Jason
d259e5c106
- Correct carrier from 10.525/10 GHz to 10.5 GHz (verified ADF4382 config) - Correct range-per-bin from 4.8/5.6/781.25 m to 24.0 m (matched-filter) - Correct velocity resolution from 1.484 to 2.67 m/s/bin (PRI-based) - Correct processing rate from 4 MSPS to 100 MSPS (post-DDC) - Correct max range from 307/5000/50000 m to 1536 m (64 bins x 24 m) - Add WaveformConfig.pri_s field (167 us PRI for velocity calculation) - Fix short chirp chirp_complete deadlock (Bug A) - Remove dead short_chirp ports, rename long_chirp to ref_chirp (Bug B) - Fix stale latency comment 2159 -> 3187 cycles (Bug C) - Create radar_params.vh as single source of truth for FPGA parameters - Lower RadarSettings.cpp map_size validation bound from 1000 to 100 - Add PLFM hardware constants to golden_reference.py - Update all GUI versions, tests, and cross-layer contracts All 244 tests passing (167 Python + 21 MCU + 29 cross-layer + 27 FPGA)
1670 lines
63 KiB
Python
1670 lines
63 KiB
Python
import tkinter as tk
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from tkinter import ttk, messagebox
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import threading
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import queue
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import time
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import struct
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import numpy as np
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import matplotlib.pyplot as plt
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from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
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from matplotlib.figure import Figure
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import logging
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from dataclasses import dataclass
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from sklearn.cluster import DBSCAN
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from filterpy.kalman import KalmanFilter
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import crcmod
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import math
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import webbrowser
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import tempfile
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import os
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try:
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import usb.core
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import usb.util
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USB_AVAILABLE = True
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except ImportError:
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USB_AVAILABLE = False
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logging.warning("pyusb not available. USB CDC functionality will be disabled.")
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try:
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from pyftdi.ftdi import Ftdi, FtdiError
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from pyftdi.usbtools import UsbTools
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FTDI_AVAILABLE = True
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except ImportError:
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FTDI_AVAILABLE = False
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logging.warning("pyftdi not available. FTDI functionality will be disabled.")
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# Configure logging
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logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s")
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# Dark theme colors
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DARK_BG = "#2b2b2b"
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DARK_FG = "#e0e0e0"
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DARK_ACCENT = "#3c3f41"
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DARK_HIGHLIGHT = "#4e5254"
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DARK_BORDER = "#555555"
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DARK_TEXT = "#cccccc"
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DARK_BUTTON = "#3c3f41"
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DARK_BUTTON_HOVER = "#4e5254"
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DARK_TREEVIEW = "#3c3f41"
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DARK_TREEVIEW_ALT = "#404040"
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RADAR_SETTINGS_LIMITS = {
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"system_frequency": (1e9, 100e9),
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"chirp_duration_1": (1e-6, 1000e-6),
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"chirp_duration_2": (0.1e-6, 10e-6),
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"chirps_per_position": (1, 256),
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"freq_min": (1e6, 100e6),
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"freq_max": (1e6, 100e6),
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"prf1": (100, 10000),
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"prf2": (100, 10000),
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"max_distance": (100, 100000),
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"map_size": (1000, 200000),
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}
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@dataclass
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class RadarTarget:
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id: int
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range: float
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velocity: float
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azimuth: int
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elevation: int
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latitude: float = 0.0
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longitude: float = 0.0
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snr: float = 0.0
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timestamp: float = 0.0
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track_id: int = -1
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@dataclass
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class RadarSettings:
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system_frequency: float = 10.5e9
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chirp_duration_1: float = 30e-6 # Long chirp duration
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chirp_duration_2: float = 0.5e-6 # Short chirp duration
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chirps_per_position: int = 32
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freq_min: float = 10e6
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freq_max: float = 30e6
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prf1: float = 1000
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prf2: float = 2000
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max_distance: float = 1536
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map_size: float = 1536 # Map size in meters (64 bins x 24 m)
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@dataclass
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class GPSData:
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latitude: float
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longitude: float
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altitude: float
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pitch: float # Pitch angle in degrees
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timestamp: float
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class MapGenerator:
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def __init__(self):
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self.map_html_template = """
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<!DOCTYPE html>
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<html>
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<head>
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<title>Radar Map</title>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<style>
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#map {{
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height: 100vh;
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width: 100%;
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}}
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.radar-marker {{
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background-color: red;
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border: 2px solid white;
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border-radius: 50%;
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width: 12px;
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height: 12px;
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}}
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.target-marker {{
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background-color: blue;
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border: 2px solid white;
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border-radius: 50%;
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width: 8px;
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height: 8px;
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}}
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.info-window {{
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font-family: Arial, sans-serif;
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font-size: 12px;
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}}
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</style>
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</head>
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<body>
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<div id="map"></div>
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<script>
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var map;
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var radarMarker;
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var coverageCircle;
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var targetMarkers = [];
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function initMap() {{
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var radarPosition = {{lat: {lat}, lng: {lon}}};
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map = new google.maps.Map(document.getElementById('map'), {{
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center: radarPosition,
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zoom: 12,
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mapTypeId: google.maps.MapTypeId.ROADMAP
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}});
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// Radar position marker
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radarMarker = new google.maps.Marker({{
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position: radarPosition,
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map: map,
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title: 'Radar System',
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icon: {{
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path: google.maps.SymbolPath.CIRCLE,
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scale: 8,
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fillColor: '#FF0000',
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fillOpacity: 1,
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strokeColor: '#FFFFFF',
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strokeWeight: 2
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}}
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}});
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// Radar coverage area
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coverageCircle = new google.maps.Circle({{
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strokeColor: '#FF0000',
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strokeOpacity: 0.8,
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strokeWeight: 2,
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fillColor: '#FF0000',
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fillOpacity: 0.1,
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map: map,
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center: radarPosition,
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radius: {coverage_radius}
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}});
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// Info window for radar
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var radarInfo = new google.maps.InfoWindow({{
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content: `
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<div class="info-window">
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<h3>Radar System</h3>
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<p>Lat: {lat:.6f}</p>
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<p>Lon: {lon:.6f}</p>
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<p>Alt: {alt:.1f}m</p>
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<p>Pitch: {pitch:+.1f}°</p>
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<p>Coverage: {coverage_radius/1000:.1f}km</p>
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</div>
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`
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}});
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radarMarker.addListener('click', function() {{
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radarInfo.open(map, radarMarker);
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}});
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// Add existing targets
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{targets_script}
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}}
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function updateTargets(targets) {{
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// Clear existing targets
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targetMarkers.forEach(marker => marker.setMap(null));
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targetMarkers = [];
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// Add new targets
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targets.forEach(target => {{
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var targetMarker = new google.maps.Marker({{
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position: {{lat: target.lat, lng: target.lng}},
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map: map,
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title: `Target: ${{target.range:.1f}}m, ${{target.velocity:.1f}}m/s`,
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icon: {{
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path: google.maps.SymbolPath.CIRCLE,
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scale: 6,
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fillColor: '#0000FF',
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fillOpacity: 0.8,
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strokeColor: '#FFFFFF',
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strokeWeight: 1
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}}
