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feat: unified replay with SoftwareFPGA bit-accurate signal chain

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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
2026-04-14 11:14:00 +05:45
parent 2387f7f29f
commit 24b8442e40
12 changed files with 1773 additions and 693 deletions
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9_Firmware/9_3_GUI/v7/workers.py
+176 -41
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@@ -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),
parses 0xAA/0xBB packets via production RadarAcquisition, runs optional
host-side DSP, and emits PyQt signals with results.
Background worker that reads radar data from FT2232H, parses 0xAA/0xBB
packets via production RadarAcquisition, runs optional host-side DSP,
and emits PyQt signals with results.
This replaces the old V7 worker which used an incompatible packet format.
Now uses production radar_protocol.py for all packet parsing and frame
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,
})