feat: unified replay with SoftwareFPGA bit-accurate signal chain
Add SoftwareFPGA class that imports golden_reference functions to replicate the FPGA pipeline in software, enabling bit-accurate replay of raw IQ, FPGA co-sim, and HDF5 recordings through the same dashboard path as live data. New modules: software_fpga.py, replay.py (ReplayEngine + 3 loaders) Enhanced: WaveformConfig model, extract_targets_from_frame() in processing, ReplayWorker with thread-safe playback controls, dashboard replay UI with transport controls and dual-dispatch FPGA parameter routing. Removed: ReplayConnection (from radar_protocol, hardware, dashboard, tests) — replaced by the unified replay architecture. 150/150 tests pass, ruff clean.
This commit is contained in:
Jason
@@ -14,7 +14,7 @@ RadarDashboard is a QMainWindow with six tabs:
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Uses production radar_protocol.py for all FPGA communication:
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- FT2232HConnection for real hardware
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- ReplayConnection for offline .npy replay
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- Unified replay via SoftwareFPGA + ReplayEngine + ReplayWorker
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- Mock mode (FT2232HConnection(mock=True)) for development
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The old STM32 magic-packet start flow has been removed. FPGA registers
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@@ -22,9 +22,12 @@ are controlled directly via 4-byte {opcode, addr, value_hi, value_lo}
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commands sent over FT2232H.
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"""
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from __future__ import annotations
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import time
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import logging
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from collections import deque
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from typing import TYPE_CHECKING
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import numpy as np
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@@ -32,7 +35,7 @@ from PyQt6.QtWidgets import (
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QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout,
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QTabWidget, QSplitter, QGroupBox, QFrame, QScrollArea,
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QLabel, QPushButton, QComboBox, QCheckBox,
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QDoubleSpinBox, QSpinBox, QLineEdit,
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QDoubleSpinBox, QSpinBox, QLineEdit, QSlider, QFileDialog,
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QTableWidget, QTableWidgetItem, QHeaderView,
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QPlainTextEdit, QStatusBar, QMessageBox,
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)
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@@ -52,7 +55,6 @@ from .models import (
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)
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from .hardware import (
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FT2232HConnection,
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ReplayConnection,
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RadarProtocol,
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RadarFrame,
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StatusResponse,
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@@ -60,9 +62,13 @@ from .hardware import (
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STM32USBInterface,
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)
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from .processing import RadarProcessor, USBPacketParser
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from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator
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from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator, ReplayWorker
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from .map_widget import RadarMapWidget
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if TYPE_CHECKING:
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from .software_fpga import SoftwareFPGA
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from .replay import ReplayEngine
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logger = logging.getLogger(__name__)
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# Frame dimensions from FPGA
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@@ -153,6 +159,12 @@ class RadarDashboard(QMainWindow):
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self._gps_worker: GPSDataWorker | None = None
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self._simulator: TargetSimulator | None = None
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# Replay-specific objects (created when entering replay mode)
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self._replay_worker: ReplayWorker | None = None
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self._replay_engine: ReplayEngine | None = None
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self._software_fpga: SoftwareFPGA | None = None
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self._replay_mode = False
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# State
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self._running = False
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self._demo_mode = False
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@@ -352,7 +364,7 @@ class RadarDashboard(QMainWindow):
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# Row 0: connection mode + device combos + buttons
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ctrl_layout.addWidget(QLabel("Mode:"), 0, 0)
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self._mode_combo = QComboBox()
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self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay (.npy)"])
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self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay"])
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self._mode_combo.setCurrentIndex(0)
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ctrl_layout.addWidget(self._mode_combo, 0, 1)
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@@ -401,6 +413,55 @@ class RadarDashboard(QMainWindow):
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self._status_label_main.setAlignment(Qt.AlignmentFlag.AlignRight)
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ctrl_layout.addWidget(self._status_label_main, 1, 5, 1, 5)
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# Row 2: replay transport controls (hidden until replay mode)
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self._replay_file_label = QLabel("No file loaded")
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self._replay_file_label.setMinimumWidth(200)
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ctrl_layout.addWidget(self._replay_file_label, 2, 0, 1, 2)
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self._replay_browse_btn = QPushButton("Browse...")