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}});
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var targetInfo = new google.maps.InfoWindow({{
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content: `
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<div class="info-window">
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<h3>Target #{target.id}</h3>
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<p>Range: ${{target.range:.1f}}m</p>
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<p>Velocity: ${{target.velocity:.1f}}m/s</p>
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<p>Azimuth: ${{target.azimuth}}°</p>
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<p>Elevation: ${{target.elevation:.1f}}°</p>
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<p>SNR: ${{target.snr:.1f}}dB</p>
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</div>
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`
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}});
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targetMarker.addListener('click', function() {{
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targetInfo.open(map, targetMarker);
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}});
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targetMarkers.push(targetMarker);
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}});
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}}
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function updateRadarPosition(lat, lon, alt, pitch) {{
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var newPosition = new google.maps.LatLng(lat, lon);
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radarMarker.setPosition(newPosition);
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coverageCircle.setCenter(newPosition);
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map.setCenter(newPosition);
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}}
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</script>
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<script async defer
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src="https://maps.googleapis.com/maps/api/js?key={api_key}&callback=initMap">
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</script>
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</body>
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</html>
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"""
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def generate_map(self, gps_data, targets, coverage_radius, api_key="YOUR_GOOGLE_MAPS_API_KEY"):
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"""Generate HTML map with radar and targets"""
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# Convert targets to map coordinates
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map_targets = []
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for target in targets:
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# Convert polar coordinates (range, azimuth) to geographic coordinates
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target_lat, target_lon = self.polar_to_geographic(
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gps_data.latitude, gps_data.longitude, target.range, target.azimuth
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)
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map_targets.append(
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{
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"id": target.track_id,
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"lat": target_lat,
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"lng": target_lon,
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"range": target.range,
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"velocity": target.velocity,
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"azimuth": target.azimuth,
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"elevation": target.elevation,
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"snr": target.snr,
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}
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)
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# Generate targets script
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targets_script = ""
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if map_targets:
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targets_json = str(map_targets).replace("'", '"')
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targets_script = f"updateTargets({targets_json});"
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# Fill template
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return self.map_html_template.format(
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lat=gps_data.latitude,
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lon=gps_data.longitude,
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alt=gps_data.altitude,
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pitch=gps_data.pitch,
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coverage_radius=coverage_radius,
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targets_script=targets_script,
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api_key=api_key,
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)
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def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg):
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"""
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Convert polar coordinates (range, azimuth) to geographic coordinates
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using simple flat-earth approximation (good for small distances)
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"""
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# Earth radius in meters
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earth_radius = 6371000
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# Convert azimuth to radians (0° = North, 90° = East)
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azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention
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# Convert range to angular distance
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angular_distance = range_m / earth_radius
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# Convert to geographic coordinates
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target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi)
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target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (
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180 / math.pi
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) / math.cos(math.radians(radar_lat))
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return target_lat, target_lon
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class STM32USBInterface:
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def __init__(self):
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self.device = None
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self.is_open = False
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self.ep_in = None
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self.ep_out = None
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def list_devices(self):
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"""List available STM32 USB CDC devices"""
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if not USB_AVAILABLE:
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logging.warning("USB not available - please install pyusb")
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return []
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try:
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devices = []
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# STM32 USB CDC devices typically use these vendor/product IDs
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stm32_vid_pids = [
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(0x0483, 0x5740), # STM32 Virtual COM Port
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(0x0483, 0x3748), # STM32 Discovery
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(0x0483, 0x374B), # STM32 CDC
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(0x0483, 0x374D), # STM32 CDC
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(0x0483, 0x374E), # STM32 CDC
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(0x0483, 0x3752), # STM32 CDC
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]
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for vid, pid in stm32_vid_pids:
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found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid)
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for dev in found_devices:
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try:
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product = (
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usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC"
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)
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serial = (
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usb.util.get_string(dev, dev.iSerialNumber)
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if dev.iSerialNumber
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else "Unknown"
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)
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devices.append(
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{
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"description": f"{product} ({serial})",
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"vendor_id": vid,
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"product_id": pid,
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"device": dev,
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}
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)
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except (usb.core.USBError, ValueError):
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devices.append(
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{
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"description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})",
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"vendor_id": vid,
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"product_id": pid,
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"device": dev,
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}
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)
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return devices
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except usb.core.USBError as e:
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logging.error(f"Error listing USB devices: {e}")
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# Return mock devices for testing
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return [
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{"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740}
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]
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def open_device(self, device_info):
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"""Open STM32 USB CDC device"""
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if not USB_AVAILABLE:
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logging.error("USB not available - cannot open device")
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return False
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try:
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self.device = device_info["device"]
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|
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# Detach kernel driver if active
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if self.device.is_kernel_driver_active(0):
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self.device.detach_kernel_driver(0)
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|
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# Set configuration
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self.device.set_configuration()
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|
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# Get CDC endpoints
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cfg = self.device.get_active_configuration()
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intf = cfg[(0, 0)]
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# Find bulk endpoints (CDC data interface)
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self.ep_out = usb.util.find_descriptor(
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intf,
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custom_match=lambda e: (
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usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT
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),
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)
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self.ep_in = usb.util.find_descriptor(
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intf,
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custom_match=lambda e: (
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usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN
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),
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)
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|
|
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if self.ep_out is None or self.ep_in is None:
|
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logging.error("Could not find CDC endpoints")
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return False
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|
|
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self.is_open = True
|
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logging.info(f"STM32 USB device opened: {device_info['description']}")
|
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return True
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|
|
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except usb.core.USBError as e:
|
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logging.error(f"Error opening USB device: {e}")
|
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return False
|
|
|
|
def send_start_flag(self):
|
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"""Step 12: Send start flag to STM32 via USB"""
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start_packet = bytes([23, 46, 158, 237])
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logging.info("Sending start flag to STM32 via USB...")
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return self._send_data(start_packet)
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|
|
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def send_settings(self, settings):
|
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"""Step 13: Send radar settings to STM32 via USB"""
|
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try:
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packet = self._create_settings_packet(settings)
|
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logging.info("Sending radar settings to STM32 via USB...")
