fix: range calibration, demo/radar mutual exclusion, AGC analysis refactor
Bug #1 — Range calibration for Raw IQ Replay: - Add WaveformConfig dataclass (models.py) with FMCW waveform params (fs, BW, T_chirp, fc) and methods to compute range/velocity resolution - Add waveform parameter spinboxes to playback controls (dashboard.py) - Auto-parse waveform params from ADI phaser filename convention - Create replay-specific RadarSettings with correct calibration instead of using FPGA defaults (781.25 m/bin → 0.334 m/bin for ADI phaser) - Add 4 unit tests validating WaveformConfig math Bug #2 — Demo + radar mutual exclusion: - _start_demo() now refuses if radar is running (_running=True) - _start_radar() stops demo first if _demo_mode is active - Demo buttons disabled while radar/replay is running, re-enabled on stop Bug #3 — Refactor adi_agc_analysis.py: - Remove 60+ lines of duplicated AGC functions (signed_to_encoding, encoding_to_signed, clamp_gain, apply_gain_shift) - Import from v7.agc_sim canonical implementation - Rewrite simulate_agc() to use process_agc_frame() in a loop - Rewrite process_frame_rd() to use quantize_iq() from agc_sim
This commit is contained in:
Jason
@@ -11,6 +11,7 @@ top-level imports:
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from .models import (
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RadarTarget,
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RadarSettings,
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WaveformConfig,
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GPSData,
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ProcessingConfig,
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TileServer,
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@@ -66,7 +67,7 @@ except ImportError: # PyQt6 not installed (e.g. CI headless runner)
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__all__ = [ # noqa: RUF022
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# models
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"RadarTarget", "RadarSettings", "GPSData", "ProcessingConfig", "TileServer",
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"RadarTarget", "RadarSettings", "WaveformConfig", "GPSData", "ProcessingConfig", "TileServer",
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"DARK_BG", "DARK_FG", "DARK_ACCENT", "DARK_HIGHLIGHT", "DARK_BORDER",
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"DARK_TEXT", "DARK_BUTTON", "DARK_BUTTON_HOVER",
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"DARK_TREEVIEW", "DARK_TREEVIEW_ALT",
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@@ -23,6 +23,7 @@ commands sent over FT2232H.
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"""
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import time
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import re
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import logging
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from collections import deque
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from pathlib import Path
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@@ -43,7 +44,7 @@ from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg
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from matplotlib.figure import Figure
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from .models import (
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RadarTarget, RadarSettings, GPSData, ProcessingConfig,
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RadarTarget, RadarSettings, WaveformConfig, GPSData, ProcessingConfig,
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DARK_BG, DARK_FG, DARK_ACCENT, DARK_HIGHLIGHT, DARK_BORDER,
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DARK_TEXT, DARK_BUTTON, DARK_BUTTON_HOVER,
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DARK_TREEVIEW, DARK_TREEVIEW_ALT,
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@@ -84,6 +85,41 @@ def _make_dspin() -> QDoubleSpinBox:
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return sb
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def _parse_waveform_from_filename(name: str) -> WaveformConfig | None:
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"""Try to extract waveform params from ADI phaser filename convention.
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Expected pattern fragments (order-independent):
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``<N>MSPS`` or ``<N>MSps`` → sample rate in MHz
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``<N>M`` (followed by _ or end) → bandwidth in MHz
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``<N>u`` (followed by _ or end) → chirp duration in µs
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Returns a WaveformConfig with parsed values (defaults for un-parsed),
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or None if nothing recognisable was found.
