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Rework radar system

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This commit is contained in:
Ayzen
2026-10-06 12:32:26 +03:00
parent 552cdc688a
commit 5bb86b7165
299 changed files with 13537 additions and 27763 deletions
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Makefile
+16 -61
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@@ -2,7 +2,6 @@ CXX := g++
PYTHON ?= .venv/bin/python
CXXFLAGS := -std=c++20 -O2 -Wall -Wextra -Wpedantic -pthread -MMD -MP
LDFLAGS := -pthread -lrt
ORCH_LDFLAGS := $(LDFLAGS) -lusb-1.0
BUILD_DIR := build
BIN_DIR := $(BUILD_DIR)/bin
@@ -10,7 +9,7 @@ BIN_DIR := $(BUILD_DIR)/bin
# --- CUDA for the sar3d processor (optional). Its kernels are compiled at run
# time by NVRTC and launched through the CUDA driver API, so no nvcc is needed:
# only nvrtc.h, cuda.h, libnvrtc and the NVIDIA driver's libcuda. Headers and
# libnvrtc come from the pip nvidia-cuda-* packages in .venv (requirements-cuda.txt,
# libnvrtc come from the pip nvidia-cuda-* packages in .venv (requirements.txt,
# x86_64) or from a system toolkit in /usr/local/cuda (Jetson). Without them
# data_processor still builds; selecting sar3d shows a CUDA warning.
CUDA_ROOTS := $(wildcard $(CURDIR)/.venv/lib/python3*/site-packages/nvidia/*) /usr/local/cuda
@@ -33,12 +32,7 @@ INCLUDES := \
-Idata_acq_and_processing/common_cpp/config/include \
-Idata_acq_and_processing/third_party \
-Idata_acq_and_processing/third_party/eigen \
-Idata_acq_and_processing/sweep_orchestrator/include \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/interfaces \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/radar \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/switches \
-Idata_acq_and_processing/preprocessing/calibration_master/include \
-Idata_acq_and_processing/preprocessing/reference_master/include \
-Idata_acq_and_processing/preprocessing/bundles/include \
-Idata_acq_and_processing/preprocessing/data_preprocessor/include \
-Idata_acq_and_processing/processing/processors/include \
-Idata_acq_and_processing/processing/data_processor/include \
@@ -49,20 +43,8 @@ COMMON_SOURCES := \
data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
data_acq_and_processing/common_cpp/config/src/run_config.cpp
ORCH_SOURCES := \
data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_lifecycle.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_transport.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_protocol.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/h7992_minimal_driver.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/hmc349a_minimal_driver.cpp \
data_acq_and_processing/sweep_orchestrator/src/sweep_orchestrator.cpp \
data_acq_and_processing/sweep_orchestrator/src/main.cpp
PREPROC_SOURCES := \
data_acq_and_processing/preprocessing/calibration_master/src/calibration_master.cpp \
data_acq_and_processing/preprocessing/calibration_master/src/channel_bundle_support.cpp \
data_acq_and_processing/preprocessing/calibration_master/src/through_calibrator.cpp \
data_acq_and_processing/preprocessing/reference_master/src/reference_master.cpp \
data_acq_and_processing/preprocessing/bundles/src/channel_bundle_support.cpp \
data_acq_and_processing/preprocessing/data_preprocessor/src/data_preprocessor.cpp \
data_acq_and_processing/preprocessing/data_preprocessor/src/main.cpp
@@ -87,42 +69,38 @@ PROCESSOR_SOURCES := \
# time. Built on demand (not part of `all`) for radar.model == kamil_adc.
KAMIL_COLLECTOR_DIR := data_acq_and_processing/kamil_adc_collector
# The collector now also drives the RF switches itself (switch-aware mode), so it
# reuses the orchestrator's switch drivers and the shared run_config loader, which
# uses the common H7992 driver and run_config loader, which
# pull in the common config/ipc/locator headers and the vendored nlohmann/json.
KAMIL_COLLECTOR_INCLUDES := \
-I$(KAMIL_COLLECTOR_DIR)/include \
-I$(KAMIL_COLLECTOR_DIR)/vendor/lcard \
-Idata_acq_and_processing/common_cpp/ipc/include \
-Idata_acq_and_processing/common_cpp/config/include \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/interfaces \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/switches \
