on_playback_state_changed)
+                self._replay_worker.frameIndexChanged.connect(
+                    self._on_frame_index_changed)
+                self._replay_worker.set_loop(self._replay_loop_cb.isChecked())
+
+                self._replay_slider.setMaximum(
+                    self._replay_engine.total_frames - 1)
+                self._replay_slider.setValue(0)
+                self._replay_frame_label.setText(
+                    f"0 / {self._replay_engine.total_frames}")
+
+                self._replay_worker.start()
+                # Update CFAR enable spinbox to reflect default-on for replay
+                if "0x25" in self._param_spins:
+                    self._param_spins["0x25"].setValue(1)
+
+                # UI state
+                self._running = True
+                self._start_time = time.time()
+                self._frame_count = 0
+                self._start_btn.setEnabled(False)
+                self._stop_btn.setEnabled(True)
+                self._mode_combo.setEnabled(False)
+                self._demo_btn_main.setEnabled(False)
+                self._demo_btn_map.setEnabled(False)
+                n_frames = self._replay_engine.total_frames
+                self._status_label_main.setText(
+                    f"Status: Replay ({n_frames} frames)")
+                self._sb_status.setText(f"Replay ({n_frames} frames)")
+                self._sb_mode.setText("Replay")
+                logger.info(
+                    "Replay started: %s (%d frames)",
+                    replay_path, n_frames)
+                return
             else:
                 QMessageBox.warning(self, "Warning", "Unknown connection mode.")
                 return
 
-            # Start radar worker
+            # Start radar worker (mock / live — NOT replay)
             self._radar_worker = RadarDataWorker(
                 connection=self._connection,
                 processor=self._processor,
@@ -1254,6 +1417,8 @@ class RadarDashboard(QMainWindow):
             self._start_btn.setEnabled(False)
             self._stop_btn.setEnabled(True)
             self._mode_combo.setEnabled(False)
+            self._demo_btn_main.setEnabled(False)
+            self._demo_btn_map.setEnabled(False)
             self._status_label_main.setText(f"Status: Running ({mode})")
             self._sb_status.setText(f"Running ({mode})")
             self._sb_mode.setText(mode)
@@ -1271,6 +1436,18 @@ class RadarDashboard(QMainWindow):
             self._radar_worker.wait(2000)
             self._radar_worker = None
 
+        if self._replay_worker:
+            self._replay_worker.stop()
+            self._replay_worker.wait(2000)
+            self._replay_worker = None
+
+        if self._replay_engine:
+            self._replay_engine.close()
+            self._replay_engine = None
+
+        self._software_fpga = None
+        self._replay_mode = False
+
         if self._gps_worker:
             self._gps_worker.stop()
             self._gps_worker.wait(2000)
@@ -1285,11 +1462,120 @@ class RadarDashboard(QMainWindow):
         self._start_btn.setEnabled(True)
         self._stop_btn.setEnabled(False)
         self._mode_combo.setEnabled(True)
+        self._demo_btn_main.setEnabled(True)
+        self._demo_btn_map.setEnabled(True)
         self._status_label_main.setText("Status: Radar stopped")
         self._sb_status.setText("Radar stopped")
         self._sb_mode.setText("Idle")
         logger.info("Radar system stopped")
 
+    # =====================================================================
+    # Replay helpers
+    # =====================================================================
+
+    def _on_mode_changed(self, text: str):
+        """Show/hide replay transport controls based on mode selection."""
+        is_replay = "Replay" in text
+        for w in self._replay_controls:
+            w.setVisible(is_replay)
+
+    def _browse_replay_file(self):
+        """Open file/directory picker for replay source."""
+        path, _ = QFileDialog.getOpenFileName(
+            self, "Select replay file",
+            "",
+            "All supported (*.npy *.h5);;NumPy files (*.npy);;HDF5 files (*.h5);;All files (*)",
+        )
+        if path:
+            self._replay_file_label.setText(path)
+            return
+        # If no file selected, try directory (for co-sim)
+        dir_path = QFileDialog.getExistingDirectory(
+            self, "Select co-sim replay directory")
+        if dir_path:
+            self._replay_file_label.setText(dir_path)
+
+    def _replay_play_pause(self):
+        """Toggle play/pause on the replay worker."""
+        if self._replay_worker is None:
+            return
+        if self._replay_worker.is_playing:
+            self._replay_worker.pause()
+            self._replay_play_btn.setText("Play")
+        else:
+            self._replay_worker.play()
+            self._replay_play_btn.setText("Pause")
+
+    def _replay_stop(self):
+        """Stop replay playback (keeps data loaded)."""
+        if self._replay_worker is not None:
+            self._replay_worker.pause()
+            self._replay_worker.seek(0)
+            self._replay_play_btn.setText("Play")
+
+    def _replay_seek(self, value: int):
+        """Seek to a specific frame from the slider."""
+        if self._replay_worker is not None and not self._replay_worker.is_playing:
+            self._replay_worker.seek(value)
+
+    def _replay_speed_changed(self, index: int):
+        """Update replay frame interval from speed combo."""
+        speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
+        ms = speed_map.get(index, 100)
+        if self._replay_worker is not None:
+            self._replay_worker.set_frame_interval(ms)
+
+    def _replay_loop_changed(self, state: int):
+        """Update replay loop setting."""
+        if self._replay_worker is not None:
+            self._replay_worker.set_loop(state == Qt.CheckState.Checked.value)
+
+    @pyqtSlot(str)
+    def _on_playback_state_changed(self, state: str):
+        """Update UI when replay playback state changes."""
+        if state == "playing":
+            self._replay_play_btn.setText("Pause")
+        elif state in ("paused", "stopped"):
+            self._replay_play_btn.setText("Play")
+        if state == "stopped" and self._replay_worker is not None:
+            self._status_label_main.setText("Status: Replay finished")
+
+    @pyqtSlot(int, int)
+    def _on_frame_index_changed(self, current: int, total: int):
+        """Update slider and frame label from replay worker."""
+        self._replay_slider.blockSignals(True)
+        self._replay_slider.setValue(current)
+        self._replay_slider.blockSignals(False)
+        self._replay_frame_label.setText(f"{current} / {total}")
+
+    def _dispatch_to_software_fpga(self, opcode: int, value: int):
+        """Route an FPGA opcode+value to the SoftwareFPGA setter."""
+        fpga = self._software_fpga
+        if fpga is None:
+            return
+        _opcode_dispatch = {
+            0x03: lambda v: fpga.set_detect_threshold(v),
+            0x16: lambda v: fpga.set_gain_shift(v),
+            0x21: lambda v: fpga.set_cfar_guard(v),
+            0x22: lambda v: fpga.set_cfar_train(v),
+            0x23: lambda v: fpga.set_cfar_alpha(v),
+            0x24: lambda v: fpga.set_cfar_mode(v),
+            0x25: lambda v: fpga.set_cfar_enable(bool(v)),
+            0x26: lambda v: fpga.set_mti_enable(bool(v)),
+            0x27: lambda v: fpga.set_dc_notch_width(v),
+            0x28: lambda v: fpga.set_agc_enable(bool(v)),
+            0x29: lambda v: fpga.set_agc_params(target=v),
+            0x2A: lambda v: fpga.set_agc_params(attack=v),
+            0x2B: lambda v: fpga.set_agc_params(decay=v),
+            0x2C: lambda v: fpga.set_agc_params(holdoff=v),
+        }
+        handler = _opcode_dispatch.get(opcode)
+        if handler is not None:
+            handler(value)
+            logger.info(f"SoftwareFPGA: 0x{opcode:02X} = {value}")
+        else:
+            logger.debug(f"SoftwareFPGA: opcode 0x{opcode:02X} not handled (no-op)")
+
     # =====================================================================
     # Demo mode
     # =====================================================================
@@ -1297,6 +1583,10 @@ class RadarDashboard(QMainWindow):
     def _start_demo(self):
         if self._simulator:
             return
+        # Mutual exclusion: do not start demo while radar/replay is running
+        if self._running:
+            logger.warning("Cannot start demo while radar is running")
+            return
         self._simulator = TargetSimulator(self._radar_position, self)
         self._simulator.targetsUpdated.connect(self._on_demo_targets)
         self._simulator.start(500)
@@ -1315,7 +1605,7 @@ class RadarDashboard(QMainWindow):
         self._demo_mode = False
         if not self._running:
             mode = "Idle"
-        elif isinstance(self._connection, ReplayConnection):
+        elif self._replay_mode:
             mode = "Replay"
         else:
             mode = "Live"

