Jason
76cfc71b19
- Bandwidth 500 MHz -> 20 MHz, sample rate 4 MHz -> 100 MHz (DDC output) - Range formula: deramped FMCW -> matched-filter c/(2*Fs)*decimation - Velocity formula: use PRI (167 us) and chirps_per_subframe (16) - Carrier frequency: 10.525 GHz -> 10.5 GHz per radar_scene.py - Range per bin: 4.8 m -> 24 m, max range: 307 m -> 1536 m - Fix simulator target spawn range to match new coverage (50-1400 m) - Remove dead BANDWIDTH constant, add SAMPLE_RATE to V65 Tk - All 174 tests pass, ruff clean
984 lines
38 KiB
Python
984 lines
38 KiB
Python
"""
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V7-specific unit tests for the PLFM Radar GUI V7 modules.
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Tests cover:
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- v7.models: RadarTarget, RadarSettings, GPSData, ProcessingConfig
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- v7.processing: RadarProcessor, USBPacketParser, apply_pitch_correction
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- v7.workers: polar_to_geographic
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- v7.hardware: STM32USBInterface (basic), production protocol re-exports
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Does NOT require a running Qt event loop — only unit-testable components.
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Run with: python -m unittest test_v7 -v
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"""
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import os
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import struct
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import unittest
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from dataclasses import asdict
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import numpy as np
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# =============================================================================
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# Test: v7.models
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# =============================================================================
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class TestRadarTarget(unittest.TestCase):
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"""RadarTarget dataclass."""
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def test_defaults(self):
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t = _models().RadarTarget(id=1, range=1000.0, velocity=5.0,
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azimuth=45.0, elevation=2.0)
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self.assertEqual(t.id, 1)
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self.assertEqual(t.range, 1000.0)
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self.assertEqual(t.snr, 0.0)
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self.assertEqual(t.track_id, -1)
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self.assertEqual(t.classification, "unknown")
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def test_to_dict(self):
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t = _models().RadarTarget(id=1, range=500.0, velocity=-10.0,
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azimuth=0.0, elevation=0.0, snr=15.0)
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d = t.to_dict()
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self.assertIsInstance(d, dict)
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self.assertEqual(d["range"], 500.0)
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self.assertEqual(d["snr"], 15.0)
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class TestRadarSettings(unittest.TestCase):
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"""RadarSettings — verify stale STM32 fields are removed."""
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def test_no_stale_fields(self):
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"""chirp_duration, freq_min/max, prf1/2 must NOT exist."""
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s = _models().RadarSettings()
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d = asdict(s)
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for stale in ["chirp_duration_1", "chirp_duration_2",
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"freq_min", "freq_max", "prf1", "prf2",
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"chirps_per_position"]:
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self.assertNotIn(stale, d, f"Stale field '{stale}' still present")
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def test_has_physical_conversion_fields(self):
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s = _models().RadarSettings()
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self.assertIsInstance(s.range_resolution, float)
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self.assertIsInstance(s.velocity_resolution, float)
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self.assertGreater(s.range_resolution, 0)
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self.assertGreater(s.velocity_resolution, 0)
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def test_defaults(self):
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s = _models().RadarSettings()
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self.assertEqual(s.system_frequency, 10.5e9)
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self.assertEqual(s.coverage_radius, 1536)
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self.assertEqual(s.max_distance, 1536)
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class TestGPSData(unittest.TestCase):
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def test_to_dict(self):
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g = _models().GPSData(latitude=41.9, longitude=12.5,
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altitude=100.0, pitch=2.5)
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d = g.to_dict()
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self.assertAlmostEqual(d["latitude"], 41.9)
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self.assertAlmostEqual(d["pitch"], 2.5)
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class TestProcessingConfig(unittest.TestCase):
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def test_defaults(self):
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cfg = _models().ProcessingConfig()
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self.assertTrue(cfg.clustering_enabled)
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self.assertTrue(cfg.tracking_enabled)
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self.assertFalse(cfg.mti_enabled)
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self.assertFalse(cfg.cfar_enabled)
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class TestNoCrcmodDependency(unittest.TestCase):
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"""crcmod was removed — verify it's not exported."""