-Idata_acq_and_processing/common_cpp/hardware/include \
-Idata_acq_and_processing/processing/locator/include \
-Idata_acq_and_processing/third_party
KAMIL_COLLECTOR_LDFLAGS := -pthread -ldl -lutil
# Collector sources, including the shared drivers/config loader it reuses. These
# are compiled into a private build/kamil/ tree (see rule below) so they never
# collide with the orchestrator's objects, which use different compile flags.
# collide with pipeline objects, which use different include paths.
KAMIL_COLLECTOR_SOURCES := \
$(KAMIL_COLLECTOR_DIR)/src/main.cpp \
$(KAMIL_COLLECTOR_DIR)/src/tty_protocol_writer.cpp \
$(KAMIL_COLLECTOR_DIR)/src/capture_file_writer.cpp \
data_acq_and_processing/common_cpp/config/src/run_config.cpp \
data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/h7992_minimal_driver.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/hmc349a_minimal_driver.cpp
data_acq_and_processing/common_cpp/hardware/src/h7992_minimal_driver.cpp
SWEEP_ORCH_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(ORCH_SOURCES:.cpp=.o))
PREPROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PREPROC_SOURCES:.cpp=.o))
DATA_PROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PROCESSOR_SOURCES:.cpp=.o))
KAMIL_BUILD_DIR := $(BUILD_DIR)/kamil
KAMIL_COLLECTOR_OBJS := $(addprefix $(KAMIL_BUILD_DIR)/,$(notdir $(KAMIL_COLLECTOR_SOURCES:.cpp=.o)))
DEPFILES := $(sort $(SWEEP_ORCH_OBJS:.o=.d) $(PREPROCESSOR_OBJS:.o=.d) $(DATA_PROCESSOR_OBJS:.o=.d) $(KAMIL_COLLECTOR_OBJS:.o=.d))
KAMIL_COLLECTOR_OBJS := $(addprefix $(KAMIL_BUILD_DIR)/,$(KAMIL_COLLECTOR_SOURCES:.cpp=.o))
DEPFILES := $(sort $(PREPROCESSOR_OBJS:.o=.d) $(DATA_PROCESSOR_OBJS:.o=.d) $(KAMIL_COLLECTOR_OBJS:.o=.d))
NATIVE_TEST_SOURCES := $(COMMON_SOURCES) $(LOCATOR_SOURCES) \
data_acq_and_processing/tests/native_regressions.cpp \
data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp \
$(filter-out %/main.cpp,$(PREPROC_SOURCES)) \
data_acq_and_processing/sweep_orchestrator/src/sweep_orchestrator.cpp \
$(KAMIL_COLLECTOR_DIR)/src/capture_file_writer.cpp \
$(KAMIL_COLLECTOR_DIR)/src/tty_protocol_writer.cpp
NATIVE_BUILD_DIR := $(BUILD_DIR)/native_tests
@@ -133,7 +111,6 @@ $(shell mkdir -p $(NATIVE_BUILD_DIR) && echo '$(NATIVE_CXXFLAGS)' | cmp -s - $(N
DEPFILES += $(NATIVE_TEST_OBJS:.o=.d)
TARGETS := \
$(BIN_DIR)/sweep_orchestrator \
$(BIN_DIR)/data_preprocessor \
$(BIN_DIR)/data_processor
@@ -147,33 +124,20 @@ check-native: $(NATIVE_BUILD_DIR)/native_regressions
$(NATIVE_BUILD_DIR)/native_regressions run_config_examples/run_config_simulator.example.json
SAR3D_TEST_SOURCES := data_acq_and_processing/tests/sar3d_fixture.cpp \
data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
data_acq_and_processing/processing/processors/src/sar3d_processor.cpp \
data_acq_and_processing/processing/processors/src/sar3d_gpu.cpp
SAR3D_TEST_OBJS := $(addprefix $(NATIVE_BUILD_DIR)/,$(SAR3D_TEST_SOURCES:.cpp=.o))
SAR3D_EMULATION_OBJ := $(NATIVE_BUILD_DIR)/data_acq_and_processing/tests/sar3d_kernel_emulation.o
SAR3D_KERNEL_TEST_OBJ := $(NATIVE_BUILD_DIR)/data_acq_and_processing/tests/sar3d_kernel_regressions.o
SAR3D_EMULATION_HEADERS := $(NATIVE_BUILD_DIR)/sar3d_kernels.inc $(NATIVE_BUILD_DIR)/sar3d_helpers.inc
DEPFILES += $(SAR3D_TEST_OBJS:.o=.d) $(SAR3D_EMULATION_OBJ:.o=.d) $(SAR3D_KERNEL_TEST_OBJ:.o=.d)
DEPFILES += $(SAR3D_TEST_OBJS:.o=.d)
check-sar3d: $(NATIVE_BUILD_DIR)/sar3d_fixture $(NATIVE_BUILD_DIR)/sar3d_math_fixture $(NATIVE_BUILD_DIR)/sar3d_kernel_regressions