9_Firmware/9_3_GUI/v7/hardware.py

@@ -3,14 +3,11 @@ v7.hardware — Hardware interface classes for the PLFM Radar GUI V7.
 
 Provides:
   - FT2232H radar data + command interface via production radar_protocol module
-  - ReplayConnection for offline .npy replay via production radar_protocol module
   - STM32USBInterface for GPS data only (USB CDC)
 
 The FT2232H interface uses the production protocol layer (radar_protocol.py)
 which sends 4-byte {opcode, addr, value_hi, value_lo} register commands and
-parses 0xAA data / 0xBB status packets from the FPGA. The old magic-packet
+parses 0xAA data / 0xBB status packets from the FPGA.
-and 'SET'...'END' binary settings protocol has been removed — it was
-incompatible with the FPGA register interface.
 """
 
 import sys
@@ -28,7 +25,6 @@ if USB_AVAILABLE:
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
 from radar_protocol import (  # noqa: F401 — re-exported for v7 package
     FT2232HConnection,
-    ReplayConnection,
     RadarProtocol,
     Opcode,
     RadarAcquisition,

9_Firmware/9_3_GUI/v7/map_widget.py

@@ -17,7 +17,8 @@ from PyQt6.QtWidgets import (
     QWidget, QVBoxLayout, QHBoxLayout, QFrame,
     QComboBox, QCheckBox, QPushButton, QLabel,
 )
-from PyQt6.QtCore import Qt, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtCore import Qt, QUrl, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtWebEngineCore import QWebEngineSettings
 from PyQt6.QtWebEngineWidgets import QWebEngineView
 from PyQt6.QtWebChannel import QWebChannel
 
@@ -517,8 +518,20 @@ document.addEventListener('DOMContentLoaded', function() {{
     # ---- load / helpers ----------------------------------------------------
 
     def _load_map(self):
-        self._web_view.setHtml(self._get_map_html())
+        # Enable remote resource access so Leaflet CDN scripts/tiles can load.
-        logger.info("Leaflet map HTML loaded")
+        settings = self._web_view.page().settings()
+        settings.setAttribute(
+            QWebEngineSettings.WebAttribute.LocalContentCanAccessRemoteUrls,
+            True,
+        )
+        # Provide an HTTP base URL so the page has a proper origin;
+        # without this, setHtml() defaults to about:blank which blocks
+        # external resource loading in modern Chromium.
+        self._web_view.setHtml(
+            self._get_map_html(),
+            QUrl("http://localhost/radar_map"),
+        )
+        logger.info("Leaflet map HTML loaded (with HTTP base URL)")
 
     def _on_map_ready(self):
         self._status_label.setText(f"Map ready - {len(self._targets)} targets")

