Add object calibration
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Ayzen
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"""Live reflector measurements and target-phase diagnostics for MIMO calibration."""
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from __future__ import annotations
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import copy
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import math
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import numpy as np
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import pyqtgraph as pg
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from PyQt6.QtCore import Qt, pyqtSignal
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from PyQt6.QtWidgets import (
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QCheckBox, QComboBox, QDialog, QDoubleSpinBox, QFormLayout, QGroupBox,
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QHBoxLayout, QHeaderView, QLabel, QLineEdit, QPushButton, QTableWidget, QTableWidgetItem,
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QVBoxLayout, QWidget,
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)
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from python_app.models.dataset_model import SweepCollection
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class ObjectCalibrationDialog(QDialog):
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"""Collect full-matrix sweeps, then associate each group with measured XYZ."""
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capture_requested = pyqtSignal()
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calculate_requested = pyqtSignal()
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cancel_requested = pyqtSignal()
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def __init__(self, set_name: str, parent=None) -> None:
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super().__init__(parent)
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self.setWindowTitle("MIMO Object Calibration")
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self.resize(1000, 850)
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self._captures: list[dict] = []
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self._config: dict | None = None
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self._capture_pending = self._calculating = False
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self._calibration: dict | None = None
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layout = QVBoxLayout(self)
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name_row = QHBoxLayout()
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name_row.addWidget(QLabel("Set name", self))
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self._set_name_input = QLineEdit(set_name, self)
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name_row.addWidget(self._set_name_input)
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layout.addLayout(name_row)
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explanation = QLabel(
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"Снимите данные, затем введите физически измеренные координаты центра отражателя: "
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"X — поперёк, Y — высота над землёй, Z — вдоль земли. "
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"Обычные S21-калибровка и выбранный референс уже применены; "
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"существующая MIMO-поправка при съёмке отключена.", self,
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)
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explanation.setWordWrap(True)
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layout.addWidget(explanation)
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self._table = QTableWidget(0, 5, self)
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self._table.setHorizontalHeaderLabels(["Набор", "Свипов", "X (м)", "Y (м)", "Z (м)"])
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horizontal, vertical = self._table.horizontalHeader(), self._table.verticalHeader()
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assert horizontal is not None and vertical is not None
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horizontal.setSectionResizeMode(QHeaderView.ResizeMode.Stretch)
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vertical.hide()
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self._table.setSelectionBehavior(QTableWidget.SelectionBehavior.SelectRows)
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self._table.itemChanged.connect(self._measurements_changed)
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layout.addWidget(self._table)
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actions = QHBoxLayout()
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self._capture_button = QPushButton("Снять данные", self)
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self._capture_button.clicked.connect(self.capture_requested.emit)
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self._remove_button = QPushButton("Удалить выбранный набор", self)
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self._remove_button.clicked.connect(self._remove_capture)
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actions.addWidget(self._capture_button)
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actions.addWidget(self._remove_button)
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actions.addStretch(1)
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layout.addLayout(actions)
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self._settings: dict[str, QDoubleSpinBox | QCheckBox | QComboBox] = {}
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form = QFormLayout()
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for key, title, default, low, high in (
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("sphere_radius_m", "Радиус шара, м (0 — точка)", .16, 0, 100),
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("antenna_height_m", "Высота начала координат антенн над землёй, м", .92, 0, 100),
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("pitch_deg", "Наклон радара вниз, °", 10, -90, 90),
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):
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form.addRow(title, self._number(key, default, low, high))
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layout.addLayout(form)
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advanced = QGroupBox("Параметры расчёта", self)
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advanced.setFlat(True)
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advanced.setCheckable(True)
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advanced.setChecked(False)
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advanced_layout = QVBoxLayout(advanced)
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advanced_content = QWidget(advanced)
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advanced_form = QFormLayout(advanced_content)
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for key, title, default, low, high in (
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("f_min", "Нижняя частота оценки, МГц", 2000, 0, 100000),
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("f_max", "Верхняя частота оценки, МГц", 6000, 0, 100000),
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("gate_half_m", "Полуширина окна эха по пути, м", .15, .000001, 100),
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("gate_taper_m", "Плавный край окна, м", .03, .000001, 100),
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("coarse_range_search_m", "Грубый поиск по пути, ±м (0 — выкл.)", .6, 0, 100),
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("refine_range_m", "Уточнение координат, ±м", .1, 0, 100),
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):
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advanced_form.addRow(title, self._number(key, default, low, high))
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axes = QWidget(advanced_content)
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axes_layout = QHBoxLayout(axes)
