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some kamil_adc fixes

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This commit is contained in:
Ayzen
2026-07-02 17:44:24 +03:00
parent 42532c9868
commit 3efe968dd1
10 changed files with 644 additions and 42 deletions
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python_app/hardware_full/kamil_adc/protocol.py
+30 -1
View File
@@ -29,6 +29,12 @@ import numpy as np
FRAME_BYTES = 8
MAIN_MARKER = 0x000A
REFERENCE_MARKER = 0x00A8
# Combo tag — ``0x00C0, input_pos, output_pos, dirty``. Emitted by the switch-aware
# collector right after a sweep boundary to label the upcoming sweep with the RF
# switch combination it was captured under (``dirty != 0`` means the sweep straddled
# a switch transition and must be dropped). Absent in the standalone/calibration
# collector, where every sweep carries no combo (``combo is None``).
COMBO_MARKER = 0x00C0
_BOUNDARY_STEP = 0xFFFF
# marker (u16), step (u16), ch1 (i16), ch2 (i16) — point frames carry signed I/Q.
@@ -52,6 +58,8 @@ class RawSweep:
steps: np.ndarray
main: np.ndarray
reference: np.ndarray
combo: tuple[int, int] | None = None
dirty: bool = False
@property
def size(self) -> int:
@@ -66,13 +74,17 @@ class KamilAdcStreamParser:
but holds no I/O and is cheap to unit-test.
"""
__slots__ = ("_buffer", "_aligned", "_main", "_reference")
__slots__ = ("_buffer", "_aligned", "_main", "_reference", "_pending_combo", "_pending_dirty")
def __init__(self) -> None:
self._buffer = bytearray()
self._aligned = False
self._main: dict[int, complex] = {}
self._reference: dict[int, complex] = {}
# Combo tag for the sweep currently being accumulated (set by the combo
# frame right after each boundary; ``None`` in non-switch collector modes).
self._pending_combo: tuple[int, int] | None = None
self._pending_dirty = False
def feed(self, data: bytes) -> list[RawSweep]:
"""Append ``data`` and return any sweeps completed by it."""
@@ -95,6 +107,10 @@ class KamilAdcStreamParser:
self._main[step] = complex(real, imag)
elif marker == REFERENCE_MARKER:
self._reference[step] = complex(real, imag)
elif marker == COMBO_MARKER:
# step = input_pos, real = output_pos, imag = dirty flag.
self._pending_combo = (int(step), int(real))
self._pending_dirty = imag != 0
else:
raise ValueError(
f"Kamil ADC protocol violation: unexpected frame marker 0x{marker:04x}"
@@ -107,6 +123,8 @@ class KamilAdcStreamParser:
self._aligned = False
self._main.clear()
self._reference.clear()
self._pending_combo = None
self._pending_dirty = False
def _align(self) -> bool:
"""Discard pre-roll up to and including the first sweep boundary.
@@ -122,6 +140,8 @@ class KamilAdcStreamParser:
del self._buffer[: index + FRAME_BYTES]
self._main.clear()
self._reference.clear()
self._pending_combo = None
self._pending_dirty = False
self._aligned = True
return True
@@ -130,12 +150,21 @@ class KamilAdcStreamParser:
shared = sorted(self._main.keys() & self._reference.keys())
main = self._main
reference = self._reference
combo = self._pending_combo
dirty = self._pending_dirty
self._main = {}
self._reference = {}
# The next sweep's combo is set by its own combo frame (right after this
# boundary); clear so a sweep without one reports combo=None rather than
# inheriting a stale tag.
self._pending_combo = None
self._pending_dirty = False
if not shared:
return None
return RawSweep(
steps=np.asarray(shared, dtype=np.int32),
main=np.asarray([main[step] for step in shared], dtype=np.complex64),
reference=np.asarray([reference[step] for step in shared], dtype=np.complex64),
combo=combo,
dirty=dirty,
)
python_app/hardware_full/kamil_adc/service.py
+54 -4
View File
@@ -47,6 +47,10 @@ _REJECT_LOG_EVERY = 50
# brief window to release the device cleanly before escalating to SIGKILL. Caps
# the configured stop_timeout_s so a stop can never hang.
_STOP_KILL_GRACE_S = 0.5
# Sweeps to skip after a Python-driven switch change before trusting a capture: one
# for the pre-switch sweep still in the mailbox, one for a possible transition
# straddler in flight. Calibration speed is not critical, so we err on safety.
_SWITCH_DRAIN_SWEEPS = 2
@dataclass(slots=True)
@@ -54,6 +58,10 @@ class KamilAdcService:
"""Launch the external Kamil ADC collector and serve its processed sweeps."""