9_Firmware/9_3_GUI/v7/models.py

@@ -186,3 +186,59 @@ class TileServer(Enum):
     GOOGLE_SATELLITE = "google_sat"
     GOOGLE_HYBRID = "google_hybrid"
     ESRI_SATELLITE = "esri_sat"
+
+
+# ---------------------------------------------------------------------------
+# Waveform configuration (physical parameters for bin→unit conversion)
+# ---------------------------------------------------------------------------
+
+@dataclass
+class WaveformConfig:
+    """Physical waveform parameters for converting bins to SI units.
+
+    Encapsulates the radar waveform so that range/velocity resolution
+    can be derived automatically instead of hardcoded in RadarSettings.
+
+    Defaults match the ADI CN0566 Phaser capture parameters used in
+    the golden_reference cosim (4 MSPS, 500 MHz BW, 300 us chirp).
+    """
+
+    sample_rate_hz: float = 4e6          # ADC sample rate
+    bandwidth_hz: float = 500e6          # Chirp bandwidth
+    chirp_duration_s: float = 300e-6     # Chirp ramp time
+    center_freq_hz: float = 10.525e9     # Carrier frequency
+    n_range_bins: int = 64               # After decimation
+    n_doppler_bins: int = 32             # After Doppler FFT
+    fft_size: int = 1024                 # Pre-decimation FFT length
+    decimation_factor: int = 16          # 1024 → 64
+
+    @property
+    def range_resolution_m(self) -> float:
+        """Meters per decimated range bin (FMCW deramped baseband).
+
+        For deramped FMCW: bin spacing = c * Fs * T / (2 * N_FFT * BW).
+        After decimation the bin spacing grows by *decimation_factor*.
+        """
+        c = 299_792_458.0
+        raw_bin = (
+            c * self.sample_rate_hz * self.chirp_duration_s
+            / (2.0 * self.fft_size * self.bandwidth_hz)
+        )
+        return raw_bin * self.decimation_factor
+
+    @property
+    def velocity_resolution_mps(self) -> float:
+        """m/s per Doppler bin.  lambda / (2 * n_doppler * chirp_duration)."""
+        c = 299_792_458.0
+        wavelength = c / self.center_freq_hz
+        return wavelength / (2.0 * self.n_doppler_bins * self.chirp_duration_s)
+
+    @property
+    def max_range_m(self) -> float:
+        """Maximum unambiguous range in meters."""
+        return self.range_resolution_m * self.n_range_bins
+
+    @property
+    def max_velocity_mps(self) -> float:
+        """Maximum unambiguous velocity (±) in m/s."""
+        return self.velocity_resolution_mps * self.n_doppler_bins / 2.0

9_Firmware/9_3_GUI/v7/processing.py

@@ -451,3 +451,103 @@ class USBPacketParser:
         except (ValueError, struct.error) as e:
             logger.error(f"Error parsing binary GPS: {e}")
             return None
+
+
+# ============================================================================
+# Utility: polar → geographic coordinate conversion
+# ============================================================================
+
+def polar_to_geographic(
+    radar_lat: float,
+    radar_lon: float,
+    range_m: float,
+    azimuth_deg: float,
+) -> tuple:
+    """Convert polar (range, azimuth) relative to radar → (lat, lon).
+
+    azimuth_deg: 0 = North, clockwise.
+    """
+    r_earth = 6_371_000.0  # Earth radius in metres
+
+    lat1 = math.radians(radar_lat)
+    lon1 = math.radians(radar_lon)
+    bearing = math.radians(azimuth_deg)
+
+    lat2 = math.asin(
+        math.sin(lat1) * math.cos(range_m / r_earth)
+        + math.cos(lat1) * math.sin(range_m / r_earth) * math.cos(bearing)
+    )
+    lon2 = lon1 + math.atan2(
+        math.sin(bearing) * math.sin(range_m / r_earth) * math.cos(lat1),
+        math.cos(range_m / r_earth) - math.sin(lat1) * math.sin(lat2),
+    )
+    return (math.degrees(lat2), math.degrees(lon2))
+
+
+# ============================================================================
+# Shared target extraction (used by both RadarDataWorker and ReplayWorker)
+# ============================================================================
+
+def extract_targets_from_frame(
+    frame,
+    range_resolution: float = 1.0,
+    velocity_resolution: float = 1.0,
+    gps: GPSData | None = None,
+) -> list[RadarTarget]:
+    """Extract RadarTarget list from a RadarFrame's detection mask.
+
+    This is the bin-to-physical conversion + geo-mapping shared between
+    the live and replay data paths.
+
+    Parameters
+    ----------
+    frame : RadarFrame
+        Frame with populated ``detections``, ``magnitude``, ``range_doppler_i/q``.
+    range_resolution : float
+        Meters per range bin.
+    velocity_resolution : float
+        m/s per Doppler bin.
+    gps : GPSData | None
+        GPS position for geo-mapping (latitude/longitude).
+
+    Returns
+    -------
+    list[RadarTarget]
+        One target per detection cell.
+    """
+    det_indices = np.argwhere(frame.detections > 0)
+    n_doppler = frame.detections.shape[1] if frame.detections.ndim == 2 else 32
+    doppler_center = n_doppler // 2
+
+    targets: list[RadarTarget] = []
+    for idx in det_indices:
+        rbin, dbin = int(idx[0]), int(idx[1])
+        mag = float(frame.magnitude[rbin, dbin])
+        snr = 10.0 * math.log10(max(mag, 1.0)) if mag > 0 else 0.0
+
+        range_m = float(rbin) * range_resolution
+        velocity_ms = float(dbin - doppler_center) * velocity_resolution
+
+        lat, lon, azimuth, elevation = 0.0, 0.0, 0.0, 0.0
+        if gps is not None:
+            azimuth = gps.heading
+            # Spread detections across ±15° sector for single-beam radar
+            if len(det_indices) > 1:
+                spread = (dbin - doppler_center) / max(doppler_center, 1) * 15.0
+                azimuth = gps.heading + spread
+            lat, lon = polar_to_geographic(
+                gps.latitude, gps.longitude, range_m, azimuth,
+            )
+
+        targets.append(RadarTarget(
+            id=len(targets),
+            range=range_m,
+            velocity=velocity_ms,
+            azimuth=azimuth,
+            elevation=elevation,
+            latitude=lat,
+            longitude=lon,
+            snr=snr,
+            timestamp=frame.timestamp,
+        ))
+    return targets