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self._replay_browse_btn.clicked.connect(self._browse_replay_file)
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ctrl_layout.addWidget(self._replay_browse_btn, 2, 2)
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self._replay_play_btn = QPushButton("Play")
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self._replay_play_btn.clicked.connect(self._replay_play_pause)
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ctrl_layout.addWidget(self._replay_play_btn, 2, 3)
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self._replay_stop_btn = QPushButton("Stop")
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self._replay_stop_btn.clicked.connect(self._replay_stop)
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ctrl_layout.addWidget(self._replay_stop_btn, 2, 4)
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self._replay_slider = QSlider(Qt.Orientation.Horizontal)
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self._replay_slider.setMinimum(0)
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self._replay_slider.setMaximum(0)
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self._replay_slider.valueChanged.connect(self._replay_seek)
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ctrl_layout.addWidget(self._replay_slider, 2, 5, 1, 2)
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self._replay_frame_label = QLabel("0 / 0")
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ctrl_layout.addWidget(self._replay_frame_label, 2, 7)
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self._replay_speed_combo = QComboBox()
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self._replay_speed_combo.addItems(["50 ms", "100 ms", "200 ms", "500 ms"])
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self._replay_speed_combo.setCurrentIndex(1)
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self._replay_speed_combo.currentIndexChanged.connect(self._replay_speed_changed)
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ctrl_layout.addWidget(self._replay_speed_combo, 2, 8)
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self._replay_loop_cb = QCheckBox("Loop")
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self._replay_loop_cb.stateChanged.connect(self._replay_loop_changed)
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ctrl_layout.addWidget(self._replay_loop_cb, 2, 9)
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# Collect replay widgets to toggle visibility
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self._replay_controls = [
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self._replay_file_label, self._replay_browse_btn,
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self._replay_play_btn, self._replay_stop_btn,
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self._replay_slider, self._replay_frame_label,
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self._replay_speed_combo, self._replay_loop_cb,
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]
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for w in self._replay_controls:
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w.setVisible(False)
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# Show/hide replay row when mode changes
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self._mode_combo.currentTextChanged.connect(self._on_mode_changed)
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layout.addWidget(ctrl)
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# ---- Display area (range-doppler + targets table) ------------------
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@@ -1175,7 +1236,11 @@ class RadarDashboard(QMainWindow):
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logger.error(f"Failed to send FPGA cmd: 0x{opcode:02X}")
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def _send_fpga_validated(self, opcode: int, value: int, bits: int):
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"""Clamp value to bit-width and send."""
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"""Clamp value to bit-width and send.
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In replay mode, also dispatch to the SoftwareFPGA setter and
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re-process the current frame so the user sees immediate effect.
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"""
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max_val = (1 << bits) - 1
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clamped = max(0, min(value, max_val))
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if clamped != value:
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@@ -1185,7 +1250,18 @@ class RadarDashboard(QMainWindow):
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key = f"0x{opcode:02X}"
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if key in self._param_spins:
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self._param_spins[key].setValue(clamped)
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self._send_fpga_cmd(opcode, clamped)
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# Dispatch to real FPGA (live/mock mode)
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if not self._replay_mode:
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self._send_fpga_cmd(opcode, clamped)
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return
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# Dispatch to SoftwareFPGA (replay mode)
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if self._software_fpga is not None:
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self._dispatch_to_software_fpga(opcode, clamped)
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# Re-process current frame so the effect is visible immediately
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if self._replay_worker is not None:
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self._replay_worker.seek(self._replay_worker.current_index)
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def _send_custom_command(self):
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"""Send custom opcode + value from the FPGA Control tab."""
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@@ -1210,32 +1286,104 @@ class RadarDashboard(QMainWindow):
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mode = self._mode_combo.currentText()
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if "Mock" in mode:
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self._replay_mode = False
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self._connection = FT2232HConnection(mock=True)
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if not self._connection.open():
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QMessageBox.critical(self, "Error", "Failed to open mock connection.")
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return
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elif "Live" in mode:
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self._replay_mode = False
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self._connection = FT2232HConnection(mock=False)
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if not self._connection.open():
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QMessageBox.critical(self, "Error",
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"Failed to open FT2232H. Check USB connection.")