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def test_no_crcmod_available(self):
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models = _models()
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self.assertFalse(hasattr(models, "CRCMOD_AVAILABLE"),
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"CRCMOD_AVAILABLE should be removed from models")
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# =============================================================================
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# Test: v7.processing
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# =============================================================================
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class TestApplyPitchCorrection(unittest.TestCase):
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def test_positive_pitch(self):
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from v7.processing import apply_pitch_correction
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self.assertAlmostEqual(apply_pitch_correction(10.0, 3.0), 7.0)
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def test_zero_pitch(self):
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from v7.processing import apply_pitch_correction
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self.assertAlmostEqual(apply_pitch_correction(5.0, 0.0), 5.0)
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class TestRadarProcessorMTI(unittest.TestCase):
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def test_mti_order1(self):
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from v7.processing import RadarProcessor
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from v7.models import ProcessingConfig
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proc = RadarProcessor()
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proc.set_config(ProcessingConfig(mti_enabled=True, mti_order=1))
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frame1 = np.ones((64, 32))
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frame2 = np.ones((64, 32)) * 3
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result1 = proc.mti_filter(frame1)
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np.testing.assert_array_equal(result1, np.zeros((64, 32)),
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err_msg="First frame should be zeros (no history)")
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result2 = proc.mti_filter(frame2)
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expected = frame2 - frame1
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np.testing.assert_array_almost_equal(result2, expected)
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def test_mti_order2(self):
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from v7.processing import RadarProcessor
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from v7.models import ProcessingConfig
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proc = RadarProcessor()
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proc.set_config(ProcessingConfig(mti_enabled=True, mti_order=2))
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f1 = np.ones((4, 4))
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f2 = np.ones((4, 4)) * 2
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f3 = np.ones((4, 4)) * 5
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proc.mti_filter(f1) # zeros (need 3 frames)
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proc.mti_filter(f2) # zeros
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result = proc.mti_filter(f3)
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# Order 2: x[n] - 2*x[n-1] + x[n-2] = 5 - 4 + 1 = 2
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np.testing.assert_array_almost_equal(result, np.ones((4, 4)) * 2)
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class TestRadarProcessorCFAR(unittest.TestCase):
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def test_cfar_1d_detects_peak(self):
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from v7.processing import RadarProcessor
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signal = np.ones(64) * 10
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signal[32] = 500 # inject a strong target
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det = RadarProcessor.cfar_1d(signal, guard=2, train=4,
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threshold_factor=3.0, cfar_type="CA-CFAR")
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self.assertTrue(det[32], "Should detect strong peak at bin 32")
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def test_cfar_1d_no_false_alarm(self):
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from v7.processing import RadarProcessor
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signal = np.ones(64) * 10 # uniform — no target
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det = RadarProcessor.cfar_1d(signal, guard=2, train=4,
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threshold_factor=3.0)
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self.assertEqual(det.sum(), 0, "Should have no detections in flat noise")
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class TestRadarProcessorProcessFrame(unittest.TestCase):
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def test_process_frame_returns_shapes(self):
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from v7.processing import RadarProcessor
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proc = RadarProcessor()
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frame = np.random.randn(64, 32) * 10
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frame[20, 8] = 5000 # inject a target
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power, mask = proc.process_frame(frame)
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self.assertEqual(power.shape, (64, 32))
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self.assertEqual(mask.shape, (64, 32))
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self.assertEqual(mask.dtype, bool)
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class TestRadarProcessorWindowing(unittest.TestCase):
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def test_hann_window(self):
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from v7.processing import RadarProcessor
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data = np.ones((4, 32))
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windowed = RadarProcessor.apply_window(data, "Hann")
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# Hann window tapers to ~0 at edges
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self.assertLess(windowed[0, 0], 0.1)
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self.assertGreater(windowed[0, 16], 0.5)
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def test_none_window(self):
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from v7.processing import RadarProcessor
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data = np.ones((4, 32))
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result = RadarProcessor.apply_window(data, "None")
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np.testing.assert_array_equal(result, data)
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class TestRadarProcessorDCNotch(unittest.TestCase):
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def test_dc_removal(self):
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from v7.processing import RadarProcessor
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data = np.ones((4, 8)) * 100
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data[0, :] += 50 # DC offset in range bin 0
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result = RadarProcessor.dc_notch(data)
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# Mean along axis=1 should be ~0
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row_means = np.mean(result, axis=1)
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for m in row_means:
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self.assertAlmostEqual(m, 0, places=10)
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class TestRadarProcessorClustering(unittest.TestCase):
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def test_clustering_empty(self):
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from v7.processing import RadarProcessor
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result = RadarProcessor.clustering([], eps=100, min_samples=2)
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self.assertEqual(result, [])
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class TestUSBPacketParser(unittest.TestCase):
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def test_parse_gps_text(self):
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from v7.processing import USBPacketParser
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parser = USBPacketParser()
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data = b"GPS:41.9028,12.4964,100.0,2.5\r\n"
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gps = parser.parse_gps_data(data)
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self.assertIsNotNone(gps)
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self.assertAlmostEqual(gps.latitude, 41.9028, places=3)
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self.assertAlmostEqual(gps.longitude, 12.4964, places=3)
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self.assertAlmostEqual(gps.altitude, 100.0)
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self.assertAlmostEqual(gps.pitch, 2.5)
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def test_parse_gps_text_invalid(self):
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from v7.processing import USBPacketParser
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parser = USBPacketParser()
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self.assertIsNone(parser.parse_gps_data(b"NOT_GPS_DATA"))
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self.assertIsNone(parser.parse_gps_data(b""))
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self.assertIsNone(parser.parse_gps_data(None))
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def test_parse_binary_gps(self):
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from v7.processing import USBPacketParser
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parser = USBPacketParser()
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# Build a valid binary GPS packet
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pkt = bytearray(b"GPSB")
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pkt += struct.pack(">d", 41.9028) # lat
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pkt += struct.pack(">d", 12.4964) # lon
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pkt += struct.pack(">f", 100.0) # alt
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pkt += struct.pack(">f", 2.5) # pitch
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# Simple checksum
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cksum = sum(pkt) & 0xFFFF
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pkt += struct.pack(">H", cksum)
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self.assertEqual(len(pkt), 30)
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gps = parser.parse_gps_data(bytes(pkt))
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self.assertIsNotNone(gps)
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self.assertAlmostEqual(gps.latitude, 41.9028, places=3)
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def test_no_crc16_func_attribute(self):
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"""crcmod was removed — USBPacketParser should not have crc16_func."""