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"""
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cfg = WaveformConfig() # ADI phaser defaults
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found = False
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# Sample rate: "4MSPS" or "4MSps"
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m = re.search(r"(\d+)M[Ss][Pp][Ss]", name)
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if m:
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cfg.sample_rate_hz = float(m.group(1)) * 1e6
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found = True
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# Bandwidth: "500M" (must NOT be followed by S for MSPS)
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m = re.search(r"(\d+)M(?![Ss])", name)
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if m:
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cfg.bandwidth_hz = float(m.group(1)) * 1e6
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found = True
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# Chirp duration: "300u"
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m = re.search(r"(\d+)u", name)
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if m:
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cfg.chirp_duration_s = float(m.group(1)) * 1e-6
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found = True
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return cfg if found else None
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# =============================================================================
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# Range-Doppler Canvas (matplotlib)
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# =============================================================================
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@@ -483,6 +519,55 @@ class RadarDashboard(QMainWindow):
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self._playback_frame.setVisible(False)
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ctrl_layout.addWidget(self._playback_frame, 2, 0, 1, 10)
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# -- Waveform config row (Raw IQ replay only) -----------------------
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self._waveform_frame = QFrame()
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self._waveform_frame.setStyleSheet(
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f"background-color: {DARK_ACCENT}; border-radius: 4px;")
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wf_layout = QHBoxLayout(self._waveform_frame)
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wf_layout.setContentsMargins(8, 4, 8, 4)
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wf_layout.addWidget(QLabel("Waveform:"))
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wf_layout.addWidget(QLabel("fs (MHz):"))
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self._wf_fs_spin = _make_dspin()
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self._wf_fs_spin.setRange(0.1, 100.0)
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self._wf_fs_spin.setValue(4.0)
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self._wf_fs_spin.setDecimals(2)
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self._wf_fs_spin.setToolTip("ADC sample rate in MHz")
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wf_layout.addWidget(self._wf_fs_spin)
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wf_layout.addWidget(QLabel("BW (MHz):"))
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self._wf_bw_spin = _make_dspin()
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self._wf_bw_spin.setRange(1.0, 5000.0)
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self._wf_bw_spin.setValue(500.0)
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self._wf_bw_spin.setDecimals(1)
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self._wf_bw_spin.setToolTip("Chirp bandwidth in MHz")
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wf_layout.addWidget(self._wf_bw_spin)
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wf_layout.addWidget(QLabel("T (us):"))
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self._wf_chirp_spin = _make_dspin()
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self._wf_chirp_spin.setRange(1.0, 10000.0)
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self._wf_chirp_spin.setValue(300.0)
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self._wf_chirp_spin.setDecimals(1)
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self._wf_chirp_spin.setToolTip("Chirp duration in microseconds")
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wf_layout.addWidget(self._wf_chirp_spin)
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wf_layout.addWidget(QLabel("fc (GHz):"))
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self._wf_fc_spin = _make_dspin()
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self._wf_fc_spin.setRange(0.1, 100.0)
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self._wf_fc_spin.setValue(10.0)
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self._wf_fc_spin.setDecimals(2)
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self._wf_fc_spin.setToolTip("Carrier frequency in GHz")
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wf_layout.addWidget(self._wf_fc_spin)
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self._wf_res_label = QLabel("")
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self._wf_res_label.setStyleSheet(f"color: {DARK_INFO}; font-size: 10px;")
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wf_layout.addWidget(self._wf_res_label)
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wf_layout.addStretch()
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self._waveform_frame.setVisible(False)
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ctrl_layout.addWidget(self._waveform_frame, 3, 0, 1, 10)
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layout.addWidget(ctrl)
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# ---- Display area (range-doppler + targets table) ------------------
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@@ -1294,6 +1379,10 @@ class RadarDashboard(QMainWindow):
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def _start_radar(self):
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"""Start radar data acquisition using production protocol."""
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# Mutual exclusion: stop demo if running
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if self._demo_mode:
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self._stop_demo()
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try:
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mode = self._mode_combo.currentText()
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@@ -1362,6 +1451,8 @@ class RadarDashboard(QMainWindow):
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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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self._status_label_main.setText(f"Status: Running ({mode})")
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self._sb_status.setText(f"Running ({mode})")
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self._sb_mode.setText(mode)
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@@ -1413,7 +1504,10 @@ class RadarDashboard(QMainWindow):
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self._start_btn.setEnabled(True)
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self._stop_btn.setEnabled(False)
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self._mode_combo.setEnabled(True)
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self._demo_btn_main.setEnabled(True)
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self._demo_btn_map.setEnabled(True)
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self._playback_frame.setVisible(False)
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self._waveform_frame.setVisible(False)
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self._pb_play_btn.setText("Play")
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self._pb_frame_label.setText("Frame: 0 / 0")
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self._pb_file_label.setText("")
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@@ -1441,9 +1535,44 @@ class RadarDashboard(QMainWindow):
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self._replay_controller = RawIQReplayController()
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info = self._replay_controller.load_file(npy_path)
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# -- Waveform calibration: try to parse from filename -----------
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parsed_wf = _parse_waveform_from_filename(Path(npy_path).name)
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if parsed_wf is not None:
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self._wf_fs_spin.setValue(parsed_wf.sample_rate_hz / 1e6)
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self._wf_bw_spin.setValue(parsed_wf.bandwidth_hz / 1e6)
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self._wf_chirp_spin.setValue(parsed_wf.chirp_duration_s / 1e-6)
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self._wf_fc_spin.setValue(parsed_wf.center_freq_hz / 1e9)
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logger.info("Waveform params parsed from filename: %s", parsed_wf)
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# Build waveform config from (possibly updated) spinboxes
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wfc = self._waveform_config_from_ui()
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range_res = wfc.range_resolution(info.n_samples)
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vel_res = wfc.velocity_resolution(info.n_samples, info.n_chirps)
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n_range_out = min(64, info.n_samples)
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max_range = range_res * n_range_out
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# Create replay-specific RadarSettings with correct calibration
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replay_settings = RadarSettings(
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system_frequency=wfc.center_freq_hz,
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range_resolution=range_res,
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velocity_resolution=vel_res,
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max_distance=max_range,
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map_size=max_range * 1.2,
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coverage_radius=max_range * 1.2,
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)
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logger.info(
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"Replay calibration: range_res=%.4f m/bin, vel_res=%.4f m/s/bin, "
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"max_range=%.1f m",
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range_res, vel_res, max_range,
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)
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# Update coverage/map spinboxes to match replay scale
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self._coverage_spin.setValue(replay_settings.coverage_radius / 1000)
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self._update_waveform_res_label(info.n_samples, info.n_chirps)
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# Create frame processor
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self._iq_processor = RawIQFrameProcessor(
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n_range_out=min(64, info.n_samples),
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n_range_out=n_range_out,
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n_doppler_out=min(32, info.n_chirps),
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)
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@@ -1493,7 +1622,7 @@ class RadarDashboard(QMainWindow):
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controller=self._replay_controller,
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processor=self._iq_processor,
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host_processor=self._processor,
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settings=self._settings,
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settings=replay_settings,
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gps_data_ref=self._radar_position,
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)
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self._replay_worker.frameReady.connect(self._on_frame_ready)
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@@ -1518,7 +1647,10 @@ class RadarDashboard(QMainWindow):
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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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self._playback_frame.setVisible(True)
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self._waveform_frame.setVisible(True)
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self._pb_frame_label.setText(f"Frame: 0 / {info.n_frames}")
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self._pb_file_label.setText(
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f"{Path(npy_path).name} "
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@@ -1568,6 +1700,27 @@ class RadarDashboard(QMainWindow):
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if self._replay_controller is not None:
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self._replay_controller.set_loop(checked)
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def _waveform_config_from_ui(self) -> WaveformConfig:
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"""Build a WaveformConfig from the waveform spinboxes."""
