added remote k209 setup

data_acq_and_processing/sweep_orchestrator/device_drivers/radar/remote_compact_m_k209/remote_compact_m_k209_driver.cpp

@@ -0,0 +1,271 @@
+#include "../remote_compact_m_k209_driver.hpp"
+
+#include <arpa/inet.h>
+#include <netdb.h>
+#include <netinet/tcp.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <cstring>
+#include <stdexcept>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace radar::drivers {
+namespace {
+
+constexpr std::uint8_t kCommandConfigure = static_cast<std::uint8_t>('C');
+constexpr std::uint8_t kCommandAcquire = static_cast<std::uint8_t>('A');
+constexpr std::uint8_t kStatusOk = static_cast<std::uint8_t>('O');
+constexpr std::uint8_t kStatusError = static_cast<std::uint8_t>('E');
+
+[[nodiscard]] auto system_error_message(const std::string& context) -> std::string {
+    return context + ": " + std::strerror(errno);
+}
+
+void append_u32_be(std::vector<std::uint8_t>& buffer, std::uint32_t value) {
+    buffer.push_back(static_cast<std::uint8_t>((value >> 24U) & 0xFFU));
+    buffer.push_back(static_cast<std::uint8_t>((value >> 16U) & 0xFFU));
+    buffer.push_back(static_cast<std::uint8_t>((value >> 8U) & 0xFFU));
+    buffer.push_back(static_cast<std::uint8_t>(value & 0xFFU));
+}
+
+void append_u64_be(std::vector<std::uint8_t>& buffer, std::uint64_t value) {
+    for (int shift = 56; shift >= 0; shift -= 8) {
+        buffer.push_back(static_cast<std::uint8_t>((value >> static_cast<unsigned>(shift)) & 0xFFU));
+    }
+}
+
+void append_double_be(std::vector<std::uint8_t>& buffer, double value) {
+    std::uint64_t bits = 0;
+    static_assert(sizeof(bits) == sizeof(value));
+    std::memcpy(&bits, &value, sizeof(bits));
+    append_u64_be(buffer, bits);
+}
+
+[[nodiscard]] auto parse_u32_be(const std::uint8_t* data) -> std::uint32_t {
+    return (static_cast<std::uint32_t>(data[0]) << 24U) |
+           (static_cast<std::uint32_t>(data[1]) << 16U) |
+           (static_cast<std::uint32_t>(data[2]) << 8U) |
+           static_cast<std::uint32_t>(data[3]);
+}
+
+void send_all(int socket_fd, const void* data, std::size_t size) {
+    const auto* cursor = static_cast<const std::uint8_t*>(data);
+    auto remaining = size;
+    while (remaining > 0U) {
+        const auto sent = ::send(socket_fd, cursor, remaining, MSG_NOSIGNAL);
+        if (sent < 0) {
+            throw std::runtime_error(system_error_message("send to K209 remote server failed"));
+        }
+        if (sent == 0) {
+            throw std::runtime_error("send to K209 remote server returned zero bytes");
+        }
+        cursor += sent;
+        remaining -= static_cast<std::size_t>(sent);
+    }
+}
+
+void recv_exact(int socket_fd, void* data, std::size_t size) {
+    auto* cursor = static_cast<std::uint8_t*>(data);
+    auto remaining = size;
+    while (remaining > 0U) {
+        const auto received = ::recv(socket_fd, cursor, remaining, 0);
+        if (received < 0) {
+            throw std::runtime_error(system_error_message("read from K209 remote server failed"));
+        }
+        if (received == 0) {
+            throw std::runtime_error("K209 remote server closed the connection");
+        }
+        cursor += received;
+        remaining -= static_cast<std::size_t>(received);
+    }
+}
+
+[[nodiscard]] auto recv_u32(int socket_fd) -> std::uint32_t {
+    std::uint8_t bytes[4]{};
+    recv_exact(socket_fd, bytes, sizeof(bytes));
+    return parse_u32_be(bytes);
+}
+
+void read_status(int socket_fd) {
+    std::uint8_t status = 0;
+    recv_exact(socket_fd, &status, 1);
+    if (status == kStatusOk) {
+        return;
+    }
+    if (status == kStatusError) {
+        const auto message_size = recv_u32(socket_fd);
+        std::string message(message_size, '\0');
+        if (message_size > 0U) {
+            recv_exact(socket_fd, message.data(), message.size());
+        }
+        throw std::runtime_error("K209 remote server error: " + message);
+    }
+    throw std::runtime_error("K209 remote server returned invalid status byte");
+}
+
+[[nodiscard]] auto recv_float32_array(int socket_fd, std::uint32_t expected_values, const std::string& context)
+    -> std::vector<float> {
+    const auto payload_size = recv_u32(socket_fd);
+    const auto expected_size = expected_values * static_cast<std::uint32_t>(sizeof(float));
+    if (payload_size != expected_size) {
+        throw std::runtime_error(
+            "K209 remote " + context + " payload has " + std::to_string(payload_size) +
+            " bytes, expected " + std::to_string(expected_size)
+        );
+    }
+
+    std::vector<float> values(expected_values);
+    if (payload_size > 0U) {
+        recv_exact(socket_fd, values.data(), payload_size);
+    }
+    return values;
+}
+
+[[nodiscard]] auto connect_socket(const std::string& host, std::uint32_t port, std::uint32_t timeout_ms) -> int {
+    addrinfo hints{};
+    hints.ai_family = AF_UNSPEC;
+    hints.ai_socktype = SOCK_STREAM;
+    hints.ai_protocol = IPPROTO_TCP;
+
+    addrinfo* result = nullptr;
+    const auto port_text = std::to_string(port);