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return
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elif "Replay" in mode:
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from PyQt6.QtWidgets import QFileDialog
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npy_dir = QFileDialog.getExistingDirectory(
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self, "Select .npy replay directory")
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if not npy_dir:
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self._replay_mode = True
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replay_path = self._replay_file_label.text()
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if replay_path == "No file loaded" or not replay_path:
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QMessageBox.warning(
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self, "Replay",
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"Use 'Browse...' to select a replay"
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" file or directory first.")
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return
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self._connection = ReplayConnection(npy_dir)
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if not self._connection.open():
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QMessageBox.critical(self, "Error",
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"Failed to open replay connection.")
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from .software_fpga import SoftwareFPGA
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from .replay import ReplayEngine
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self._software_fpga = SoftwareFPGA()
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# Enable CFAR by default for raw IQ replay (avoids 2000+ detections)
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self._software_fpga.set_cfar_enable(True)
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try:
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self._replay_engine = ReplayEngine(
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replay_path, self._software_fpga)
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except (OSError, ValueError, RuntimeError) as exc:
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QMessageBox.critical(self, "Replay Error",
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f"Failed to open replay data:\n{exc}")
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self._software_fpga = None
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return
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if self._replay_engine.total_frames == 0:
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QMessageBox.warning(self, "Replay", "No frames found in the selected source.")
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self._replay_engine.close()
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self._replay_engine = None
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self._software_fpga = None
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return
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speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
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interval = speed_map.get(self._replay_speed_combo.currentIndex(), 100)
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self._replay_worker = ReplayWorker(
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replay_engine=self._replay_engine,
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settings=self._settings,
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gps=self._radar_position,
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frame_interval_ms=interval,
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)
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self._replay_worker.frameReady.connect(self._on_frame_ready)
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self._replay_worker.targetsUpdated.connect(self._on_radar_targets)
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self._replay_worker.statsUpdated.connect(self._on_radar_stats)
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self._replay_worker.errorOccurred.connect(self._on_worker_error)
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self._replay_worker.playbackStateChanged.connect(
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self._on_playback_state_changed)
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self._replay_worker.frameIndexChanged.connect(
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self._on_frame_index_changed)
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self._replay_worker.set_loop(self._replay_loop_cb.isChecked())
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self._replay_slider.setMaximum(
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self._replay_engine.total_frames - 1)
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self._replay_slider.setValue(0)
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self._replay_frame_label.setText(
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f"0 / {self._replay_engine.total_frames}")
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self._replay_worker.start()
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# Update CFAR enable spinbox to reflect default-on for replay
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if "0x25" in self._param_spins:
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self._param_spins["0x25"].setValue(1)
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# UI state
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self._running = True
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self._start_time = time.time()
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self._frame_count = 0
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self._start_btn.setEnabled(False)
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self._stop_btn.setEnabled(True)
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self._mode_combo.setEnabled(False)
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self._demo_btn_main.setEnabled(False)
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self._demo_btn_map.setEnabled(False)
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n_frames = self._replay_engine.total_frames
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self._status_label_main.setText(
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f"Status: Replay ({n_frames} frames)")
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self._sb_status.setText(f"Replay ({n_frames} frames)")
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self._sb_mode.setText("Replay")
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logger.info(
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"Replay started: %s (%d frames)",
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replay_path, n_frames)
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return
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else:
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QMessageBox.warning(self, "Warning", "Unknown connection mode.")
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return
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# Start radar worker
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# Start radar worker (mock / live — NOT replay)
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self._radar_worker = RadarDataWorker(
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connection=self._connection,
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processor=self._processor,
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@@ -1288,6 +1436,18 @@ class RadarDashboard(QMainWindow):
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self._radar_worker.wait(2000)
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self._radar_worker = None
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if self._replay_worker:
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self._replay_worker.stop()
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self._replay_worker.wait(2000)
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self._replay_worker = None
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if self._replay_engine:
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self._replay_engine.close()
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self._replay_engine = None
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self._software_fpga = None
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self._replay_mode = False
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if self._gps_worker:
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self._gps_worker.stop()
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self._gps_worker.wait(2000)
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@@ -1309,6 +1469,113 @@ class RadarDashboard(QMainWindow):
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self._sb_mode.setText("Idle")
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logger.info("Radar system stopped")
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# =====================================================================
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# Replay helpers
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# =====================================================================
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def _on_mode_changed(self, text: str):
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"""Show/hide replay transport controls based on mode selection."""
