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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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data_acq_and_processing/tests/sar3d_fixture.cpp
+44 -45
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@@ -1,7 +1,9 @@
#include "sar3d_processor.hpp"
#include "../processing/processors/src/sar3d_gpu.hpp"
#include <algorithm>
#include <complex>
#include <iostream>
#include <vector>
#include <nlohmann/json.hpp>
using Json = nlohmann::json;
@@ -29,60 +31,57 @@ auto collection(const Json& source) -> ipc::PreprocessedCollection {
for (const auto& sample : complex_samples(entry.at("s21"))) {
trace.s21.push_back({sample.real(), sample.imag()});
}
if (result.traces.empty() || trace.capture_start_ns < result.capture_start_ns) {
result.capture_start_ns = trace.capture_start_ns;
}
result.capture_end_ns = std::max(result.capture_end_ns, trace.capture_end_ns);
result.traces.push_back(std::move(trace));
}
return result;
}
}
// Runs the sar3d processor once: the JSON request on stdin holds the antenna
// geometry, the live settings and the latest and previous collections; the
// published payloads go to stdout as JSON.
int main() {
try {
const Json input = Json::parse(std::cin);
Json output;
if (input.at("operation") == "processor") {
config::RunConfig config;
for (const auto& row : input.at("tx")) {
config.gpr.tx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
}
for (const auto& row : input.at("rx")) {
config.gpr.rx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
}
processing::ProcessingLiveConfig live;
live.gpr_start_freq_mhz = input.at("f_start").get<float>() / 1e6F;
live.gpr_stop_freq_mhz = input.at("f_stop").get<float>() / 1e6F;
live.gpr_min_depth_m = input.at("min_depth");
live.gpr_max_depth_m = input.at("max_depth");
live.gpr_speed_m_s = input.at("speed");
live.gpr_look_angle_deg = input.at("pitch");
live.sar3d_voxel_m = input.at("voxel");
live.sar3d_bp_ground_depth_m = input.at("ground");
live.sar3d_frame_radius = input.at("radius");
live.sar3d_comp_range_power = input.at("power");
live.sar3d_use_compensation = input.at("compensation");
live.sar3d_normalize_each_frame = input.at("normalize");
std::vector<ipc::PreprocessedCollection> previous;
for (const auto& member : input.at("previous")) {
previous.push_back(collection(member));
}
processing::Sar3dProcessor processor;
const auto result = processor.process_collection(config, collection(input.at("latest")), previous, live);
output["payloads"] = Json::array();
for (const auto& payload : result.collection_payloads) {
output["payloads"].push_back({{"name", payload.processing_name},
{"x", payload.image_x_axis}, {"y", payload.image_y_axis},
{"image", payload.image_values}, {"table", payload.table_values},
{"columns", payload.table_columns}});
}
} else {
processing::sar3d::Engine engine(1.5);
const auto samples = engine.inverse_dft(complex_samples(input.at("bands")),
input.at("points"), input.at("first_bin"), input.at("size"));
output["ascans"] = Json::array();
for (const auto& sample : samples) {
output["ascans"].push_back({sample.real(), sample.imag()});
}
config::RunConfig config;
config.rings.results.slot_size_bytes = input.value("slot", config.rings.results.slot_size_bytes);
for (const auto& row : input.at("tx")) {
config.gpr.tx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
}
std::cout << output << '\n';
for (const auto& row : input.at("rx")) {
config.gpr.rx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
}
processing::ProcessingLiveConfig live;
live.gpr_start_freq_mhz = input.at("f_start").get<float>() / 1e6F;
live.gpr_stop_freq_mhz = input.at("f_stop").get<float>() / 1e6F;
live.gpr_min_depth_m = input.at("min_depth");
live.gpr_max_depth_m = input.at("max_depth");
live.gpr_speed_m_s = input.at("speed");
live.gpr_look_angle_deg = input.at("pitch");
live.sar3d_voxel_m = input.at("voxel");
live.sar3d_bp_ground_depth_m = input.at("ground");
live.sar3d_frame_radius = input.at("radius");
live.sar3d_comp_range_power = input.at("power");
live.sar3d_use_compensation = input.at("compensation");
live.sar3d_normalize_each_frame = input.at("normalize");
std::vector<ipc::PreprocessedCollection> previous;
for (const auto& member : input.at("previous")) {
previous.push_back(collection(member));
}
processing::Sar3dProcessor processor;
const auto result = processor.process_collection(config, collection(input.at("latest")), previous, live);
Json payloads = Json::array();
for (const auto& payload : result.collection_payloads) {
payloads.push_back({{"name", payload.processing_name},
{"x", payload.image_x_axis}, {"y", payload.image_y_axis},
{"image", payload.image_values}, {"table", payload.table_values},
{"columns", payload.table_columns}});
}
std::cout << Json{{"payloads", payloads}} << '\n';
} catch (const std::exception& error) {
std::cout << Json{{"error", error.what()}} << '\n';
return 1;