9_Firmware/9_3_GUI/v7/replay.py

@@ -0,0 +1,288 @@
+"""
+v7.replay — ReplayEngine: auto-detect format, load, and iterate RadarFrames.
+
+Supports three data sources:
+  1. **FPGA co-sim directory** — pre-computed ``.npy`` files from golden_reference
+  2. **Raw IQ cube** ``.npy`` — complex baseband capture (e.g. ADI Phaser)
+  3. **HDF5 recording** ``.h5`` — frames captured by ``DataRecorder``
+
+For raw IQ data the engine uses :class:`SoftwareFPGA` to run the full
+bit-accurate signal chain, so changing FPGA control registers in the
+dashboard re-processes the data.
+"""
+
+from __future__ import annotations
+
+import logging
+import time
+from enum import Enum, auto
+from pathlib import Path
+from typing import TYPE_CHECKING
+
+import numpy as np
+
+if TYPE_CHECKING:
+    from .software_fpga import SoftwareFPGA
+
+# radar_protocol is a sibling module (not inside v7/)
+import sys as _sys
+
+_GUI_DIR = str(Path(__file__).resolve().parent.parent)
+if _GUI_DIR not in _sys.path:
+    _sys.path.insert(0, _GUI_DIR)
+from radar_protocol import RadarFrame  # noqa: E402
+
+log = logging.getLogger(__name__)
+
+# Lazy import — h5py is optional
+try:
+    import h5py
+
+    HDF5_AVAILABLE = True
+except ImportError:
+    HDF5_AVAILABLE = False
+
+
+class ReplayFormat(Enum):
+    """Detected input format."""
+
+    COSIM_DIR = auto()
+    RAW_IQ_NPY = auto()
+    HDF5 = auto()
+
+
+# ───────────────────────────────────────────────────────────────────
+# Format detection
+# ───────────────────────────────────────────────────────────────────
+
+_COSIM_REQUIRED = {"doppler_map_i.npy", "doppler_map_q.npy"}
+
+
+def detect_format(path: str) -> ReplayFormat:
+    """Auto-detect the replay data format from *path*.
+
+    Raises
+    ------
+    ValueError
+        If the format cannot be determined.
+    """
+    p = Path(path)
+
+    if p.is_dir():
+        children = {f.name for f in p.iterdir()}
+        if _COSIM_REQUIRED.issubset(children):
+            return ReplayFormat.COSIM_DIR
+        msg = f"Directory {p} does not contain required co-sim files: {_COSIM_REQUIRED - children}"
+        raise ValueError(msg)
+
+    if p.suffix == ".h5":
+        return ReplayFormat.HDF5
+
+    if p.suffix == ".npy":
+        return ReplayFormat.RAW_IQ_NPY
+
+    msg = f"Cannot determine replay format for: {p}"
+    raise ValueError(msg)
+
+
+# ───────────────────────────────────────────────────────────────────
+# ReplayEngine
+# ───────────────────────────────────────────────────────────────────
+
+class ReplayEngine:
+    """Load replay data and serve RadarFrames on demand.
+
+    Parameters
+    ----------
+    path : str
+        File or directory path to load.
+    software_fpga : SoftwareFPGA | None
+        Required only for ``RAW_IQ_NPY`` format.  For other formats the
+        data is already processed and the FPGA instance is ignored.
+    """
+
+    def __init__(self, path: str, software_fpga: SoftwareFPGA | None = None) -> None:
+        self.path = path
+        self.fmt = detect_format(path)
+        self.software_fpga = software_fpga
+
+        # Populated by _load_*
+        self._total_frames: int = 0
+        self._raw_iq: np.ndarray | None = None   # for RAW_IQ_NPY
+        self._h5_file = None
+        self._h5_keys: list[str] = []
+        self._cosim_frame = None  # single RadarFrame for co-sim
+
+        self._load()
+
+    # ------------------------------------------------------------------
+    # Loading
+    # ------------------------------------------------------------------
+
+    def _load(self) -> None:
+        if self.fmt is ReplayFormat.COSIM_DIR:
+            self._load_cosim()
+        elif self.fmt is ReplayFormat.RAW_IQ_NPY:
+            self._load_raw_iq()
+        elif self.fmt is ReplayFormat.HDF5:
+            self._load_hdf5()
+
+    def _load_cosim(self) -> None:
+        """Load FPGA co-sim directory (already-processed .npy arrays).
+
+        Prefers fullchain (MTI-enabled) files when CFAR outputs are present,
+        so that I/Q data is consistent with the detection mask.  Falls back
+        to the non-MTI ``doppler_map`` files when fullchain data is absent.
+        """
+        d = Path(self.path)
+
+        # CFAR outputs (from the MTI→Doppler→DC-notch→CFAR chain)
+        cfar_flags = d / "fullchain_cfar_flags.npy"
+        cfar_mag = d / "fullchain_cfar_mag.npy"
+        has_cfar = cfar_flags.exists() and cfar_mag.exists()
+
+        # MTI-consistent I/Q (same chain that produced CFAR outputs)
+        mti_dop_i = d / "fullchain_mti_doppler_i.npy"
+        mti_dop_q = d / "fullchain_mti_doppler_q.npy"
+        has_mti_doppler = mti_dop_i.exists() and mti_dop_q.exists()
+
+        # Choose I/Q: prefer MTI-chain when CFAR data comes from that chain
+        if has_cfar and has_mti_doppler:
+            dop_i = np.load(mti_dop_i).astype(np.int16)
+            dop_q = np.load(mti_dop_q).astype(np.int16)
+            log.info("Co-sim: using fullchain MTI+Doppler I/Q (matches CFAR chain)")
+        else:
+            dop_i = np.load(d / "doppler_map_i.npy").astype(np.int16)
+            dop_q = np.load(d / "doppler_map_q.npy").astype(np.int16)
+            log.info("Co-sim: using non-MTI doppler_map I/Q")
+
+        frame = RadarFrame()
+        frame.range_doppler_i = dop_i
+        frame.range_doppler_q = dop_q
+
+        if has_cfar:
+            frame.detections = np.load(cfar_flags).astype(np.uint8)
+            frame.magnitude = np.load(cfar_mag).astype(np.float64)
+        else:
+            frame.magnitude = np.sqrt(
+                dop_i.astype(np.float64) ** 2 + dop_q.astype(np.float64) ** 2
+            )
+            frame.detections = np.zeros_like(dop_i, dtype=np.uint8)
+
+        frame.range_profile = frame.magnitude[:, 0]
+        frame.detection_count = int(frame.detections.sum())
+        frame.frame_number = 0
+        frame.timestamp = time.time()
+
+        self._cosim_frame = frame
+        self._total_frames = 1
+        log.info("Loaded co-sim directory: %s (1 frame)", self.path)
+
+    def _load_raw_iq(self) -> None:
+        """Load raw complex IQ cube (.npy)."""
+        data = np.load(self.path, mmap_mode="r")
+        if data.ndim == 2:
+            # (chirps, samples) — single frame
+            data = data[np.newaxis, ...]
+        if data.ndim != 3:
+            msg = f"Expected 3-D array (frames, chirps, samples), got shape {data.shape}"
+            raise ValueError(msg)
+        self._raw_iq = data
+        self._total_frames = data.shape[0]
+        log.info(
+            "Loaded raw IQ: %s, shape %s (%d frames)",
+            self.path,
+            data.shape,
+            self._total_frames,
+        )
+
+    def _load_hdf5(self) -> None:
+        """Load HDF5 recording (.h5)."""
+        if not HDF5_AVAILABLE:
+            msg = "h5py is required to load HDF5 recordings"
+            raise ImportError(msg)
+        self._h5_file = h5py.File(self.path, "r")
+        frames_grp = self._h5_file.get("frames")
+        if frames_grp is None:
+            msg = f"HDF5 file {self.path} has no 'frames' group"
+            raise ValueError(msg)
+        self._h5_keys = sorted(frames_grp.keys())
+        self._total_frames = len(self._h5_keys)
+        log.info("Loaded HDF5: %s (%d frames)", self.path, self._total_frames)
+
+    # ------------------------------------------------------------------
+    # Public API
+    # ------------------------------------------------------------------
+
+    @property
+    def total_frames(self) -> int:
+        return self._total_frames
+
+    def get_frame(self, index: int) -> RadarFrame:
+        """Return the RadarFrame at *index* (0-based).
+
+        For ``RAW_IQ_NPY`` format, this runs the SoftwareFPGA chain
+        on the requested frame's chirps.
+        """
+        if index < 0 or index >= self._total_frames:
+            msg = f"Frame index {index} out of range [0, {self._total_frames})"
+            raise IndexError(msg)
+
+        if self.fmt is ReplayFormat.COSIM_DIR:
+            return self._get_cosim(index)
+        if self.fmt is ReplayFormat.RAW_IQ_NPY:
+            return self._get_raw_iq(index)
+        return self._get_hdf5(index)
+
+    def close(self) -> None:
+        """Release any open file handles."""
+        if self._h5_file is not None:
+            self._h5_file.close()
+            self._h5_file = None
+
+    # ------------------------------------------------------------------
+    # Per-format frame getters
+    # ------------------------------------------------------------------
+
+    def _get_cosim(self, _index: int) -> RadarFrame:
+        """Co-sim: single static frame (index ignored).
+
+        Uses deepcopy so numpy arrays are not shared with the source,
+        preventing in-place mutation from corrupting cached data.
+        """
+        import copy
+        frame = copy.deepcopy(self._cosim_frame)
+        frame.timestamp = time.time()
+        return frame
+
+    def _get_raw_iq(self, index: int) -> RadarFrame:
+        """Raw IQ: quantize one frame and run through SoftwareFPGA."""
+        if self.software_fpga is None:
+            msg = "SoftwareFPGA is required for raw IQ replay"
+            raise RuntimeError(msg)
+
+        from .software_fpga import quantize_raw_iq
+
+        raw = self._raw_iq[index]  # (chirps, samples) complex
+        iq_i, iq_q = quantize_raw_iq(raw[np.newaxis, ...])
+        return self.software_fpga.process_chirps(
+            iq_i, iq_q, frame_number=index, timestamp=time.time()
+        )
+
+    def _get_hdf5(self, index: int) -> RadarFrame:
+        """HDF5: reconstruct RadarFrame from stored datasets."""
+        key = self._h5_keys[index]
+        grp = self._h5_file["frames"][key]
+
+        frame = RadarFrame()
+        frame.timestamp = float(grp.attrs.get("timestamp", time.time()))
+        frame.frame_number = int(grp.attrs.get("frame_number", index))
+        frame.detection_count = int(grp.attrs.get("detection_count", 0))
+
+        frame.range_doppler_i = np.array(grp["range_doppler_i"], dtype=np.int16)
+        frame.range_doppler_q = np.array(grp["range_doppler_q"], dtype=np.int16)
+        frame.magnitude = np.array(grp["magnitude"], dtype=np.float64)
+        frame.detections = np.array(grp["detections"], dtype=np.uint8)
+        frame.range_profile = np.array(grp["range_profile"], dtype=np.float64)
+
+        return frame