config: RunConfigModel
# When set, the collector is launched with ``config:<path>`` so it drives the RF
# switches itself (switch-aware mode) from this run_config.json. ``None`` keeps
# the standalone collector that streams a single channel (calibration / mock).
switch_config_path: str | None = None
_process: subprocess.Popen[bytes] | None = field(init=False, default=None, repr=False)
_reader: KamilAdcTtyReader | None = field(init=False, default=None, repr=False)
_processor: KamilAdcSweepProcessor | None = field(init=False, default=None, repr=False)
@@ -64,9 +72,18 @@ class KamilAdcService:
@property
def command(self) -> list[str]:
"""External collector command, including the generated ``tty:`` argument."""
"""External collector command, including the generated ``tty:`` argument.
In switch-aware mode (``switch_config_path`` set) the collector also gets
``config:<path>`` so it reads the switch/combo configuration and drives the
switches in lock-step with the sweeps.
"""
adc = self.config.radar.kamil_adc
return [str(self._resolve_executable()), *adc.args, f"tty:{adc.tty_path}"]
cmd = [str(self._resolve_executable()), *adc.args]
if self.switch_config_path is not None:
cmd.append(f"config:{self.switch_config_path}")
cmd.append(f"tty:{adc.tty_path}")
return cmd
def open(self, *, stop_event: threading.Event | None = None) -> None:
"""Launch the collector and start the TTY reader thread.
@@ -122,12 +139,17 @@ class KamilAdcService:
"""Kamil ADC has no runtime-readable sweep-limit API."""
raise RuntimeError("Kamil ADC device limits are not available")
def acquire(self) -> SweepResult:
def acquire(self, combo: tuple[int, int] | None = None) -> SweepResult:
"""Return the next sweep that covers the band, as S21 on the fixed grid.
Sweeps whose floated frequency range does not span the configured band are
rejected and the next sweep is read, until one passes or the sweep timeout
elapses (which then surfaces as a :class:`TimeoutError`).
When ``combo`` is given (switch-aware mode), only the clean sweep captured
under that switch combination is returned; the collector drives the switches
and tags each sweep. When ``None`` (calibration / non-switch mode), the
single newest sweep is returned regardless of combination.
"""
if self._processor is None:
raise RuntimeError("Kamil ADC service is not configured")
@@ -147,7 +169,10 @@ class KamilAdcService:
raise TimeoutError(
"Timed out waiting for a Kamil ADC sweep covering the configured band"
)
raw = self._reader.read_sweep(timeout_s=remaining_s, process=process)
if combo is None:
raw = self._reader.read_sweep(timeout_s=remaining_s, process=process)
else:
raw = self._reader.read_sweep_for(combo, timeout_s=remaining_s, process=process)
s21 = self._processor.process(raw.main, raw.reference)
if s21 is not None:
return SweepResult(
@@ -159,6 +184,31 @@ class KamilAdcService:
)
self._log_rejected_sweep(raw)
def drain_after_switch(self, sweeps: int = _SWITCH_DRAIN_SWEEPS) -> None:
"""Discard sweeps captured before / across a just-applied switch change.
The collector free-runs, so right after the RF switches move the reader
still holds a sweep captured in the *previous* combination, and a sweep that
straddles the transition may still be in flight. Without this, the next
:meth:`acquire` would return that stale data and the capture would be
attributed to the wrong combination (an off-by-one across the sequence).
Block until ``sweeps`` freshly-published sweeps have gone by, so the next
:meth:`acquire` returns a sweep captured entirely in the new switch state.
Used by the Python-driven calibration capture, where the collector does not
tag sweeps; the switch-aware collector path handles this with combo tags
instead. No-op when the service is not open.