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is_replay = "Replay" in text
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for w in self._replay_controls:
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w.setVisible(is_replay)
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def _browse_replay_file(self):
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"""Open file/directory picker for replay source."""
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path, _ = QFileDialog.getOpenFileName(
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self, "Select replay file",
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"",
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"All supported (*.npy *.h5);;NumPy files (*.npy);;HDF5 files (*.h5);;All files (*)",
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)
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if path:
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self._replay_file_label.setText(path)
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return
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# If no file selected, try directory (for co-sim)
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dir_path = QFileDialog.getExistingDirectory(
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self, "Select co-sim replay directory")
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if dir_path:
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self._replay_file_label.setText(dir_path)
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def _replay_play_pause(self):
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"""Toggle play/pause on the replay worker."""
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if self._replay_worker is None:
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return
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if self._replay_worker.is_playing:
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self._replay_worker.pause()
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self._replay_play_btn.setText("Play")
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else:
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self._replay_worker.play()
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self._replay_play_btn.setText("Pause")
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def _replay_stop(self):
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"""Stop replay playback (keeps data loaded)."""
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if self._replay_worker is not None:
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self._replay_worker.pause()
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self._replay_worker.seek(0)
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self._replay_play_btn.setText("Play")
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def _replay_seek(self, value: int):
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"""Seek to a specific frame from the slider."""
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if self._replay_worker is not None and not self._replay_worker.is_playing:
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self._replay_worker.seek(value)
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def _replay_speed_changed(self, index: int):
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"""Update replay frame interval from speed combo."""
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speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
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ms = speed_map.get(index, 100)
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if self._replay_worker is not None:
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self._replay_worker.set_frame_interval(ms)
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def _replay_loop_changed(self, state: int):
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"""Update replay loop setting."""
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if self._replay_worker is not None:
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self._replay_worker.set_loop(state == Qt.CheckState.Checked.value)
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@pyqtSlot(str)
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def _on_playback_state_changed(self, state: str):
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"""Update UI when replay playback state changes."""
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if state == "playing":
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self._replay_play_btn.setText("Pause")
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elif state in ("paused", "stopped"):
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self._replay_play_btn.setText("Play")
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if state == "stopped" and self._replay_worker is not None:
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self._status_label_main.setText("Status: Replay finished")
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@pyqtSlot(int, int)
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def _on_frame_index_changed(self, current: int, total: int):
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"""Update slider and frame label from replay worker."""
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self._replay_slider.blockSignals(True)
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self._replay_slider.setValue(current)
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self._replay_slider.blockSignals(False)
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self._replay_frame_label.setText(f"{current} / {total}")
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def _dispatch_to_software_fpga(self, opcode: int, value: int):
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"""Route an FPGA opcode+value to the SoftwareFPGA setter."""
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fpga = self._software_fpga
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if fpga is None:
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return
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_opcode_dispatch = {
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0x03: lambda v: fpga.set_detect_threshold(v),
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0x16: lambda v: fpga.set_gain_shift(v),
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0x21: lambda v: fpga.set_cfar_guard(v),
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0x22: lambda v: fpga.set_cfar_train(v),
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0x23: lambda v: fpga.set_cfar_alpha(v),
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0x24: lambda v: fpga.set_cfar_mode(v),
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0x25: lambda v: fpga.set_cfar_enable(bool(v)),
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0x26: lambda v: fpga.set_mti_enable(bool(v)),
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0x27: lambda v: fpga.set_dc_notch_width(v),
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0x28: lambda v: fpga.set_agc_enable(bool(v)),
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0x29: lambda v: fpga.set_agc_params(target=v),
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0x2A: lambda v: fpga.set_agc_params(attack=v),
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0x2B: lambda v: fpga.set_agc_params(decay=v),
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0x2C: lambda v: fpga.set_agc_params(holdoff=v),
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}
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handler = _opcode_dispatch.get(opcode)
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if handler is not None:
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handler(value)
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logger.info(f"SoftwareFPGA: 0x{opcode:02X} = {value}")
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else:
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logger.debug(f"SoftwareFPGA: opcode 0x{opcode:02X} not handled (no-op)")
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# =====================================================================
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# Demo mode
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# =====================================================================
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@@ -1338,7 +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"
|
||||
|
||||
Reference in New Issue
Block a user