9_Firmware/9_3_GUI/v7/software_fpga.py

@@ -0,0 +1,287 @@
+"""
+v7.software_fpga — Bit-accurate software replica of the AERIS-10 FPGA signal chain.
+
+Imports processing functions directly from golden_reference.py (Option A)
+to avoid code duplication.  Every stage is toggleable via the same host
+register interface the real FPGA exposes, so the dashboard spinboxes can
+drive either backend transparently.
+
+Signal chain order (matching RTL):
+    quantize → range_fft → decimator → MTI → doppler_fft → dc_notch → CFAR → RadarFrame
+
+Usage:
+    fpga = SoftwareFPGA()
+    fpga.set_cfar_enable(True)
+    frame = fpga.process_chirps(iq_i, iq_q, frame_number=0)
+"""
+
+from __future__ import annotations
+
+import logging
+import os
+import sys
+from pathlib import Path
+
+import numpy as np
+
+# ---------------------------------------------------------------------------
+# Import golden_reference by adding the cosim path to sys.path
+# ---------------------------------------------------------------------------
+_GOLDEN_REF_DIR = str(
+    Path(__file__).resolve().parents[2]  # 9_Firmware/
+    / "9_2_FPGA" / "tb" / "cosim" / "real_data"
+)
+if _GOLDEN_REF_DIR not in sys.path:
+    sys.path.insert(0, _GOLDEN_REF_DIR)
+
+from golden_reference import (  # noqa: E402
+    run_range_fft,
+    run_range_bin_decimator,
+    run_mti_canceller,
+    run_doppler_fft,
+    run_dc_notch,
+    run_cfar_ca,
+    run_detection,
+    FFT_SIZE,
+    DOPPLER_CHIRPS,
+)
+
+# RadarFrame lives in radar_protocol (no circular dep — protocol has no GUI)
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+from radar_protocol import RadarFrame  # noqa: E402
+
+log = logging.getLogger(__name__)
+
+# ---------------------------------------------------------------------------
+# Twiddle factor file paths (relative to FPGA root)
+# ---------------------------------------------------------------------------
+_FPGA_DIR = Path(__file__).resolve().parents[2] / "9_2_FPGA"
+TWIDDLE_1024 = str(_FPGA_DIR / "fft_twiddle_1024.mem")
+TWIDDLE_16 = str(_FPGA_DIR / "fft_twiddle_16.mem")
+
+# CFAR mode int→string mapping (FPGA register 0x24: 0=CA, 1=GO, 2=SO)
+_CFAR_MODE_MAP = {0: "CA", 1: "GO", 2: "SO", 3: "CA"}
+
+
+class SoftwareFPGA:
+    """Bit-accurate replica of the AERIS-10 FPGA signal processing chain.
+
+    All registers mirror FPGA reset defaults from ``radar_system_top.v``.
+    Setters accept the same integer values as the FPGA host commands.
+    """
+
+    def __init__(self) -> None:
+        # --- FPGA register mirror (reset defaults) ---
+        # Detection
+        self.detect_threshold: int = 10_000   # 0x03
+        self.gain_shift: int = 0              # 0x16
+
+        # CFAR
+        self.cfar_enable: bool = False         # 0x25
+        self.cfar_guard: int = 2               # 0x21
+        self.cfar_train: int = 8               # 0x22
+        self.cfar_alpha: int = 0x30            # 0x23  Q4.4
+        self.cfar_mode: int = 0                # 0x24  0=CA,1=GO,2=SO
+
+        # MTI
+        self.mti_enable: bool = False          # 0x26
+
+        # DC notch
+        self.dc_notch_width: int = 0           # 0x27
+
+        # AGC (tracked but not applied in software chain — AGC operates
+        # on the analog front-end gain, which doesn't exist in replay)
+        self.agc_enable: bool = False          # 0x28
+        self.agc_target: int = 200             # 0x29
+        self.agc_attack: int = 1               # 0x2A
+        self.agc_decay: int = 1                # 0x2B
+        self.agc_holdoff: int = 4              # 0x2C
+
+    # ------------------------------------------------------------------
+    # Register setters (same interface as UART commands to real FPGA)
+    # ------------------------------------------------------------------
+    def set_detect_threshold(self, val: int) -> None:
+        self.detect_threshold = int(val) & 0xFFFF
+
+    def set_gain_shift(self, val: int) -> None:
+        self.gain_shift = int(val) & 0x0F
+
+    def set_cfar_enable(self, val: bool) -> None:
+        self.cfar_enable = bool(val)
+
+    def set_cfar_guard(self, val: int) -> None:
+        self.cfar_guard = int(val) & 0x0F
+
+    def set_cfar_train(self, val: int) -> None:
+        self.cfar_train = max(1, int(val) & 0x1F)
+
+    def set_cfar_alpha(self, val: int) -> None:
+        self.cfar_alpha = int(val) & 0xFF
+
+    def set_cfar_mode(self, val: int) -> None:
+        self.cfar_mode = int(val) & 0x03
+
+    def set_mti_enable(self, val: bool) -> None:
+        self.mti_enable = bool(val)
+
+    def set_dc_notch_width(self, val: int) -> None:
+        self.dc_notch_width = int(val) & 0x07
+
+    def set_agc_enable(self, val: bool) -> None:
+        self.agc_enable = bool(val)
+
+    def set_agc_params(
+        self,
+        target: int | None = None,
+        attack: int | None = None,
+        decay: int | None = None,
+        holdoff: int | None = None,
+    ) -> None:
+        if target is not None:
+            self.agc_target = int(target) & 0xFF
+        if attack is not None:
+            self.agc_attack = int(attack) & 0x0F
+        if decay is not None:
+            self.agc_decay = int(decay) & 0x0F
+        if holdoff is not None:
+            self.agc_holdoff = int(holdoff) & 0x0F
+
+    # ------------------------------------------------------------------
+    # Core processing: raw IQ chirps → RadarFrame