|
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return self._send_data(packet)
|
|
except (usb.core.USBError, struct.error) as e:
|
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logging.error(f"Error sending settings via USB: {e}")
|
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return False
|
|
|
|
def read_data(self, size=64, timeout=1000):
|
|
"""Read data from STM32 via USB"""
|
|
if not self.is_open or self.ep_in is None:
|
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return None
|
|
|
|
try:
|
|
data = self.ep_in.read(size, timeout=timeout)
|
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return bytes(data)
|
|
except usb.core.USBError as e:
|
|
if e.errno == 110: # Timeout
|
|
return None
|
|
logging.error(f"USB read error: {e}")
|
|
return None
|
|
|
|
def _send_data(self, data):
|
|
"""Send data to STM32 via USB"""
|
|
if not self.is_open or self.ep_out is None:
|
|
return False
|
|
|
|
try:
|
|
# USB CDC typically uses 64-byte packets
|
|
packet_size = 64
|
|
for i in range(0, len(data), packet_size):
|
|
chunk = data[i : i + packet_size]
|
|
# Pad to packet size if needed
|
|
if len(chunk) < packet_size:
|
|
chunk += b"\x00" * (packet_size - len(chunk))
|
|
self.ep_out.write(chunk)
|
|
|
|
return True
|
|
except usb.core.USBError as e:
|
|
logging.error(f"Error sending data via USB: {e}")
|
|
return False
|
|
|
|
def _create_settings_packet(self, settings):
|
|
"""Create binary settings packet for USB transmission"""
|
|
packet = b"SET"
|
|
packet += struct.pack(">d", settings.system_frequency)
|
|
packet += struct.pack(">d", settings.chirp_duration_1)
|
|
packet += struct.pack(">d", settings.chirp_duration_2)
|
|
packet += struct.pack(">I", settings.chirps_per_position)
|
|
packet += struct.pack(">d", settings.freq_min)
|
|
packet += struct.pack(">d", settings.freq_max)
|
|
packet += struct.pack(">d", settings.prf1)
|
|
packet += struct.pack(">d", settings.prf2)
|
|
packet += struct.pack(">d", settings.max_distance)
|
|
packet += struct.pack(">d", settings.map_size)
|
|
packet += b"END"
|
|
return packet
|
|
|
|
def close(self):
|
|
"""Close USB device"""
|
|
if self.device and self.is_open:
|
|
try:
|
|
usb.util.dispose_resources(self.device)
|
|
self.is_open = False
|
|
except usb.core.USBError as e:
|
|
logging.error(f"Error closing USB device: {e}")
|
|
|
|
|
|
class FTDIInterface:
|
|
def __init__(self):
|
|
self.ftdi = None
|
|
self.is_open = False
|
|
|
|
def list_devices(self):
|
|
"""List available FTDI devices using pyftdi"""
|
|
if not FTDI_AVAILABLE:
|
|
logging.warning("FTDI not available - please install pyftdi")
|
|
return []
|
|
|
|
try:
|
|
# Get list of all FTDI devices
|
|
return [
|
|
{"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"}
|
|
for device in UsbTools.find_all([(0x0403, 0x6010)])
|
|
] # FT2232H vendor/product ID
|
|
except usb.core.USBError as e:
|
|
logging.error(f"Error listing FTDI devices: {e}")
|
|
# Return mock devices for testing
|
|
return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}]
|
|
|
|
def open_device(self, device_url):
|
|
"""Open FTDI device using pyftdi"""
|
|
if not FTDI_AVAILABLE:
|
|
logging.error("FTDI not available - cannot open device")
|
|
return False
|
|
|
|
try:
|
|
self.ftdi = Ftdi()
|
|
self.ftdi.open_from_url(device_url)
|
|
|
|
# Configure for synchronous FIFO mode
|
|
self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF)
|
|
|
|
# Set latency timer
|
|
self.ftdi.set_latency_timer(2)
|
|
|
|
# Purge buffers
|
|
self.ftdi.purge_buffers()
|
|
|
|
self.is_open = True
|
|
logging.info(f"FTDI device opened: {device_url}")
|
|
return True
|
|
|
|
except FtdiError as e:
|
|
logging.error(f"Error opening FTDI device: {e}")
|
|
return False
|
|
|
|
def read_data(self, bytes_to_read):
|
|
"""Read data from FTDI"""
|
|
if not self.is_open or self.ftdi is None:
|
|
return None
|
|
|
|
try:
|
|
data = self.ftdi.read_data(bytes_to_read)
|
|
if data:
|
|
return bytes(data)
|
|
return None
|
|
except FtdiError as e:
|
|
logging.error(f"Error reading from FTDI: {e}")
|
|
return None
|
|
|
|
def close(self):
|
|
"""Close FTDI device"""
|
|
if self.ftdi and self.is_open:
|
|
self.ftdi.close()
|
|
self.is_open = False
|
|
|
|
|
|
class RadarProcessor:
|
|
def __init__(self):
|
|
self.range_doppler_map = np.zeros((1024, 32))
|
|
self.detected_targets = []
|
|
self.track_id_counter = 0
|
|
self.tracks = {}
|
|
self.frame_count = 0
|
|
|
|
def dual_cpi_fusion(self, range_profiles_1, range_profiles_2):
|
|
"""Dual-CPI fusion for better detection"""
|
|
return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
|
|
|
|
def multi_prf_unwrap(self, doppler_measurements, prf1, prf2):
|
|
"""Multi-PRF velocity unwrapping"""
|
|
lambda_wavelength = 3e8 / 10e9
|
|
v_max1 = prf1 * lambda_wavelength / 2
|
|
v_max2 = prf2 * lambda_wavelength / 2
|
|
|
|
unwrapped_velocities = []
|
|
for doppler in doppler_measurements:
|
|
v1 = doppler * lambda_wavelength / 2
|
|
v2 = doppler * lambda_wavelength / 2
|
|
|
|
velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2)
|
|
unwrapped_velocities.append(velocity)
|
|
|
|
return unwrapped_velocities
|
|
|
|
def _solve_chinese_remainder(self, v1, v2, max1, max2):
|
|
for k in range(-5, 6):
|
|
candidate = v1 + k * max1
|
|
if abs(candidate - v2) < max2 / 2:
|
|
return candidate
|
|
return v1
|
|
|
|
def clustering(self, detections, eps=100, min_samples=2):
|
|
"""DBSCAN clustering of detections"""
|
|
if len(detections) == 0:
|
|
return []
|
|
|
|
points = np.array([[d.range, d.velocity] for d in detections])
|
|
clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points)
|
|
|
|
clusters = []
|
|
for label in set(clustering.labels_):
|
|
if label != -1:
|
|
cluster_points = points[clustering.labels_ == label]
|
|
clusters.append(
|
|
{
|
|
"center": np.mean(cluster_points, axis=0),
|
|
"points": cluster_points,
|
|
"size": len(cluster_points),
|
|
}
|
|
)
|
|
|
|
return clusters
|
|
|
|
def association(self, detections, _clusters):
|
|
"""Association of detections to tracks"""
|
|
associated_detections = []
|
|
|
|
for detection in detections:
|
|
best_track = None
|
|
min_distance = float("inf")
|
|
|
|
for track_id, track in self.tracks.items():
|
|
distance = np.sqrt(
|
|
(detection.range - track["state"][0]) ** 2
|
|
+ (detection.velocity - track["state"][2]) ** 2
|
|
)
|
|
|
|
if distance < min_distance and distance < 500:
|
|
min_distance = distance
|
|
best_track = track_id
|
|
|
|
if best_track is not None:
|
|
detection.track_id = best_track
|
|
associated_detections.append(detection)
|
|
else:
|
|
detection.track_id = self.track_id_counter
|
|
self.track_id_counter += 1
|
|
associated_detections.append(detection)
|
|
|
|
return associated_detections
|
|
|
|
def tracking(self, associated_detections):
|
|
"""Kalman filter tracking"""
|
|
current_time = time.time()
|
|
|
|
for detection in associated_detections:
|
|
if detection.track_id not in self.tracks:
|
|
kf = KalmanFilter(dim_x=4, dim_z=2)
|
|
kf.x = np.array([detection.range, 0, detection.velocity, 0])
|
|
kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]])
|
|
kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]])
|
|
kf.P *= 1000
|
|
kf.R = np.diag([10, 1])
|
|
kf.Q = np.eye(4) * 0.1
|
|
|
|
self.tracks[detection.track_id] = {
|
|
"filter": kf,
|
|
"state": kf.x,
|
|
"last_update": current_time,
|
|
"hits": 1,
|
|
}
|
|
else:
|
|
track = self.tracks[detection.track_id]
|
|
track["filter"].predict()
|
|
track["filter"].update([detection.range, detection.velocity])
|
|
track["state"] = track["filter"].x
|
|
track["last_update"] = current_time
|
|
track["hits"] += 1
|
|
|
|
stale_tracks = [
|
|
tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0
|
|
]
|
|
for tid in stale_tracks:
|
|
del self.tracks[tid]
|
|
|
|
|
|
class USBPacketParser:
|
|
def __init__(self):
|
|
self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000)
|
|
|
|
def parse_gps_data(self, data):
|
|
"""Parse GPS data from STM32 USB CDC with pitch angle"""
|
|
if not data:
|
|
return None
|
|
|
|
try:
|
|
# Try text format first: "GPS:lat,lon,alt,pitch\r\n"
|
|
text_data = data.decode("utf-8", errors="ignore").strip()
|
|
if text_data.startswith("GPS:"):
|
|
parts = text_data.split(":")[1].split(",")
|
|
if len(parts) == 4: # Now expecting 4 values
|
|
lat = float(parts[0])
|
|
lon = float(parts[1])
|
|
alt = float(parts[2])
|
|
pitch = float(parts[3]) # Pitch angle in degrees
|
|
return GPSData(
|
|
latitude=lat,
|
|
longitude=lon,
|
|
altitude=alt,
|
|
pitch=pitch,
|
|
timestamp=time.time(),
|
|
)
|
|
|
|
# Try binary format (30 bytes with pitch)
|
|
if len(data) >= 30 and data[0:4] == b"GPSB":
|
|
return self._parse_binary_gps_with_pitch(data)
|
|
|
|
except (ValueError, struct.error) as e:
|
|
logging.error(f"Error parsing GPS data: {e}")
|
|
|
|
return None
|
|
|
|
def _parse_binary_gps_with_pitch(self, data):
|
|
"""Parse binary GPS format with pitch angle (30 bytes)"""
|
|
try:
|
|
# Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2]
|
|
if len(data) < 30:
|
|
return None
|
|
|
|
# Verify CRC (simple checksum)
|
|
crc_received = (data[28] << 8) | data[29]
|
|
crc_calculated = sum(data[0:28]) & 0xFFFF
|
|
|
|
if crc_received != crc_calculated:
|
|
logging.warning("GPS CRC mismatch")
|
|
return None
|
|
|
|
# Parse latitude (double, big-endian)
|
|
lat_bits = 0
|
|
for i in range(8):
|
|
lat_bits = (lat_bits << 8) | data[4 + i]
|
|
latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0]
|
|
|
|
# Parse longitude (double, big-endian)
|
|
lon_bits = 0
|
|
for i in range(8):
|
|
lon_bits = (lon_bits << 8) | data[12 + i]
|
|
longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0]
|
|
|
|
# Parse altitude (float, big-endian)
|
|
alt_bits = 0
|
|
for i in range(4):
|
|
alt_bits = (alt_bits << 8) | data[20 + i]
|
|
altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0]
|
|
|
|
# Parse pitch angle (float, big-endian)
|
|
pitch_bits = 0
|
|
for i in range(4):
|
|
pitch_bits = (pitch_bits << 8) | data[24 + i]
|
|
pitch = struct.unpack(">f", struct.pack(">I", pitch_bits))[0]
|
|
|
|
return GPSData(
|
|
latitude=latitude,
|
|
longitude=longitude,
|
|
altitude=altitude,
|
|
pitch=pitch,
|
|
timestamp=time.time(),
|
|
)
|
|
|
|
except (ValueError, struct.error) as e:
|
|
logging.error(f"Error parsing binary GPS with pitch: {e}")
|
|
return None
|
|
|
|
|
|
class RadarPacketParser:
|
|
def __init__(self):
|
|
self.sync_pattern = b"\xa5\xc3"
|
|
self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000)
|
|
|
|
def parse_packet(self, data):
|
|
if len(data) < 6:
|
|
return None
|
|
|
|
sync_index = data.find(self.sync_pattern)
|
|
if sync_index == -1:
|
|
return None
|
|
|
|
packet = data[sync_index:]
|
|
|
|
if len(packet) < 6:
|
|
return None
|
|
|
|
_sync = packet[0:2]
|
|
packet_type = packet[2]
|
|
length = packet[3]
|
|
|
|
if len(packet) < (4 + length + 2):
|
|
return None
|
|
|
|
payload = packet[4 : 4 + length]
|
|
crc_received = struct.unpack("<H", packet[4 + length : 4 + length + 2])[0]
|
|
|
|
crc_calculated = self.calculate_crc(packet[0 : 4 + length])
|
|
if crc_calculated != crc_received:
|
|
logging.warning(
|
|
f"CRC mismatch: got {crc_received:04X}, calculated {crc_calculated:04X}"
|
|
)
|
|
return None
|
|
|
|
if packet_type == 0x01:
|
|
return self.parse_range_packet(payload)
|
|
if packet_type == 0x02:
|
|
return self.parse_doppler_packet(payload)
|
|
if packet_type == 0x03:
|
|
return self.parse_detection_packet(payload)
|
|
logging.warning(f"Unknown packet type: {packet_type:02X}")
|
|
return None
|
|
|
|
def calculate_crc(self, data):
|
|
return self.crc16_func(data)
|
|
|
|
def parse_range_packet(self, payload):
|
|
if len(payload) < 12:
|
|
return None
|
|
|
|
try:
|
|
range_value = struct.unpack(">I", payload[0:4])[0]
|
|
elevation = payload[4] & 0x1F
|
|
azimuth = payload[5] & 0x3F
|
|
chirp_counter = payload[6] & 0x1F
|
|
|
|
return {
|
|
"type": "range",
|
|
"range": range_value,
|
|
"elevation": elevation,
|
|
"azimuth": azimuth,
|
|
"chirp": chirp_counter,
|
|
"timestamp": time.time(),
|
|
}
|
|
except (ValueError, struct.error) as e:
|
|
logging.error(f"Error parsing range packet: {e}")
|
|
return None
|
|
|
|
def parse_doppler_packet(self, payload):
|
|
if len(payload) < 12:
|
|
return None
|
|
|
|
try:
|
|
doppler_real = struct.unpack(">h", payload[0:2])[0]
|
|
doppler_imag = struct.unpack(">h", payload[2:4])[0]
|
|
elevation = payload[4] & 0x1F
|
|
azimuth = payload[5] & 0x3F
|
|
chirp_counter = payload[6] & 0x1F
|
|
|
|
return {
|
|
"type": "doppler",
|
|
"doppler_real": doppler_real,
|
|
"doppler_imag": doppler_imag,
|
|
"elevation": elevation,
|
|
"azimuth": azimuth,
|
|
"chirp": chirp_counter,
|
|
"timestamp": time.time(),
|
|
}
|
|
except (ValueError, struct.error) as e:
|
|
logging.error(f"Error parsing Doppler packet: {e}")
|
|
return None
|
|
|
|
def parse_detection_packet(self, payload):
|
|
if len(payload) < 8:
|
|
return None
|
|
|
|
try:
|
|
detection_flag = (payload[0] & 0x01) != 0
|
|
elevation = payload[1] & 0x1F
|
|
azimuth = payload[2] & 0x3F
|
|
chirp_counter = payload[3] & 0x1F
|
|
|
|
return {
|
|
"type": "detection",
|
|
"detected": detection_flag,
|
|
"elevation": elevation,
|
|
"azimuth": azimuth,
|
|
"chirp": chirp_counter,
|
|
"timestamp": time.time(),
|
|
}
|
|
except (ValueError, struct.error) as e:
|
|
logging.error(f"Error parsing detection packet: {e}")
|
|
return None
|
|
|
|
|
|
class RadarGUI:
|
|
def __init__(self, root):
|
|
self.root = root
|
|
self.root.title("Advanced Radar System GUI - USB CDC with Google Maps")
|
|
self.root.geometry("1400x900")
|
|
|
|
# Apply dark theme to root window
|
|
self.root.configure(bg=DARK_BG)
|
|
|
|
# Configure ttk style for dark theme
|
|
self.style = ttk.Style()
|
|
self.style.theme_use("clam") # Use 'clam' as base for better customization
|
|
|
|
# Configure dark theme colors
|
|
self.configure_dark_theme()
|
|
|
|
# Initialize interfaces
|
|
self.stm32_usb_interface = STM32USBInterface()
|
|
self.ftdi_interface = FTDIInterface()
|
|
self.radar_processor = RadarProcessor()
|
|
self.usb_packet_parser = USBPacketParser()
|
|
self.radar_packet_parser = RadarPacketParser()
|
|
self.map_generator = MapGenerator()
|
|
self.settings = RadarSettings()
|
|
|
|
# Data queues
|
|
self.radar_data_queue = queue.Queue()
|
|
self.gps_data_queue = queue.Queue()
|
|
|
|
# Thread control
|
|
self.running = False
|
|
self.radar_thread = None
|
|
self.gps_thread = None
|
|
|
|
# Counters
|
|
self.received_packets = 0
|
|
self.current_gps = GPSData(
|
|
latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0
|
|
)
|
|
self.corrected_elevations = [] # Store corrected elevation values
|
|
self.map_file_path = None
|
|
self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" # Replace with your API key
|
|
|
|
self.create_gui()
|
|
self.start_background_threads()
|
|
|
|
def configure_dark_theme(self):
|
|
"""Configure ttk style for dark mercury theme"""
|
|
self.style.configure(
|
|
".",
|
|
background=DARK_BG,
|
|
foreground=DARK_FG,
|
|
fieldbackground=DARK_ACCENT,
|
|
selectbackground=DARK_HIGHLIGHT,
|
|
selectforeground=DARK_FG,
|
|
troughcolor=DARK_ACCENT,
|
|
borderwidth=1,
|
|
focuscolor=DARK_BORDER,
|
|
)
|
|
|
|
# Configure specific widgets
|
|
self.style.configure("TFrame", background=DARK_BG)
|
|
self.style.configure("TLabel", background=DARK_BG, foreground=DARK_FG)
|
|
self.style.configure(
|
|
"TButton",
|
|
background=DARK_BUTTON,
|
|
foreground=DARK_FG,
|
|
borderwidth=1,
|
|
focuscolor=DARK_BORDER,
|
|
)
|
|
self.style.map(
|
|
"TButton", background=[("active", DARK_BUTTON_HOVER), ("pressed", DARK_HIGHLIGHT)]
|
|
)
|
|
|
|
self.style.configure(
|
|
"TCombobox",
|
|
fieldbackground=DARK_ACCENT,
|
|
background=DARK_BG,
|
|
foreground=DARK_FG,
|
|
arrowcolor=DARK_FG,
|
|
)
|
|
self.style.map(
|
|
"TCombobox",
|
|
fieldbackground=[("readonly", DARK_ACCENT)],
|
|
selectbackground=[("readonly", DARK_HIGHLIGHT)],
|
|
selectforeground=[("readonly", DARK_FG)],
|
|
)
|
|
|
|
self.style.configure("TNotebook", background=DARK_BG, borderwidth=0)
|
|
self.style.configure(
|
|
"TNotebook.Tab", background=DARK_ACCENT, foreground=DARK_FG, padding=[10, 5]
|
|
)
|
|
self.style.map(
|
|
"TNotebook.Tab",
|
|
background=[("selected", DARK_HIGHLIGHT), ("active", DARK_BUTTON_HOVER)],
|
|
)
|
|
|
|
self.style.configure(
|
|
"Treeview",
|
|
background=DARK_TREEVIEW,
|
|
foreground=DARK_FG,
|
|
fieldbackground=DARK_TREEVIEW,
|
|
borderwidth=0,
|
|
)
|
|
self.style.map("Treeview", background=[("selected", DARK_HIGHLIGHT)])
|
|
|
|
self.style.configure(
|
|
"Treeview.Heading", background=DARK_ACCENT, foreground=DARK_FG, relief="flat"
|
|
)
|
|
self.style.map("Treeview.Heading", background=[("active", DARK_BUTTON_HOVER)])
|
|
|
|
self.style.configure(
|
|
"TEntry", fieldbackground=DARK_ACCENT, foreground=DARK_FG, insertcolor=DARK_FG
|
|
)
|
|
|
|
self.style.configure(
|
|
"Vertical.TScrollbar",
|
|
background=DARK_ACCENT,
|
|
troughcolor=DARK_BG,
|
|
borderwidth=0,
|
|
arrowsize=12,
|
|
)
|
|
self.style.configure(
|
|
"Horizontal.TScrollbar",
|
|
background=DARK_ACCENT,
|
|
troughcolor=DARK_BG,
|
|
borderwidth=0,
|
|
arrowsize=12,
|
|
)
|
|
|
|
self.style.configure(
|
|
"TLabelFrame", background=DARK_BG, foreground=DARK_FG, bordercolor=DARK_BORDER
|
|
)
|
|
self.style.configure("TLabelFrame.Label", background=DARK_BG, foreground=DARK_FG)
|
|
|
|
def create_gui(self):
|
|
"""Create the main GUI with tabs"""
|
|
self.notebook = ttk.Notebook(self.root)
|
|
self.notebook.pack(fill="both", expand=True, padx=10, pady=10)
|
|
|
|
self.tab_main = ttk.Frame(self.notebook)
|
|
self.tab_map = ttk.Frame(self.notebook)
|
|
self.tab_diagnostics = ttk.Frame(self.notebook)
|
|
self.tab_settings = ttk.Frame(self.notebook)
|
|
|
|
self.notebook.add(self.tab_main, text="Main View")
|
|
self.notebook.add(self.tab_map, text="Map View")
|
|
self.notebook.add(self.tab_diagnostics, text="Diagnostics")
|
|
self.notebook.add(self.tab_settings, text="Settings")
|
|
|
|
self.setup_main_tab()
|
|
self.setup_map_tab()
|
|
self.setup_settings_tab()
|
|
|
|
def setup_main_tab(self):
|
|
"""Setup the main radar display tab"""
|
|
# Control frame
|
|
control_frame = ttk.Frame(self.tab_main)
|
|
control_frame.pack(fill="x", padx=10, pady=5)
|
|
|
|
# USB Device selection
|
|
ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5)
|
|
self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40)
|
|
self.stm32_usb_combo.grid(row=0, column=1, padx=5)
|
|
|
|
ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5)
|
|
self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30)
|
|
self.ftdi_combo.grid(row=0, column=3, padx=5)
|
|
|
|
ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid(
|
|
row=0, column=4, padx=5
|
|
)
|
|
|
|
self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar)
|
|
self.start_button.grid(row=0, column=5, padx=5)
|
|
|
|
self.stop_button = ttk.Button(
|
|
control_frame, text="Stop Radar", command=self.stop_radar, state="disabled"
|
|
)
|
|
self.stop_button.grid(row=0, column=6, padx=5)
|
|
|
|
# GPS and Pitch info
|
|
self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...")