"""
if self._reader is None:
return
target = self._reader.published_count + max(1, int(sweeps))
deadline = time.monotonic() + self.config.radar.kamil_adc.sweep_timeout_s
while self._reader.published_count < target:
if time.monotonic() > deadline:
raise TimeoutError("Timed out draining Kamil ADC sweeps after a switch change")
raise_if_process_exited(self._process)
time.sleep(0.005)
def read_raw_sweep(self) -> RawSweep:
"""Return the next raw (main, reference) sweep without any processing.
python_app/hardware_full/kamil_adc/tty_reader.py
+53 -3
View File
@@ -52,6 +52,10 @@ class KamilAdcTtyReader:
_stop_event: threading.Event = field(init=False, default_factory=threading.Event, repr=False)
_mailbox_cv: threading.Condition = field(init=False, default_factory=threading.Condition, repr=False)
_latest_sweep: RawSweep | None = field(init=False, default=None, repr=False)
# Latest clean sweep per switch combination, for the switch-aware collector.
# read_sweep() ignores this and serves the single newest sweep (calibration /
# non-switch mode); read_sweep_for() serves a specific combination.
_combo_slots: dict[tuple[int, int], RawSweep] = field(init=False, default_factory=dict, repr=False)
_reader_error: Exception | None = field(init=False, default=None, repr=False)
_published_count: int = field(init=False, default=0, repr=False)
@@ -62,6 +66,7 @@ class KamilAdcTtyReader:
self._fd = os.open(self.tty_path, os.O_RDONLY | os.O_NOCTTY | os.O_NONBLOCK)
self._stop_event.clear()
self._latest_sweep = None
self._combo_slots = {}
self._reader_error = None
self._published_count = 0
self._thread = threading.Thread(
@@ -89,6 +94,7 @@ class KamilAdcTtyReader:
finally:
self._fd = None
self._latest_sweep = None
self._combo_slots = {}
self._reader_error = None
@property
@@ -131,6 +137,39 @@ class KamilAdcTtyReader:
)
self._mailbox_cv.wait(timeout=min(_READ_POLL_INTERVAL_S, remaining_s))
def read_sweep_for(
self,
combo: tuple[int, int],
*,
timeout_s: float,
process: subprocess.Popen[bytes] | None = None,
) -> RawSweep:
"""Wait for and return the latest clean sweep for ``combo``.
Used in switch-aware mode, where the collector drives the switches and tags
each sweep with its combination. Only clean sweeps are delivered (the reader
thread drops the dirty ones); the slot is consumed on read so each caller
gets a fresh capture. Raises like :meth:`read_sweep`.
"""
if self._thread is None:
raise RuntimeError("Kamil ADC TTY reader is not open")
deadline = time.monotonic() + float(timeout_s)
with self._mailbox_cv:
while True:
sweep = self._combo_slots.pop(combo, None)
if sweep is not None:
return sweep
if self._reader_error is not None:
raise self._reader_error
raise_if_process_exited(process)
remaining_s = deadline - time.monotonic()
if remaining_s <= 0.0:
raise TimeoutError(
f"Timed out waiting for Kamil ADC sweep for combo {combo} "
f"after {float(timeout_s):.3f}s"
)
self._mailbox_cv.wait(timeout=min(_READ_POLL_INTERVAL_S, remaining_s))
# ------------------------------------------------------------------
# Reader-thread internals
# ------------------------------------------------------------------
@@ -177,11 +216,22 @@ class KamilAdcTtyReader:
return chunk
def _publish_sweep(self, sweep: RawSweep) -> None:
"""Store ``sweep`` as the latest mailbox value, overwriting any unread one."""
"""Publish a completed sweep to the mailbox(es), waking any waiter.
Dirty sweeps (those that straddled a switch transition) are counted but not
delivered: the collector re-takes that combination on the next sweep. Clean
tagged sweeps go to their per-combo slot; untagged sweeps (non-switch mode)
only update the single newest-sweep mailbox that read_sweep() serves.
"""
with self._mailbox_cv:
self._latest_sweep = sweep
self._published_count += 1
self._mailbox_cv.notify()
if sweep.dirty:
self._mailbox_cv.notify_all()
return
self._latest_sweep = sweep
if sweep.combo is not None:
self._combo_slots[sweep.combo] = sweep
self._mailbox_cv.notify_all()
def _publish_error(self, exc: Exception) -> None:
"""Record ``exc`` as the reader fault and wake any waiter."""