+    # ------------------------------------------------------------------
+    def process_chirps(
+        self,
+        iq_i: np.ndarray,
+        iq_q: np.ndarray,
+        frame_number: int = 0,
+        timestamp: float = 0.0,
+    ) -> RadarFrame:
+        """Run the full FPGA signal chain on pre-quantized 16-bit I/Q chirps.
+
+        Parameters
+        ----------
+        iq_i, iq_q : ndarray, shape (n_chirps, n_samples), int16/int64
+            Post-DDC I/Q samples.  For ADI phaser data, use
+            ``quantize_raw_iq()`` first.
+        frame_number : int
+            Frame counter for the output RadarFrame.
+        timestamp : float
+            Timestamp for the output RadarFrame.
+
+        Returns
+        -------
+        RadarFrame
+            Populated frame identical to what the real FPGA would produce.
+        """
+        n_chirps = iq_i.shape[0]
+        n_samples = iq_i.shape[1]
+
+        # --- Stage 1: Range FFT (per chirp) ---
+        range_i = np.zeros((n_chirps, n_samples), dtype=np.int64)
+        range_q = np.zeros((n_chirps, n_samples), dtype=np.int64)
+        twiddle_1024 = TWIDDLE_1024 if os.path.exists(TWIDDLE_1024) else None
+        for c in range(n_chirps):
+            range_i[c], range_q[c] = run_range_fft(
+                iq_i[c].astype(np.int64),
+                iq_q[c].astype(np.int64),
+                twiddle_file=twiddle_1024,
+            )
+
+        # --- Stage 2: Range bin decimation (1024 → 64) ---
+        decim_i, decim_q = run_range_bin_decimator(range_i, range_q)
+
+        # --- Stage 3: MTI canceller (pre-Doppler, per-chirp) ---
+        mti_i, mti_q = run_mti_canceller(decim_i, decim_q, enable=self.mti_enable)
+
+        # --- Stage 4: Doppler FFT (dual 16-pt Hamming) ---
+        twiddle_16 = TWIDDLE_16 if os.path.exists(TWIDDLE_16) else None
+        doppler_i, doppler_q = run_doppler_fft(mti_i, mti_q, twiddle_file_16=twiddle_16)
+
+        # --- Stage 5: DC notch (bin zeroing) ---
+        notch_i, notch_q = run_dc_notch(doppler_i, doppler_q, width=self.dc_notch_width)
+
+        # --- Stage 6: Detection ---
+        if self.cfar_enable:
+            mode_str = _CFAR_MODE_MAP.get(self.cfar_mode, "CA")
+            detect_flags, magnitudes, _thresholds = run_cfar_ca(
+                notch_i,
+                notch_q,
+                guard=self.cfar_guard,
+                train=self.cfar_train,
+                alpha_q44=self.cfar_alpha,
+                mode=mode_str,
+            )
+            det_mask = detect_flags.astype(np.uint8)
+            mag = magnitudes.astype(np.float64)
+        else:
+            mag_raw, det_indices = run_detection(
+                notch_i, notch_q, threshold=self.detect_threshold
+            )
+            mag = mag_raw.astype(np.float64)
+            det_mask = np.zeros_like(mag, dtype=np.uint8)
+            for idx in det_indices:
+                det_mask[idx[0], idx[1]] = 1
+
+        # --- Assemble RadarFrame ---
+        frame = RadarFrame()
+        frame.timestamp = timestamp
+        frame.frame_number = frame_number
+        frame.range_doppler_i = np.clip(notch_i, -32768, 32767).astype(np.int16)
+        frame.range_doppler_q = np.clip(notch_q, -32768, 32767).astype(np.int16)
+        frame.magnitude = mag
+        frame.detections = det_mask
+        frame.range_profile = np.sqrt(
+            notch_i[:, 0].astype(np.float64) ** 2
+            + notch_q[:, 0].astype(np.float64) ** 2
+        )
+        frame.detection_count = int(det_mask.sum())
+        return frame
+
+
+# ---------------------------------------------------------------------------
+# Utility: quantize arbitrary complex IQ to 16-bit post-DDC format
+# ---------------------------------------------------------------------------
+def quantize_raw_iq(
+    raw_complex: np.ndarray,
+    n_chirps: int = DOPPLER_CHIRPS,
+    n_samples: int = FFT_SIZE,
+    peak_target: int = 200,
+) -> tuple[np.ndarray, np.ndarray]:
+    """Quantize complex IQ data to 16-bit signed, matching DDC output level.
+
+    Parameters
+    ----------
+    raw_complex : ndarray, shape (chirps, samples) or (frames, chirps, samples)
+        Complex64/128 baseband IQ from SDR capture.  If 3-D, the first
+        axis is treated as frame index and only the first frame is used.
+    n_chirps : int
+        Number of chirps to keep (default 32, matching FPGA).
+    n_samples : int
+        Number of samples per chirp to keep (default 1024, matching FFT).
+    peak_target : int
+        Target peak magnitude after scaling (default 200, matching
+        golden_reference INPUT_PEAK_TARGET).
+
+    Returns
+    -------
+    iq_i, iq_q : ndarray, each (n_chirps, n_samples) int64
+    """
+    if raw_complex.ndim == 3:
+        # (frames, chirps, samples) — take first frame
+        raw_complex = raw_complex[0]
+
+    # Truncate to FPGA dimensions
+    block = raw_complex[:n_chirps, :n_samples]
+
+    max_abs = np.max(np.abs(block))
+    if max_abs == 0:
+        return (
+            np.zeros((n_chirps, n_samples), dtype=np.int64),
+            np.zeros((n_chirps, n_samples), dtype=np.int64),
+        )
+
+    scale = peak_target / max_abs
+    scaled = block * scale
+    iq_i = np.clip(np.round(np.real(scaled)).astype(np.int64), -32768, 32767)
+    iq_q = np.clip(np.round(np.imag(scaled)).astype(np.int64), -32768, 32767)
+    return iq_i, iq_q