|
|
self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2)
|
|
|
|
# Pitch display
|
|
self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°")
|
|
self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2)
|
|
|
|
# Status info
|
|
self.status_label = ttk.Label(control_frame, text="Status: Ready")
|
|
self.status_label.grid(row=1, column=6, sticky="e", padx=5, pady=2)
|
|
|
|
# Main display area
|
|
display_frame = ttk.Frame(self.tab_main)
|
|
display_frame.pack(fill="both", expand=True, padx=10, pady=5)
|
|
|
|
# Range-Doppler Map with dark theme
|
|
plt.style.use("dark_background")
|
|
fig = Figure(figsize=(10, 6), facecolor=DARK_BG)
|
|
self.range_doppler_ax = fig.add_subplot(111, facecolor=DARK_ACCENT)
|
|
self.range_doppler_plot = self.range_doppler_ax.imshow(
|
|
np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024]
|
|
)
|
|
self.range_doppler_ax.set_title("Range-Doppler Map (Pitch Corrected)", color=DARK_FG)
|
|
self.range_doppler_ax.set_xlabel("Doppler Bin", color=DARK_FG)
|
|
self.range_doppler_ax.set_ylabel("Range Bin", color=DARK_FG)
|
|
self.range_doppler_ax.tick_params(colors=DARK_FG)
|
|
self.range_doppler_ax.spines["bottom"].set_color(DARK_FG)
|
|
self.range_doppler_ax.spines["top"].set_color(DARK_FG)
|
|
self.range_doppler_ax.spines["left"].set_color(DARK_FG)
|
|
self.range_doppler_ax.spines["right"].set_color(DARK_FG)
|
|
|
|
self.canvas = FigureCanvasTkAgg(fig, display_frame)
|
|
self.canvas.draw()
|
|
self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True)
|
|
|
|
# Targets list with corrected elevation
|
|
targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)")
|
|
targets_frame.pack(side="right", fill="y", padx=5)
|
|
|
|
self.targets_tree = ttk.Treeview(
|
|
targets_frame,
|
|
columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "Corrected Elev", "SNR"),
|
|
show="headings",
|
|
height=20,
|
|
)
|
|
self.targets_tree.heading("ID", text="Track ID")
|
|
self.targets_tree.heading("Range", text="Range (m)")
|
|
self.targets_tree.heading("Velocity", text="Velocity (m/s)")
|
|
self.targets_tree.heading("Azimuth", text="Azimuth")
|
|
self.targets_tree.heading("Elevation", text="Raw Elev")
|
|
self.targets_tree.heading("Corrected Elev", text="Corr Elev")
|
|
self.targets_tree.heading("SNR", text="SNR (dB)")
|
|
|
|
self.targets_tree.column("ID", width=70)
|
|
self.targets_tree.column("Range", width=90)
|
|
self.targets_tree.column("Velocity", width=90)
|
|
self.targets_tree.column("Azimuth", width=70)
|
|
self.targets_tree.column("Elevation", width=70)
|
|
self.targets_tree.column("Corrected Elev", width=70)
|
|
self.targets_tree.column("SNR", width=70)
|
|
|
|
# Add scrollbar to targets tree
|
|
tree_scroll = ttk.Scrollbar(
|
|
targets_frame, orient="vertical", command=self.targets_tree.yview
|
|
)
|
|
self.targets_tree.configure(yscrollcommand=tree_scroll.set)
|
|
self.targets_tree.pack(side="left", fill="both", expand=True, padx=5, pady=5)
|
|
tree_scroll.pack(side="right", fill="y", padx=(0, 5), pady=5)
|
|
|
|
def setup_map_tab(self):
|
|
"""Setup the map display tab with Google Maps"""
|
|
map_frame = ttk.Frame(self.tab_map)
|
|
map_frame.pack(fill="both", expand=True, padx=10, pady=10)
|
|
|
|
# Map controls
|
|
controls_frame = ttk.Frame(map_frame)
|
|
controls_frame.pack(fill="x", pady=5)
|
|
|
|
ttk.Button(
|
|
controls_frame, text="Open Map in Browser", command=self.open_map_in_browser
|
|
).pack(side="left", padx=5)
|
|
|
|
ttk.Button(controls_frame, text="Refresh Map", command=self.refresh_map).pack(
|
|
side="left", padx=5
|
|
)
|
|
|
|
self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate")
|
|
self.map_status_label.pack(side="left", padx=20)
|
|
|
|
# Map info display
|
|
info_frame = ttk.Frame(map_frame)
|
|
info_frame.pack(fill="x", pady=5)
|
|
|
|
self.map_info_label = ttk.Label(
|
|
info_frame, text="No GPS data received yet", font=("Arial", 10)
|
|
)
|
|
self.map_info_label.pack()
|
|
|
|
def setup_settings_tab(self):
|
|
"""Setup the settings tab with additional chirp durations and map size"""
|
|
settings_frame = ttk.Frame(self.tab_settings)
|
|
settings_frame.pack(fill="both", expand=True, padx=10, pady=10)
|
|
|
|
entries = [
|
|
("System Frequency (Hz):", "system_frequency", 10e9),
|
|
("Chirp Duration 1 - Long (s):", "chirp_duration_1", 30e-6),
|
|
("Chirp Duration 2 - Short (s):", "chirp_duration_2", 0.5e-6),
|
|
("Chirps per Position:", "chirps_per_position", 32),
|
|
("Frequency Min (Hz):", "freq_min", 10e6),
|
|
("Frequency Max (Hz):", "freq_max", 30e6),
|
|
("PRF1 (Hz):", "prf1", 1000),
|
|
("PRF2 (Hz):", "prf2", 2000),
|
|
("Max Distance (m):", "max_distance", 1536),
|
|
("Map Size (m):", "map_size", 1536),
|
|
("Google Maps API Key:", "google_maps_api_key", "YOUR_GOOGLE_MAPS_API_KEY"),
|
|
]
|
|
|
|
self.settings_vars = {}
|
|
|
|
for i, (label, attr, default) in enumerate(entries):
|
|
ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5)
|
|
var = tk.StringVar(value=str(default))
|
|
entry = ttk.Entry(settings_frame, textvariable=var, width=25)
|
|
entry.grid(row=i, column=1, padx=5, pady=5)
|
|
self.settings_vars[attr] = var
|
|
|
|
ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid(
|
|
row=len(entries), column=0, columnspan=2, pady=10
|
|
)
|
|
|
|
def _parse_settings_from_form(self):
|
|
"""Read settings from the UI and return a validated RadarSettings instance."""
|
|
parsed_settings = RadarSettings(
|
|
system_frequency=float(self.settings_vars["system_frequency"].get()),
|
|
chirp_duration_1=float(self.settings_vars["chirp_duration_1"].get()),
|
|
chirp_duration_2=float(self.settings_vars["chirp_duration_2"].get()),
|
|
chirps_per_position=int(self.settings_vars["chirps_per_position"].get()),
|
|
freq_min=float(self.settings_vars["freq_min"].get()),
|
|
freq_max=float(self.settings_vars["freq_max"].get()),
|
|
prf1=float(self.settings_vars["prf1"].get()),
|
|
prf2=float(self.settings_vars["prf2"].get()),
|
|
max_distance=float(self.settings_vars["max_distance"].get()),
|
|
map_size=float(self.settings_vars["map_size"].get()),
|
|
)
|
|
|
|
self._validate_radar_settings(parsed_settings)
|
|
return parsed_settings
|
|
|
|
def _validate_radar_settings(self, settings):
|
|
"""Mirror the firmware-side range checks before sending settings to STM32."""
|
|
for field_name, (minimum, maximum) in RADAR_SETTINGS_LIMITS.items():
|
|
value = getattr(settings, field_name)
|
|
if value < minimum or value > maximum:
|
|
raise ValueError(f"{field_name} must be between {minimum:g} and {maximum:g}.")
|
|
|
|
if settings.freq_max <= settings.freq_min:
|
|
raise ValueError("freq_max must be greater than freq_min.")