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return WaveformConfig(
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sample_rate_hz=self._wf_fs_spin.value() * 1e6,
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bandwidth_hz=self._wf_bw_spin.value() * 1e6,
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chirp_duration_s=self._wf_chirp_spin.value() * 1e-6,
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center_freq_hz=self._wf_fc_spin.value() * 1e9,
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)
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def _update_waveform_res_label(self, n_samples: int, n_chirps: int) -> None:
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"""Update the waveform resolution info label."""
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wfc = self._waveform_config_from_ui()
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r_res = wfc.range_resolution(n_samples)
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v_res = wfc.velocity_resolution(n_samples, n_chirps)
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n_r = min(64, n_samples)
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max_r = r_res * n_r
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self._wf_res_label.setText(
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f"Range: {r_res:.3f} m/bin | Vel: {v_res:.3f} m/s/bin | "
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f"Max range: {max_r:.1f} m ({n_r} bins)"
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)
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@pyqtSlot(str)
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def _on_playback_state_changed(self, state_str: str):
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if state_str == "playing":
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@@ -1591,6 +1744,10 @@ class RadarDashboard(QMainWindow):
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def _start_demo(self):
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if self._simulator:
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return
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# Mutual exclusion: do not start demo while radar/replay is running
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if self._running:
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logger.warning("Cannot start demo while radar is running")
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return
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self._simulator = TargetSimulator(self._radar_position, self)
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self._simulator.targetsUpdated.connect(self._on_demo_targets)
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self._simulator.start(500)
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@@ -96,6 +96,47 @@ class RadarTarget:
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return asdict(self)
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@dataclass
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class WaveformConfig:
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"""FMCW waveform parameters for bin-to-physical-unit conversion.
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Defaults are for the ADI CN0566 phaser (10 GHz, 500 MHz BW, 300 µs chirp,
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4 MSPS ADC). For the PLFM FPGA waveform the values differ — but the FPGA
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pipeline hardcodes its own bin widths, so this config is only used for
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Raw IQ Replay (host-side FFT processing).
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"""
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sample_rate_hz: float = 4e6 # ADC sample rate (Hz)
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bandwidth_hz: float = 500e6 # Chirp bandwidth (Hz)
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chirp_duration_s: float = 300e-6 # Chirp sweep time (s)
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center_freq_hz: float = 10e9 # Carrier frequency (Hz)
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# --- derived quantities (need n_samples, n_chirps from file) ---
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def range_resolution(self, n_samples: int) -> float:
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"""Metres per range bin for an N-point range FFT.
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range_per_bin = c · fs / (2 · N · slope)
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where slope = BW / T_chirp.
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"""
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c = 299_792_458.0
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slope = self.bandwidth_hz / self.chirp_duration_s
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return c * self.sample_rate_hz / (2.0 * n_samples * slope)
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def velocity_resolution(self, n_samples: int, n_chirps: int) -> float:
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"""m/s per Doppler bin for an M-chirp Doppler FFT.
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vel_per_bin = λ · fs / (2 · N · M)
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where λ = c / fc, N = n_samples (PRI = N/fs), M = n_chirps.
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"""
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c = 299_792_458.0
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wavelength = c / self.center_freq_hz
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return wavelength * self.sample_rate_hz / (2.0 * n_samples * n_chirps)
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def max_range(self, n_range_bins: int, n_samples: int) -> float:
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"""Maximum unambiguous range for the given bin count."""
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return self.range_resolution(n_samples) * n_range_bins
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@dataclass
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class RadarSettings:
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"""Radar system display/map configuration.
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