+    const auto rc = ::getaddrinfo(host.c_str(), port_text.c_str(), &hints, &result);
+    if (rc != 0) {
+        throw std::runtime_error("getaddrinfo failed for K209 remote host " + host + ": " + ::gai_strerror(rc));
+    }
+
+    int connected_fd = -1;
+    std::string last_error;
+    for (auto* item = result; item != nullptr; item = item->ai_next) {
+        const int fd = ::socket(item->ai_family, item->ai_socktype, item->ai_protocol);
+        if (fd < 0) {
+            last_error = system_error_message("socket");
+            continue;
+        }
+
+        const int one = 1;
+        static_cast<void>(::setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one)));
+        timeval timeout{};
+        timeout.tv_sec = static_cast<long>(timeout_ms / 1000U);
+        timeout.tv_usec = static_cast<long>((timeout_ms % 1000U) * 1000U);
+        static_cast<void>(::setsockopt(fd, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)));
+        static_cast<void>(::setsockopt(fd, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout)));
+
+        if (::connect(fd, item->ai_addr, item->ai_addrlen) == 0) {
+            connected_fd = fd;
+            break;
+        }
+        last_error = system_error_message("connect");
+        ::close(fd);
+    }
+    ::freeaddrinfo(result);
+
+    if (connected_fd < 0) {
+        throw std::runtime_error("Failed to connect to K209 remote server " + host + ":" + port_text + ": " + last_error);
+    }
+    return connected_fd;
+}
+
+[[nodiscard]] auto complex_from_interleaved(const std::vector<float>& values, std::uint32_t points, const std::string& context)
+    -> std::vector<ipc::Complex32> {
+    if (values.size() != static_cast<std::size_t>(points) * 2U) {
+        throw std::runtime_error("K209 remote " + context + " returned unexpected scalar count");
+    }
+
+    std::vector<ipc::Complex32> output(points);
+    for (std::uint32_t index = 0; index < points; ++index) {
+        output[index] = ipc::Complex32{
+            .re = values[static_cast<std::size_t>(index) * 2U],
+            .im = values[static_cast<std::size_t>(index) * 2U + 1U],
+        };
+    }
+    return output;
+}
+
+}  // namespace
+
+RemoteCompactMK209Driver::RemoteCompactMK209Driver(RemoteCompactMK209DriverSettings settings)
+    : settings_(std::move(settings)) {
+    if (settings_.host.empty()) {
+        throw std::runtime_error("K209 remote host must not be empty");
+    }
+    if (settings_.port == 0U || settings_.port > 65535U) {
+        throw std::runtime_error("K209 remote port must be in 1..65535");
+    }
+    if (settings_.timeout_ms == 0U) {
+        throw std::runtime_error("K209 remote timeout_ms must be > 0");
+    }
+}
+
+RemoteCompactMK209Driver::~RemoteCompactMK209Driver() {
+    try {
+        close();
+    } catch (...) {
+    }
+}
+
+void RemoteCompactMK209Driver::open() {
+    if (socket_fd_ >= 0) {
+        return;
+    }
+
+    socket_fd_ = connect_socket(settings_.host, settings_.port, settings_.timeout_ms);
+
+    try {
+        std::vector<std::uint8_t> payload{};
+        payload.reserve(1U + 8U + 8U + 4U + 8U + 8U);
+        payload.push_back(kCommandConfigure);
+        append_double_be(payload, static_cast<double>(settings_.sweep.start_hz));
+        append_double_be(payload, static_cast<double>(settings_.sweep.stop_hz));
+        append_u32_be(payload, settings_.sweep.points);
+        append_double_be(payload, static_cast<double>(settings_.sweep.if_bandwidth_hz));
+        append_double_be(payload, static_cast<double>(settings_.sweep.power_dbm));
+        send_all(socket_fd_, payload.data(), payload.size());
+
+        read_status(socket_fd_);
+        const auto points = recv_u32(socket_fd_);
+        if (points != settings_.sweep.points) {
+            throw std::runtime_error("K209 remote server returned unexpected configured point count");
+        }
+        frequency_hz_ = recv_float32_array(socket_fd_, points, "frequency");
+    } catch (...) {
+        close();
+        throw;
+    }
+}
+
+void RemoteCompactMK209Driver::close() {
+    if (socket_fd_ >= 0) {
+        ::close(socket_fd_);
+        socket_fd_ = -1;
+    }
+    frequency_hz_.clear();
+}
+
+auto RemoteCompactMK209Driver::acquire_sweep() -> SweepTrace {
+    if (socket_fd_ < 0) {
+        throw std::runtime_error("K209 remote driver is not open");
+    }
+    const std::uint8_t command = kCommandAcquire;
+    send_all(socket_fd_, &command, 1);
+    read_status(socket_fd_);
+
+    const auto points = recv_u32(socket_fd_);
+    if (points != settings_.sweep.points) {
+        throw std::runtime_error("K209 remote server returned unexpected sweep point count");
+    }
+    const auto s11_values = recv_float32_array(socket_fd_, points * 2U, "S11");
+    const auto s21_values = recv_float32_array(socket_fd_, points * 2U, "S21");
+
+    return SweepTrace{
+        .frequency_hz = frequency_hz_,
+        .s11 = complex_from_interleaved(s11_values, points, "S11"),
+        .s21 = complex_from_interleaved(s21_values, points, "S21"),
+    };
+}
+
+}  // namespace radar::drivers