$(NATIVE_BUILD_DIR)/sar3d_kernel_regressions
$(PYTHON) data_acq_and_processing/tests/test_sar3d_oracle.py
# The sar3d processor on the real CUDA backend against the notebook reference;
# without a usable GPU the test checks the warning and skips the rest.
check-sar3d: $(NATIVE_BUILD_DIR)/sar3d_fixture
SAR3D_FIXTURE="$(abspath $<)" $(PYTHON) data_acq_and_processing/tests/test_sar3d.py
$(NATIVE_BUILD_DIR)/sar3d_fixture: $(SAR3D_TEST_OBJS)
$(CXX) $(NATIVE_CXXFLAGS) $^ -o $@ $(LDFLAGS) $(SAR3D_LDFLAGS)
$(NATIVE_BUILD_DIR)/sar3d_math_fixture: $(filter-out $(NATIVE_BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o,$(SAR3D_TEST_OBJS)) $(SAR3D_EMULATION_OBJ)
$(CXX) $(NATIVE_CXXFLAGS) $^ -o $@ $(LDFLAGS)
$(NATIVE_BUILD_DIR)/sar3d_kernel_regressions: $(SAR3D_KERNEL_TEST_OBJ) $(SAR3D_EMULATION_OBJ)
$(CXX) $(NATIVE_CXXFLAGS) $^ -o $@ $(LDFLAGS)
$(SAR3D_EMULATION_HEADERS) &: data_acq_and_processing/tests/generate_sar3d_emulation.py data_acq_and_processing/processing/processors/src/sar3d_gpu.cpp data_acq_and_processing/processing/processors/src/sar3d_gpu.hpp
$(PYTHON) data_acq_and_processing/tests/generate_sar3d_emulation.py $(NATIVE_BUILD_DIR)
$(SAR3D_EMULATION_OBJ): NATIVE_CXXFLAGS += -I$(NATIVE_BUILD_DIR)
$(SAR3D_EMULATION_OBJ): $(SAR3D_EMULATION_HEADERS)
$(NATIVE_BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: NATIVE_CXXFLAGS += $(SAR3D_CXXFLAGS)
$(NATIVE_BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: $(SAR3D_CUDA_STAMP)
@@ -184,10 +148,6 @@ $(NATIVE_BUILD_DIR)/%.o: %.cpp $(NATIVE_FLAGS_STAMP)
@mkdir -p $(dir $@)
$(CXX) $(NATIVE_CXXFLAGS) $(INCLUDES) -I$(KAMIL_COLLECTOR_DIR)/include -c $< -o $@
$(BIN_DIR)/sweep_orchestrator: $(SWEEP_ORCH_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(SWEEP_ORCH_OBJS) -o $@ $(ORCH_LDFLAGS)
$(BIN_DIR)/data_preprocessor: $(PREPROCESSOR_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(PREPROCESSOR_OBJS) -o $@ $(LDFLAGS)
@@ -200,12 +160,7 @@ $(BIN_DIR)/data_processor: $(DATA_PROCESSOR_OBJS) $(SAR3D_CUDA_STAMP)
$(BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: CXXFLAGS += $(SAR3D_CXXFLAGS)
$(BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: $(SAR3D_CUDA_STAMP)
# The collector compiles into its own build/kamil/ tree with collector-only
# includes, so the shared driver/config sources it reuses never collide
# with the orchestrator's objects of the same name. Basenames are unique, so a
# vpath lets one pattern rule find every source.
vpath %.cpp $(sort $(dir $(KAMIL_COLLECTOR_SOURCES)))
# Keep source-relative paths so moving a source also replaces its dependencies.
$(KAMIL_BUILD_DIR)/%.o: %.cpp
@mkdir -p $(dir $@)
$(CXX) $(CXXFLAGS) $(KAMIL_COLLECTOR_INCLUDES) -c $< -o $@