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axes_layout.setContentsMargins(0, 0, 0, 0)
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self._refine_axes = {}
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for axis in "xyz":
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checkbox = QCheckBox(axis.upper(), axes)
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checkbox.setChecked(True)
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checkbox.toggled.connect(self._measurements_changed)
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self._refine_axes[axis] = checkbox
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axes_layout.addWidget(checkbox)
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advanced_form.addRow("Уточнять координаты", axes)
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phase_model = QComboBox(advanced_content)
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phase_model.addItems(["const", "linear", "poly3", "raw"])
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phase_model.setCurrentText("linear")
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phase_model.currentTextChanged.connect(self._measurements_changed)
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self._settings["phase_model"] = phase_model
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advanced_form.addRow("Модель фазы антенны", phase_model)
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amplitude = QCheckBox("Выравнивать также амплитуды", advanced_content)
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amplitude.toggled.connect(self._measurements_changed)
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self._settings["apply_amplitude"] = amplitude
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advanced_form.addRow(amplitude)
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advanced_content.hide()
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advanced.toggled.connect(advanced_content.setVisible)
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advanced_layout.addWidget(advanced_content)
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layout.addWidget(advanced)
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self._target_combo = QComboBox(self)
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self._target_combo.currentIndexChanged.connect(self._draw_phase_effect)
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layout.addWidget(self._target_combo)
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self._phase_plot = pg.PlotWidget(background="#0f141c", enableMenu=False)
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self._phase_plot.setLabel("left", "Target phase relative to first pair", units="deg")
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self._phase_plot.setLabel("bottom", "Tx / Rx pair")
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self._phase_plot.showGrid(x=True, y=True, alpha=.2)
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self._phase_plot.setMinimumHeight(220)
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self._phase_plot.addLegend()
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layout.addWidget(self._phase_plot)
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self._quality_label = QLabel("Фазы вкладов пар появятся после расчёта.", self)
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self._quality_label.setWordWrap(True)
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layout.addWidget(self._quality_label)
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self._status_label = QLabel("Готово к съёмке", self)
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self._status_label.setWordWrap(True)
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layout.addWidget(self._status_label)
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footer = QHBoxLayout()
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self._calculate_button = QPushButton("Рассчитать и сохранить", self)
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self._calculate_button.clicked.connect(self.calculate_requested.emit)
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self._cancel_button = QPushButton("Отменить операцию", self)
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self._cancel_button.clicked.connect(self.cancel_requested.emit)
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close_button = QPushButton("Закрыть", self)
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close_button.clicked.connect(self.reject)
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footer.addWidget(self._calculate_button)
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footer.addWidget(self._cancel_button)
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footer.addStretch(1)
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footer.addWidget(close_button)
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layout.addLayout(footer)
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self._update_actions()
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def _number(self, key: str, value: float, low: float, high: float) -> QDoubleSpinBox:
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field = QDoubleSpinBox(self)
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field.setDecimals(6)
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field.setRange(low, high)
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field.setSingleStep(100 if key in {"f_min", "f_max"} else .1 if key == "pitch_deg" else .01)
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field.setValue(value)
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field.valueChanged.connect(self._measurements_changed)
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self._settings[key] = field
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return field
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def add_capture(self, collections: list[SweepCollection], config: dict) -> None:
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"""Freeze a captured group before the operator enters its target coordinates."""
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if not collections:
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raise ValueError("Не получены свипы отражателя")
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if self._config is not None and any(
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config.get(key) != self._config.get(key) for key in ("radar", "gpr", "preprocess")
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):
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raise ValueError("Параметры радара, геометрия или препроцессинг изменились между наборами")
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self._config = copy.deepcopy(config)
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self._captures.append({"collections": copy.deepcopy(collections)})
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row = self._table.rowCount()
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self._table.insertRow(row)
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for column, value in enumerate((str(row + 1), str(len(collections)), "", "", "")):
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item = QTableWidgetItem(value)
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if column < 2:
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item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsEditable)
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self._table.setItem(row, column, item)
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self._table.setCurrentCell(row, 2)
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self.set_status("Данные сняты. Введите координаты центра отражателя для нового набора.")
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self._update_actions()
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def calculation_inputs(self) -> tuple[list[dict], dict, dict]:
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"""Validate XYZ after capture; expose a frozen recipe to the worker."""
