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Fix 5 GUI bugs: threaded connect, button toggle, live CFAR/MTI/DC replay, stable heatmap, physical axis labels

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- Bug 1: Move conn.open() to background thread to prevent GUI hang
- Bug 2: Save btn_connect as instance var, toggle Connect/Disconnect text
- Bug 3: Split opcodes into hardware-only (silent) and replay-adjustable
  (CFAR/MTI/DC-notch params trigger bit-accurate pipeline re-processing)
- Bug 4: EMA-smoothed vmax (alpha=0.15), fftshift on Doppler axis
- Bug 5: Physical axis labels (range in meters, velocity in m/s)
- Add _replay_mti(), _replay_dc_notch(), _replay_cfar() standalone functions
- Expand TestReplayConnection from 6 to 11 tests (42/42 pass)
This commit is contained in:
Jason
2026-03-20 19:36:21 +02:00
parent f8d80cc96e
commit eb907de3d1
3 changed files with 499 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_3_GUI/test_radar_dashboard.py
+98 -4
View File
@@ -20,6 +20,7 @@ from radar_protocol import (
RadarFrame, StatusResponse,
HEADER_BYTE, FOOTER_BYTE, STATUS_HEADER_BYTE,
NUM_RANGE_BINS, NUM_DOPPLER_BINS, NUM_CELLS,
_HARDWARE_ONLY_OPCODES, _REPLAY_ADJUSTABLE_OPCODES,
)
@@ -469,7 +470,7 @@ class TestReplayConnection(unittest.TestCase):
if result["detection"]:
det_count += 1
self.assertEqual(parsed_count, NUM_CELLS)
# Should have 4 CFAR detections from the golden reference
# Default: MTI=ON, DC_notch=2, CFAR CA g=2 t=8 a=0x30 → 4 detections
self.assertEqual(det_count, 4)
conn.close()
@@ -489,14 +490,14 @@ class TestReplayConnection(unittest.TestCase):
conn.close()
def test_replay_no_mti(self):
"""ReplayConnection works with use_mti=False."""
"""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 * 35)
# No detections in non-MTI mode (flags are all zero)
# 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
@@ -505,7 +506,7 @@ class TestReplayConnection(unittest.TestCase):
conn.close()
def test_replay_write_returns_true(self):
"""Write on replay connection returns True (no-op)."""
"""Write on replay connection returns True."""
if not self._npy_available():
self.skipTest("npy data files not found")
from radar_protocol import ReplayConnection
@@ -514,6 +515,99 @@ class TestReplayConnection(unittest.TestCase):
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_ENABLE (hardware-only)
cmd = RadarProtocol.build_command(0x05, 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()
if __name__ == "__main__":
unittest.main(verbosity=2)