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from v7.processing import USBPacketParser
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parser = USBPacketParser()
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self.assertFalse(hasattr(parser, "crc16_func"),
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"crc16_func should be removed (crcmod dead code)")
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def test_no_multi_prf_unwrap(self):
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"""multi_prf_unwrap was removed (never called, prf fields removed)."""
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from v7.processing import RadarProcessor
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self.assertFalse(hasattr(RadarProcessor, "multi_prf_unwrap"),
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"multi_prf_unwrap should be removed")
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# =============================================================================
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# Test: v7.workers — polar_to_geographic
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# =============================================================================
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def _pyqt6_available():
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try:
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import PyQt6.QtCore # noqa: F401
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return True
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except ImportError:
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return False
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@unittest.skipUnless(_pyqt6_available(), "PyQt6 not installed")
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class TestPolarToGeographic(unittest.TestCase):
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def test_north_bearing(self):
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from v7.workers import polar_to_geographic
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lat, lon = polar_to_geographic(0.0, 0.0, 1000.0, 0.0)
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# Moving 1km north from equator
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self.assertGreater(lat, 0.0)
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self.assertAlmostEqual(lon, 0.0, places=4)
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def test_east_bearing(self):
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from v7.workers import polar_to_geographic
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lat, lon = polar_to_geographic(0.0, 0.0, 1000.0, 90.0)
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self.assertAlmostEqual(lat, 0.0, places=4)
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self.assertGreater(lon, 0.0)
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def test_zero_range(self):
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from v7.workers import polar_to_geographic
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lat, lon = polar_to_geographic(41.9, 12.5, 0.0, 0.0)
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self.assertAlmostEqual(lat, 41.9, places=6)
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self.assertAlmostEqual(lon, 12.5, places=6)
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# =============================================================================
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# Test: v7.hardware — production protocol re-exports
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# =============================================================================
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class TestHardwareReExports(unittest.TestCase):
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"""Verify hardware.py re-exports all production protocol classes."""
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def test_exports(self):
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from v7.hardware import (
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FT2232HConnection,
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RadarProtocol,
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STM32USBInterface,
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)
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# Verify these are actual classes/types, not None
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self.assertTrue(callable(FT2232HConnection))
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self.assertTrue(callable(RadarProtocol))
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self.assertTrue(callable(STM32USBInterface))
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def test_stm32_list_devices_no_crash(self):
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from v7.hardware import STM32USBInterface
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stm = STM32USBInterface()
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self.assertFalse(stm.is_open)
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# list_devices should return empty list (no USB in test env), not crash
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devs = stm.list_devices()
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self.assertIsInstance(devs, list)
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|
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# =============================================================================
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# Test: v7.__init__ — clean exports
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# =============================================================================
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class TestV7Init(unittest.TestCase):
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"""Verify top-level v7 package exports."""
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def test_no_crcmod_export(self):
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import v7
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self.assertFalse(hasattr(v7, "CRCMOD_AVAILABLE"),
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"CRCMOD_AVAILABLE should not be in v7.__all__")
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def test_key_exports(self):
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import v7
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# Core exports (no PyQt6 required)
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for name in ["RadarTarget", "RadarSettings", "GPSData",
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"ProcessingConfig", "FT2232HConnection",
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"RadarProtocol", "RadarProcessor"]:
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self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
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# PyQt6-dependent exports — only present when PyQt6 is installed
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if _pyqt6_available():
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for name in ["RadarDataWorker", "RadarMapWidget",
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"RadarDashboard"]:
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self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
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|
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|
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# =============================================================================
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# Test: AGC Visualization data model
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# =============================================================================
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class TestAGCVisualizationV7(unittest.TestCase):
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"""AGC visualization ring buffer and data model tests (no Qt required)."""