data_acq_and_processing/sweep_orchestrator/device_drivers/radar/remote_compact_m_k209_driver.hpp

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+#include <vector>
+
+#include "radar_driver.hpp"
+#include "run_config.hpp"
+
+namespace radar::drivers {
+
+struct RemoteCompactMK209DriverSettings {
+    std::string host = "127.0.0.1";
+    std::uint32_t port = 50209;
+    config::RadarSweepSettings sweep{};
+    std::uint32_t timeout_ms = 20'000;
+};
+
+class RemoteCompactMK209Driver final : public RadarDriver {
+  public:
+    explicit RemoteCompactMK209Driver(RemoteCompactMK209DriverSettings settings);
+    ~RemoteCompactMK209Driver() override;
+
+    void open() override;
+    void close() override;
+    [[nodiscard]] auto acquire_sweep() -> SweepTrace override;
+
+  private:
+    RemoteCompactMK209DriverSettings settings_{};
+    int socket_fd_ = -1;
+    std::vector<float> frequency_hz_{};
+};
+
+}  // namespace radar::drivers

data_acq_and_processing/sweep_orchestrator/src/main.cpp

@@ -9,6 +9,8 @@
 #include "h7992_minimal_driver.hpp"
 #include "hmc349a_minimal_driver.hpp"
 #include "librevna_minimal_driver.hpp"
+#include "radar_driver.hpp"
+#include "remote_compact_m_k209_driver.hpp"
 #include "run_config.hpp"
 #include "shm_ring.hpp"
 #include "sweep_orchestrator.hpp"
@@ -16,6 +18,9 @@
 namespace {
 
 constexpr const char* kDefaultConfigPath = "run_config.json";
+constexpr const char* kLibreVnaModel = "librevna";
+constexpr const char* kLibreVnaMultiModel = "librevna_multi";
+constexpr const char* kCompactMK209Model = "compact_m_k209";
 std::atomic<bool> g_stop_requested{false};
 
 void signal_handler(int /*signal*/) {
@@ -40,13 +45,38 @@ void install_signal_handlers() {
     return config_path;
 }
 
-[[nodiscard]] auto make_radar_driver(const radar::config::RadarConfig& config) -> radar::drivers::LibreVnaMinimalDriver {
-    return radar::drivers::LibreVnaMinimalDriver({
-        .mode = config.driver_mode,
-        .serial = config.serial,
-        .sweep = config.sweep,
-        .mock_signal_hz = config.mock_signal_hz,
-    });
+[[nodiscard]] auto make_radar_driver(const radar::config::RadarConfig& config)
+    -> std::unique_ptr<radar::drivers::RadarDriver> {
+    if (config.model == kLibreVnaModel || config.model.empty()) {
+        return std::make_unique<radar::drivers::LibreVnaMinimalDriver>(
+            radar::drivers::LibreVnaMinimalDriverSettings{
+                .mode = config.driver_mode,
+                .serial = config.serial,
+                .sweep = config.sweep,
+                .mock_signal_hz = config.mock_signal_hz,
+            }
+        );
+    }
+
+    if (config.model == kCompactMK209Model) {
+        if (config.driver_mode != radar::config::DriverMode::Native) {
+            throw std::runtime_error("compact_m_k209 requires radar.driver_mode='native'");
+        }
+        return std::make_unique<radar::drivers::RemoteCompactMK209Driver>(
+            radar::drivers::RemoteCompactMK209DriverSettings{
+                .host = config.remote_host,
+                .port = config.remote_port,
+                .sweep = config.sweep,
+                .timeout_ms = 20'000,
+            }
+        );
+    }
+
+    if (config.model == kLibreVnaMultiModel) {
+        throw std::runtime_error("librevna_multi is handled by python_app.scripts.multi_device_raw_producer");
+    }
+
+    throw std::runtime_error("Unsupported radar.model for sweep_orchestrator: " + config.model);
 }
 
 [[nodiscard]] auto make_h7992_driver(const radar::config::SwitchConfig& config)
@@ -120,7 +150,7 @@ int main(int argc, char** argv) {
 
         radar::acq::SweepOrchestrator orchestrator(
             config,
-            radar_driver,
+            *radar_driver,
             *input_switch,
             *output_switch,
             raw_ring,