9_Firmware/9_3_GUI/v7/workers.py

@@ -13,7 +13,6 @@ All packet parsing now uses the production radar_protocol.py which matches
 the actual FPGA packet format (0xAA data 11-byte, 0xBB status 26-byte).
 """
 
-import math
 import time
 import random
 import queue
@@ -36,58 +35,25 @@ from .processing import (
     RadarProcessor,
     USBPacketParser,
     apply_pitch_correction,
+    polar_to_geographic,
 )
 
 logger = logging.getLogger(__name__)
 
 
-# =============================================================================
-# Utility: polar → geographic
-# =============================================================================
-
-def polar_to_geographic(
-    radar_lat: float,
-    radar_lon: float,
-    range_m: float,
-    azimuth_deg: float,
-) -> tuple:
-    """
-    Convert polar coordinates (range, azimuth) relative to radar
-    to geographic (latitude, longitude).
-
-    azimuth_deg: 0 = North, clockwise.
-    Returns (lat, lon).
-    """
-    R = 6_371_000  # Earth radius in meters
-
-    lat1 = math.radians(radar_lat)
-    lon1 = math.radians(radar_lon)
-    bearing = math.radians(azimuth_deg)
-
-    lat2 = math.asin(
-        math.sin(lat1) * math.cos(range_m / R)
-        + math.cos(lat1) * math.sin(range_m / R) * math.cos(bearing)
-    )
-    lon2 = lon1 + math.atan2(
-        math.sin(bearing) * math.sin(range_m / R) * math.cos(lat1),
-        math.cos(range_m / R) - math.sin(lat1) * math.sin(lat2),
-    )
-    return (math.degrees(lat2), math.degrees(lon2))
-
-
 # =============================================================================
 # Radar Data Worker (QThread) — production protocol
 # =============================================================================
 
 class RadarDataWorker(QThread):
     """
-    Background worker that reads radar data from FT2232H (or ReplayConnection),
+    Background worker that reads radar data from FT2232H, parses 0xAA/0xBB
-    parses 0xAA/0xBB packets via production RadarAcquisition, runs optional
+    packets via production RadarAcquisition, runs optional host-side DSP,
-    host-side DSP, and emits PyQt signals with results.
+    and emits PyQt signals with results.
 
-    This replaces the old V7 worker which used an incompatible packet format.
+    Uses production radar_protocol.py for all packet parsing and frame
-    Now uses production radar_protocol.py for all packet parsing and frame
     assembly (11-byte 0xAA data packets → 64x32 RadarFrame).
+    For replay, use ReplayWorker instead.
 