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def _make_deque(self, maxlen=256):
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from collections import deque
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return deque(maxlen=maxlen)
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|
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def test_ring_buffer_basics(self):
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d = self._make_deque(maxlen=4)
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for i in range(6):
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d.append(i)
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self.assertEqual(list(d), [2, 3, 4, 5])
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|
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def test_gain_range_4bit(self):
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"""AGC gain is 4-bit (0-15)."""
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from radar_protocol import StatusResponse
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for g in [0, 7, 15]:
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sr = StatusResponse(agc_current_gain=g)
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self.assertEqual(sr.agc_current_gain, g)
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|
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def test_peak_range_8bit(self):
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"""Peak magnitude is 8-bit (0-255)."""
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from radar_protocol import StatusResponse
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for p in [0, 128, 255]:
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sr = StatusResponse(agc_peak_magnitude=p)
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self.assertEqual(sr.agc_peak_magnitude, p)
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|
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def test_saturation_accumulation(self):
|
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"""Saturation ring buffer sum tracks total events."""
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sat = self._make_deque(maxlen=256)
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for s in [0, 5, 0, 10, 3]:
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sat.append(s)
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self.assertEqual(sum(sat), 18)
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|
|
|
def test_mode_label_logic(self):
|
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"""AGC mode string from enable field."""
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from radar_protocol import StatusResponse
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self.assertEqual(
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"AUTO" if StatusResponse(agc_enable=1).agc_enable else "MANUAL",
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"AUTO")
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self.assertEqual(
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"AUTO" if StatusResponse(agc_enable=0).agc_enable else "MANUAL",
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"MANUAL")
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|
|
|
def test_history_len_default(self):
|
|
"""Default history length should be 256."""
|
|
d = self._make_deque(maxlen=256)
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|
self.assertEqual(d.maxlen, 256)
|
|
|
|
def test_color_thresholds(self):
|
|
"""Saturation color: green=0, warning=1-10, error>10."""
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|
from v7.models import DARK_SUCCESS, DARK_WARNING, DARK_ERROR
|
|
def pick_color(total):
|
|
if total > 10:
|
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return DARK_ERROR
|
|
if total > 0:
|
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return DARK_WARNING
|
|
return DARK_SUCCESS
|
|
self.assertEqual(pick_color(0), DARK_SUCCESS)
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|
self.assertEqual(pick_color(5), DARK_WARNING)
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|
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, 100e6)
|
|
self.assertEqual(wc.bandwidth_hz, 20e6)
|
|
self.assertEqual(wc.chirp_duration_s, 30e-6)
|
|
self.assertEqual(wc.pri_s, 167e-6)
|
|
self.assertEqual(wc.center_freq_hz, 10.5e9)
|
|
self.assertEqual(wc.n_range_bins, 64)
|
|
self.assertEqual(wc.n_doppler_bins, 32)
|
|
self.assertEqual(wc.chirps_per_subframe, 16)
|
|
self.assertEqual(wc.fft_size, 1024)
|
|
self.assertEqual(wc.decimation_factor, 16)
|
|
|
|
def test_range_resolution(self):
|
|
"""range_resolution_m should be ~23.98 m/bin (matched filter, 100 MSPS)."""
|
|
from v7.models import WaveformConfig
|
|
wc = WaveformConfig()
|
|
self.assertAlmostEqual(wc.range_resolution_m, 23.983, places=1)
|
|
|
|
def test_velocity_resolution(self):
|
|
"""velocity_resolution_mps should be ~5.34 m/s/bin (PRI=167us, 16 chirps)."""
|
|
from v7.models import WaveformConfig
|
|
wc = WaveformConfig()
|
|
self.assertAlmostEqual(wc.velocity_resolution_mps, 5.343, places=1)
|
|
|
|
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)
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|
|
|
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(sample_rate_hz=200e6) # double Fs → halve range bin
|
|
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)
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self.assertEqual(frame.range_doppler_i.shape, (64, 32))
|
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engine.close()
|
|
finally:
|
|
os.unlink(tmp)
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|
|
|
|
|
# =============================================================================
|
|
# Test: v7.processing.extract_targets_from_frame
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|
# =============================================================================
|
|
|
|
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
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frame = RadarFrame()
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if det_cells:
|
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for rbin, dbin in det_cells:
|
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frame.detections[rbin, dbin] = 1
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frame.magnitude[rbin, dbin] = 1000.0
|
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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()
|
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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=23.983)
|
|
self.assertEqual(len(targets), 1)
|
|
self.assertAlmostEqual(targets[0].range, 10 * 23.983, places=1)
|
|
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
|
|
# =============================================================================
|
|
|
|
def _models():
|
|
import v7.models
|
|
return v7.models
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|