|
|
|
|
return True
|
|
|
|
def apply_pitch_correction(self, raw_elevation, pitch_angle):
|
|
"""
|
|
Apply pitch correction to elevation angle
|
|
raw_elevation: measured elevation from radar (degrees)
|
|
pitch_angle: antenna pitch angle from IMU (degrees)
|
|
Returns: corrected elevation angle (degrees)
|
|
"""
|
|
# Convert to radians for trigonometric functions
|
|
raw_elev_rad = math.radians(raw_elevation)
|
|
pitch_rad = math.radians(pitch_angle)
|
|
|
|
# Apply pitch correction: corrected_elev = raw_elev - pitch
|
|
# This assumes the pitch angle is positive when antenna is tilted up
|
|
corrected_elev_rad = raw_elev_rad - pitch_rad
|
|
|
|
# Convert back to degrees and ensure it's within valid range
|
|
corrected_elev_deg = math.degrees(corrected_elev_rad)
|
|
|
|
# Normalize to 0-180 degree range
|
|
corrected_elev_deg = corrected_elev_deg % 180
|
|
if corrected_elev_deg < 0:
|
|
corrected_elev_deg += 180
|
|
|
|
return corrected_elev_deg
|
|
|
|
def refresh_devices(self):
|
|
"""Refresh available USB devices"""
|
|
# STM32 USB devices
|
|
stm32_devices = self.stm32_usb_interface.list_devices()
|
|
stm32_names = [dev["description"] for dev in stm32_devices]
|
|
self.stm32_usb_combo["values"] = stm32_names
|
|
|
|
# FTDI devices
|
|
ftdi_devices = self.ftdi_interface.list_devices()
|
|
ftdi_names = [dev["description"] for dev in ftdi_devices]
|
|
self.ftdi_combo["values"] = ftdi_names
|
|
|
|
if stm32_names:
|
|
self.stm32_usb_combo.current(0)
|
|
if ftdi_names:
|
|
self.ftdi_combo.current(0)
|
|
|
|
def start_radar(self):
|
|
"""Step 11: Start button pressed - Begin radar operation"""
|
|
try:
|
|
# Open STM32 USB device
|
|
stm32_index = self.stm32_usb_combo.current()
|
|
if stm32_index == -1:
|
|
messagebox.showerror("Error", "Please select an STM32 USB device")
|
|
return
|
|
|
|
stm32_devices = self.stm32_usb_interface.list_devices()
|
|
if stm32_index >= len(stm32_devices):
|
|
messagebox.showerror("Error", "Invalid STM32 device selection")
|
|
return
|
|
|
|
if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]):
|
|
messagebox.showerror("Error", "Failed to open STM32 USB device")
|
|
return
|
|
|
|
# Open FTDI device
|
|
if FTDI_AVAILABLE:
|
|
ftdi_index = self.ftdi_combo.current()
|
|
if ftdi_index != -1:
|
|
ftdi_devices = self.ftdi_interface.list_devices()
|
|
if ftdi_index < len(ftdi_devices):
|
|
device_url = ftdi_devices[ftdi_index]["url"]
|
|
if not self.ftdi_interface.open_device(device_url):
|
|
logging.warning(
|
|
"Failed to open FTDI device, continuing without radar data"
|
|
)
|
|
else:
|
|
logging.warning("No FTDI device selected, continuing without radar data")
|
|
else:
|
|
logging.warning("FTDI not available, continuing without radar data")
|
|
|
|
# Step 12: Send start flag to STM32 via USB
|
|
if not self.stm32_usb_interface.send_start_flag():
|
|
messagebox.showerror("Error", "Failed to send start flag to STM32")
|
|
return
|
|
|
|
# Step 13: Send settings to STM32 via USB
|
|
self.apply_settings()
|
|
|
|
# Start radar operation
|
|
self.running = True
|
|
self.start_button.config(state="disabled")
|
|
self.stop_button.config(state="normal")
|
|
self.status_label.config(text="Status: Radar running - Waiting for GPS data...")
|
|
|
|
logging.info("Radar system started successfully via USB CDC")
|
|
|
|
except (usb.core.USBError, FtdiError, ValueError) as e:
|
|
messagebox.showerror("Error", f"Failed to start radar: {e}")
|
|
logging.error(f"Start radar error: {e}")
|
|
|
|
def stop_radar(self):
|
|
"""Stop radar operation"""
|
|
self.running = False
|
|
self.start_button.config(state="normal")
|
|
self.stop_button.config(state="disabled")
|
|
self.status_label.config(text="Status: Radar stopped")
|
|
|
|
self.stm32_usb_interface.close()
|
|
self.ftdi_interface.close()
|
|
|
|
logging.info("Radar system stopped")
|
|
|
|
def apply_settings(self):
|
|
"""Step 13: Apply and send radar settings via USB"""
|
|
try:
|
|
parsed_settings = self._parse_settings_from_form()
|
|
self.google_maps_api_key = self.settings_vars["google_maps_api_key"].get()
|
|
|
|
self.settings = parsed_settings
|
|
|
|
if self.stm32_usb_interface.is_open:
|
|
if not self.stm32_usb_interface.send_settings(self.settings):
|
|
messagebox.showerror("Error", "Failed to send settings to STM32 via USB")
|
|
logging.error("Radar settings validation passed, but USB send failed")
|
|
return
|
|
|
|
messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB")
|
|
logging.info("Radar settings applied and sent via USB")
|
|
else:
|
|
messagebox.showinfo("Success", "Settings applied locally")
|
|
logging.info("Radar settings applied locally; STM32 USB is not connected")
|
|
|
|
except ValueError as e:
|
|
messagebox.showerror("Error", f"Invalid setting value: {e}")
|
|
|
|
def start_background_threads(self):
|
|
"""Start background data processing threads"""
|
|
self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True)
|
|
self.radar_thread.start()
|
|
|
|
self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True)
|
|
self.gps_thread.start()
|
|
|
|
self.root.after(100, self.update_gui)
|
|
|
|
def process_radar_data(self):
|
|
"""Step 39: Process incoming radar data from FTDI"""
|
|
buffer = b""
|
|
while True:
|
|
if self.running and self.ftdi_interface.is_open:
|
|
try:
|
|
data = self.ftdi_interface.read_data(4096)
|
|
if data:
|
|
buffer += data
|
|
|
|
while len(buffer) >= 6:
|
|
packet = self.radar_packet_parser.parse_packet(buffer)
|
|
if packet:
|
|
self.process_radar_packet(packet)
|
|
packet_length = 4 + len(packet.get("payload", b"")) + 2
|
|
buffer = buffer[packet_length:]
|
|
self.received_packets += 1
|
|
else:
|
|
break
|
|
|
|
except FtdiError as e:
|
|
logging.error(f"Error processing radar data: {e}")
|
|
time.sleep(0.1)
|
|
else:
|
|
time.sleep(0.1)
|
|
|
|
def process_gps_data(self):
|
|
"""Step 16/17: Process GPS data from STM32 via USB CDC"""
|
|
while True:
|
|
if self.running and self.stm32_usb_interface.is_open:
|
|
try:
|
|
# Read data from STM32 USB
|
|
data = self.stm32_usb_interface.read_data(64, timeout=100)
|
|
if data:
|
|
gps_data = self.usb_packet_parser.parse_gps_data(data)
|
|
if gps_data:
|
|
self.gps_data_queue.put(gps_data)
|
|
logging.info(
|
|
"GPS Data received via USB: "
|
|
f"Lat {gps_data.latitude:.6f}, "
|
|
f"Lon {gps_data.longitude:.6f}, "
|
|
f"Alt {gps_data.altitude:.1f}m, "
|
|
f"Pitch {gps_data.pitch:.1f}°"
|
|
)
|
|
except (usb.core.USBError, ValueError, struct.error) as e:
|
|
logging.error(f"Error processing GPS data via USB: {e}")
|
|
time.sleep(0.1)
|
|
|
|
def process_radar_packet(self, packet):
|
|
"""Step 40: Process radar data and apply pitch correction"""
|
|
try:
|
|
if packet["type"] == "range":
|
|
range_meters = packet["range"] * 0.1
|
|
|
|
# Apply pitch correction to elevation
|
|
raw_elevation = packet["elevation"]
|
|
corrected_elevation = self.apply_pitch_correction(
|
|