     Signals:
         frameReady(RadarFrame)    — a complete 64x32 radar frame
@@ -105,7 +71,7 @@ class RadarDataWorker(QThread):
 
     def __init__(
         self,
-        connection,  # FT2232HConnection or ReplayConnection
+        connection,  # FT2232HConnection
         processor: RadarProcessor | None = None,
         recorder: DataRecorder | None = None,
         gps_data_ref: GPSData | None = None,
@@ -436,3 +402,172 @@ class TargetSimulator(QObject):
 
         self._targets = updated
         self.targetsUpdated.emit(updated)
+
+
+# =============================================================================
+# Replay Worker (QThread) — unified replay playback
+# =============================================================================
+
+class ReplayWorker(QThread):
+    """Background worker for replay data playback.
+
+    Emits the same signals as ``RadarDataWorker`` so the dashboard
+    treats live and replay identically.  Additionally emits playback
+    state and frame-index signals for the transport controls.
+
+    Signals
+    -------
+    frameReady(object)           RadarFrame
+    targetsUpdated(list)         list[RadarTarget]
+    statsUpdated(dict)           processing stats
+    errorOccurred(str)           error message
+    playbackStateChanged(str)    "playing" | "paused" | "stopped"
+    frameIndexChanged(int, int)  (current_index, total_frames)
+    """
+
+    frameReady = pyqtSignal(object)
+    targetsUpdated = pyqtSignal(list)
+    statsUpdated = pyqtSignal(dict)
+    errorOccurred = pyqtSignal(str)
+    playbackStateChanged = pyqtSignal(str)
+    frameIndexChanged = pyqtSignal(int, int)
+
+    def __init__(
+        self,
+        replay_engine,
+        settings: RadarSettings | None = None,
+        gps: GPSData | None = None,
+        frame_interval_ms: int = 100,
+        parent: QObject | None = None,
+    ) -> None:
+        super().__init__(parent)
+        import threading
+
+        from .processing import extract_targets_from_frame
+        from .models import WaveformConfig
+
+        self._engine = replay_engine
+        self._settings = settings or RadarSettings()
+        self._gps = gps
+        self._waveform = WaveformConfig()
+        self._frame_interval_ms = frame_interval_ms
+        self._extract_targets = extract_targets_from_frame
+
+        self._current_index = 0
+        self._last_emitted_index = 0
+        self._playing = False
+        self._stop_flag = False
+        self._loop = False
+        self._lock = threading.Lock()  # guards _current_index and _emit_frame
+
+    # -- Public control API --
+
+    @property
+    def current_index(self) -> int:
+        """Index of the last frame emitted (for re-seek on param change)."""
+        return self._last_emitted_index
+
+    @property
+    def total_frames(self) -> int:
+        return self._engine.total_frames
+
+    def set_gps(self, gps: GPSData | None) -> None:
+        self._gps = gps
+
+    def set_waveform(self, wf) -> None:
+        self._waveform = wf
+
+    def set_loop(self, loop: bool) -> None:
+        self._loop = loop
+
+    def set_frame_interval(self, ms: int) -> None:
+        self._frame_interval_ms = max(10, ms)
+
+    def play(self) -> None:
+        self._playing = True
+        # If at EOF, rewind so play actually does something
+        with self._lock:
+            if self._current_index >= self._engine.total_frames:
+                self._current_index = 0
+        self.playbackStateChanged.emit("playing")
+
+    def pause(self) -> None:
+        self._playing = False
+        self.playbackStateChanged.emit("paused")
+
+    def stop(self) -> None:
+        self._playing = False
+        self._stop_flag = True
+        self.playbackStateChanged.emit("stopped")
+
+    @property
+    def is_playing(self) -> bool:
+        """Thread-safe read of playback state (for GUI queries)."""
+        return self._playing
+
+    def seek(self, index: int) -> None:
+        """Jump to a specific frame and emit it (thread-safe)."""
+        with self._lock:
+            idx = max(0, min(index, self._engine.total_frames - 1))
+            self._current_index = idx
+            self._emit_frame(idx)
+            self._last_emitted_index = idx
+
+    # -- Thread entry --
+
+    def run(self) -> None:
+        self._stop_flag = False
+        self._playing = True
+        self.playbackStateChanged.emit("playing")
+
+        try:
+            while not self._stop_flag:
+                if self._playing:
+                    with self._lock:
+                        if self._current_index < self._engine.total_frames:
+                            self._emit_frame(self._current_index)
+                            self._last_emitted_index = self._current_index
+                            self._current_index += 1
+
+                            # Loop or pause at end
+                            if self._current_index >= self._engine.total_frames:
+                                if self._loop:
+                                    self._current_index = 0
+                                else:
+                                    # Pause — keep thread alive for restart
+                                    self._playing = False
+                                    self.playbackStateChanged.emit("stopped")
+
+                self.msleep(self._frame_interval_ms)
+        except (OSError, ValueError, RuntimeError, IndexError) as exc:
+            self.errorOccurred.emit(str(exc))
+
+        self.playbackStateChanged.emit("stopped")
+
+    # -- Internal --
+
+    def _emit_frame(self, index: int) -> None:
+        try:
+            frame = self._engine.get_frame(index)
+        except (OSError, ValueError, RuntimeError, IndexError) as exc:
+            self.errorOccurred.emit(f"Frame {index}: {exc}")
+            return
+
+        self.frameReady.emit(frame)
+        self.frameIndexChanged.emit(index, self._engine.total_frames)
+
+        # Target extraction
+        targets = self._extract_targets(
+            frame,
+            range_resolution=self._waveform.range_resolution_m,
+            velocity_resolution=self._waveform.velocity_resolution_mps,
+            gps=self._gps,
+        )
+        self.targetsUpdated.emit(targets)
+        self.statsUpdated.emit({
+            "frame_number": frame.frame_number,
+            "detection_count": frame.detection_count,
+            "target_count": len(targets),
+            "replay_index": index,
+            "replay_total": self._engine.total_frames,
+        })

CONTRIBUTING.md

@@ -78,9 +78,9 @@ Every test binary must exit 0.
 
 ```bash
 cd 9_Firmware/9_3_GUI
-python3 -m pytest test_radar_dashboard.py -v
+python3 -m pytest test_GUI_V65_Tk.py -v
 # or without pytest:
-python3 -m unittest test_radar_dashboard -v
+python3 -m unittest test_GUI_V65_Tk -v
 ```
 
 57+ protocol and rendering tests. The `test_record_and_stop` test
@@ -130,7 +130,7 @@ Before pushing, confirm:
 
 1. `bash run_regression.sh` — all phases pass
 2. `make all` (MCU tests) — 20/20 pass
-3. `python3 -m unittest test_radar_dashboard -v` — all pass
+3. `python3 -m unittest test_GUI_V65_Tk -v` — all pass
 4. `python3 validate_mem_files.py` — all checks pass
 5. `python3 compare.py dc && python3 compare_doppler.py stationary && python3 compare_mf.py all`
 6. `git diff --check` — no whitespace issues