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if not self._captures or self._config is None:
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raise ValueError("Сначала снимите данные отражателя")
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groups = []
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for row, capture in enumerate(self._captures):
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try:
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coordinates = []
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for column in (2, 3, 4):
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item = self._table.item(row, column)
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assert item is not None
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coordinates.append(float(item.text().strip()))
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target = tuple(coordinates)
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except ValueError as exc:
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raise ValueError(f"Введите X, Y и Z центра отражателя для набора {row + 1}") from exc
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if not all(math.isfinite(value) for value in target):
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raise ValueError(f"Координаты набора {row + 1} должны быть конечными числами")
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groups.append({**capture, "target_scene_m": target})
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settings: dict[str, float | bool | str | tuple[str, ...] | tuple[int, ...]] = {
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key: field.value() * (1e6 if key in {"f_min", "f_max"} else 1) if isinstance(field, QDoubleSpinBox) else
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field.isChecked() if isinstance(field, QCheckBox) else field.currentText()
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for key, field in self._settings.items()
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}
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settings["refine_axes"] = tuple(axis for axis, field in self._refine_axes.items() if field.isChecked())
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traces = self._captures[0]["collections"][0].traces
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settings["input_idx"] = tuple(sorted({trace.combo.input for trace in traces}))
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settings["output_idx"] = tuple(sorted({trace.combo.output for trace in traces}))
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return groups, copy.deepcopy(self._config), settings
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def set_name(self) -> str:
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return self._set_name_input.text().strip()
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def set_capture_pending(self, pending: bool) -> None:
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self._capture_pending = pending
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self._update_actions()
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def set_calculating(self, calculating: bool) -> None:
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self._calculating = calculating
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self._update_actions()
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def set_status(self, message: str) -> None:
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self._status_label.setText(message)
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def show_calibration(self, calibration: dict) -> None:
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self._calibration = calibration
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self._target_combo.clear()
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for index, target in enumerate(calibration.get("meta", {}).get("targets", [])):
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xyz = target.get("nominal_scene_m", [])
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self._target_combo.addItem(f"Набор {index + 1}: {xyz}")
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self._draw_phase_effect()
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def _draw_phase_effect(self, *_args) -> None:
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self._phase_plot.clear()
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if self._calibration is None:
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return
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diagnostics = self._calibration.get("meta", {}).get("diagnostics", [])
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index = self._target_combo.currentIndex()
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if not 0 <= index < len(diagnostics):
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self._quality_label.setText("У этого набора нет диагностики фаз в точке цели.")
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return
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diagnostic = diagnostics[index]
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phases = np.array([diagnostic["phase_before_deg"], diagnostic["phase_after_deg"]]).reshape(2, -1)
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before, after = (phases - phases[0, 0] + 180) % 360 - 180
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pairs = [(output, input_pos) for output in self._calibration["tx_output_pos"]
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for input_pos in self._calibration["rx_input_pos"]]
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xx = np.arange(len(pairs))
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for values, color, label in ((before, "#ed7d31", "До"), (after, "#42c7a5", "После")):
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self._phase_plot.plot(xx, values, pen=pg.mkPen(color, width=1.5), symbol="o",
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symbolBrush=color, symbolPen=color, name=label)
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step = max(1, len(pairs) // 16)
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self._phase_plot.getAxis("bottom").setTicks([[
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(k, f"o{pairs[k][0]}/i{pairs[k][1]}") for k in range(0, len(pairs), step)
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]])
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self._quality_label.setText(
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f"Согласованность фаз в точке цели: {diagnostic['coherence_before']:.3f} "
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f"→ {diagnostic['coherence_after']:.3f} (1 — все вклады в фазе)."
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)
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def _remove_capture(self) -> None:
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row = self._table.currentRow()
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if row >= 0:
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self._captures.pop(row)
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self._table.removeRow(row)
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for index in range(self._table.rowCount()):
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item = self._table.item(index, 0)
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assert item is not None
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item.setText(str(index + 1))
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if not self._captures:
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self._config = None
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self._measurements_changed()
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def _measurements_changed(self, *_args) -> None:
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self._calibration = None
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if hasattr(self, "_phase_plot"):
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self._phase_plot.clear()
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self._target_combo.clear()
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self._quality_label.setText("Параметры изменены — требуется новый расчёт.")
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def _update_actions(self) -> None:
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busy = self._capture_pending or self._calculating
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self._capture_button.setEnabled(not busy)
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self._remove_button.setEnabled(not busy and bool(self._captures))
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self._calculate_button.setEnabled(not busy and bool(self._captures))
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self._cancel_button.setEnabled(busy)
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self._table.setEnabled(not busy)
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self._set_name_input.setEnabled(not busy)
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for field in [*self._settings.values(), *self._refine_axes.values()]:
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field.setEnabled(not busy)
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def reject(self) -> None:
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self.cancel_requested.emit()
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super().reject()
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def closeEvent(self, event) -> None: # noqa: N802
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self.cancel_requested.emit()
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super().closeEvent(event)
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