raw_elevation, self.current_gps.pitch
|
|
)
|
|
|
|
# Store correction for display
|
|
self.corrected_elevations.append(
|
|
{
|
|
"raw": raw_elevation,
|
|
"corrected": corrected_elevation,
|
|
"pitch": self.current_gps.pitch,
|
|
"timestamp": packet["timestamp"],
|
|
}
|
|
)
|
|
|
|
# Keep only recent corrections
|
|
if len(self.corrected_elevations) > 100:
|
|
self.corrected_elevations = self.corrected_elevations[-100:]
|
|
|
|
target = RadarTarget(
|
|
id=packet["chirp"],
|
|
range=range_meters,
|
|
velocity=0,
|
|
azimuth=packet["azimuth"],
|
|
elevation=corrected_elevation, # Use corrected elevation
|
|
snr=20.0,
|
|
timestamp=packet["timestamp"],
|
|
)
|
|
|
|
self.update_range_doppler_map(target)
|
|
|
|
elif packet["type"] == "doppler":
|
|
lambda_wavelength = 3e8 / self.settings.system_frequency
|
|
velocity = (packet["doppler_real"] / 32767.0) * (
|
|
self.settings.prf1 * lambda_wavelength / 2
|
|
)
|
|
self.update_target_velocity(packet, velocity)
|
|
|
|
elif packet["type"] == "detection":
|
|
if packet["detected"]:
|
|
# Apply pitch correction to detection elevation
|
|
raw_elevation = packet["elevation"]
|
|
corrected_elevation = self.apply_pitch_correction(
|
|
raw_elevation, self.current_gps.pitch
|
|
)
|
|
|
|
logging.info(
|
|
f"CFAR Detection: Raw Elev {raw_elevation}°, "
|
|
f"Corrected Elev {corrected_elevation:.1f}°, "
|
|
f"Pitch {self.current_gps.pitch:.1f}°"
|
|
)
|
|
|
|
except (ValueError, KeyError) as e:
|
|
logging.error(f"Error processing radar packet: {e}")
|
|
|
|
def update_range_doppler_map(self, target):
|
|
"""Update range-Doppler map with new target"""
|
|
range_bin = min(int(target.range / 50), 1023)
|
|
doppler_bin = min(abs(int(target.velocity)), 31)
|
|
|
|
self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1
|
|
|
|
self.radar_processor.detected_targets.append(target)
|
|
|
|
if len(self.radar_processor.detected_targets) > 100:
|
|
self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:]
|
|
|
|
def update_target_velocity(self, packet, velocity):
|
|
"""Update target velocity information"""
|
|
for target in self.radar_processor.detected_targets:
|
|
if (
|
|
target.azimuth == packet["azimuth"]
|
|
and target.elevation == packet["elevation"]
|
|
and target.id == packet["chirp"]
|
|
):
|
|
target.velocity = velocity
|
|
break
|
|
|
|
def open_map_in_browser(self):
|
|
"""Open the generated map in the default web browser"""
|
|
if self.map_file_path and os.path.exists(self.map_file_path):
|
|
webbrowser.open("file://" + os.path.abspath(self.map_file_path))
|
|
else:
|
|
messagebox.showwarning(
|
|
"Warning", "No map file available. Generate map first by receiving GPS data."
|
|
)
|
|
|
|
def refresh_map(self):
|
|
"""Refresh the map with current data"""
|
|
self.generate_map()
|
|
|
|
def generate_map(self):
|
|
"""Generate Google Maps HTML file with current targets"""
|
|
if self.current_gps.latitude == 0 and self.current_gps.longitude == 0:
|
|
self.map_status_label.config(text="Map: Waiting for GPS data")
|
|
return
|
|
|
|
try:
|
|
# Create temporary HTML file
|
|
with tempfile.NamedTemporaryFile(
|
|
mode="w", suffix=".html", delete=False, encoding="utf-8"
|
|
) as f:
|
|
map_html = self.map_generator.generate_map(
|
|
self.current_gps,
|
|
self.radar_processor.detected_targets,
|
|
self.settings.map_size,
|
|
self.google_maps_api_key,
|
|
)
|
|
f.write(map_html)
|
|
self.map_file_path = f.name
|
|
|
|
self.map_status_label.config(text=f"Map: Generated at {self.map_file_path}")
|
|
self.map_info_label.config(
|
|
text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | "
|
|
f"Targets: {len(self.radar_processor.detected_targets)} | "
|
|
f"Coverage: {self.settings.map_size / 1000:.1f}km"
|
|
)
|
|
logging.info(f"Map generated: {self.map_file_path}")
|
|
|
|
except (OSError, ValueError) as e:
|
|
logging.error(f"Error generating map: {e}")
|
|
self.map_status_label.config(text=f"Map: Error - {e!s}")
|
|
|
|
def update_gps_display(self):
|
|
"""Step 18: Update GPS and pitch display"""
|
|
try:
|
|
while not self.gps_data_queue.empty():
|
|
gps_data = self.gps_data_queue.get_nowait()
|
|
self.current_gps = gps_data
|
|
|
|
# Update GPS label
|
|
self.gps_label.config(
|
|
text=(
|
|
f"GPS: Lat {gps_data.latitude:.6f}, "
|
|
f"Lon {gps_data.longitude:.6f}, "
|
|
f"Alt {gps_data.altitude:.1f}m"
|
|
)
|
|
)
|
|
|
|
# Update pitch label with color coding
|
|
pitch_text = f"Pitch: {gps_data.pitch:+.1f}°"
|
|
self.pitch_label.config(text=pitch_text)
|
|
|
|
# Color code based on pitch magnitude
|
|
if abs(gps_data.pitch) > 10:
|
|
self.pitch_label.config(foreground="red") # High pitch warning
|
|
elif abs(gps_data.pitch) > 5:
|
|
self.pitch_label.config(foreground="orange") # Medium pitch
|
|
else:
|
|
self.pitch_label.config(foreground="green") # Normal pitch
|
|
|
|
# Generate/update map when new GPS data arrives
|
|
self.generate_map()
|
|
|
|
except queue.Empty:
|
|
pass
|
|
|
|
def update_targets_list(self):
|
|
"""Update the targets list display with corrected elevations"""
|
|
for item in self.targets_tree.get_children():
|
|
self.targets_tree.delete(item)
|
|
|
|
for target in self.radar_processor.detected_targets[-20:]:
|
|
# Find the corresponding raw elevation if available
|
|
raw_elevation = "N/A"
|
|
for correction in self.corrected_elevations[-20:]:
|
|
if abs(correction["corrected"] - target.elevation) < 0.1: # Fuzzy match
|
|
raw_elevation = f"{correction['raw']}"
|
|
break
|
|
|
|
self.targets_tree.insert(
|
|
"",
|
|
"end",
|
|
values=(
|
|
target.track_id,
|
|
f"{target.range:.1f}",
|
|
f"{target.velocity:.1f}",
|
|
target.azimuth,
|
|
raw_elevation, # Show raw elevation
|
|
f"{target.elevation:.1f}", # Show corrected elevation
|
|
f"{target.snr:.1f}",
|
|
),
|
|
)
|
|
|
|
def update_gui(self):
|
|
"""Step 40: Update all GUI displays"""
|
|
try:
|
|
# Update status with pitch information
|
|
if self.running:
|
|
self.status_label.config(
|
|
text=(
|
|
f"Status: Running - Packets: {self.received_packets} - "
|
|
f"Pitch: {self.current_gps.pitch:+.1f}°"
|
|
)
|
|
)
|
|
|
|
# Update range-Doppler map
|
|
if hasattr(self, "range_doppler_plot"):
|
|
display_data = np.log10(self.radar_processor.range_doppler_map + 1)
|
|
self.range_doppler_plot.set_array(display_data)
|
|
self.canvas.draw_idle()
|
|
|
|
# Update targets list
|
|
self.update_targets_list()
|
|
|
|
# Update GPS and pitch display
|
|
self.update_gps_display()
|
|
|
|
except (tk.TclError, RuntimeError) as e:
|
|
logging.error(f"Error updating GUI: {e}")
|
|
|
|
self.root.after(100, self.update_gui)
|
|
|
|
|
|
def main():
|
|
"""Main application entry point"""
|
|
try:
|
|
root = tk.Tk()
|
|
_app = RadarGUI(root)
|
|
root.mainloop()
|
|
except Exception as e: # noqa: BLE001
|
|
logging.error(f"Application error: {e}")
|
|
messagebox.showerror("Fatal Error", f"Application failed to start: {e}")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|