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Refactor radar system

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This commit is contained in:
Ayzen
2026-10-05 16:46:28 +03:00
parent 515049d2ed
commit 8f097dfa2e
179 changed files with 8212 additions and 6676 deletions
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Makefile
+62 -9
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@@ -1,9 +1,8 @@
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
VISA_CXXFLAGS ?= -I/usr/include/ni-visa
VISA_LDFLAGS := $(LDFLAGS) -lvisa
BUILD_DIR := build
BIN_DIR := $(BUILD_DIR)/bin
@@ -11,9 +10,9 @@ 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.txt,
# libnvrtc come from the pip nvidia-cuda-* packages in .venv (requirements-cuda.txt,
# x86_64) or from a system toolkit in /usr/local/cuda (Jetson). Without them
# data_processor still builds; sar3d then reports that CUDA is missing.
# data_processor still builds; selecting sar3d shows a CUDA warning.
CUDA_ROOTS := $(wildcard $(CURDIR)/.venv/lib/python3*/site-packages/nvidia/*) /usr/local/cuda
CUDA_NVRTC_HEADER := $(firstword $(wildcard $(addsuffix /include/nvrtc.h,$(CUDA_ROOTS))))
CUDA_DRIVER_HEADER := $(firstword $(wildcard $(addsuffix /include/cuda.h,$(CUDA_ROOTS))))
@@ -54,7 +53,6 @@ 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/radar/remote_compact_m_k209/remote_compact_m_k209_driver.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 \
@@ -120,17 +118,72 @@ 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))
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 \
data_acq_and_processing/preprocessing/calibration_master/src/channel_bundle_support.cpp \
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
NATIVE_TEST_OBJS := $(addprefix $(NATIVE_BUILD_DIR)/,$(NATIVE_TEST_SOURCES:.cpp=.o))
NATIVE_CXXFLAGS := $(CXXFLAGS) -O1 -g $(if $(NATIVE_SANITIZERS),-fsanitize=$(NATIVE_SANITIZERS) -fno-omit-frame-pointer)
NATIVE_FLAGS_STAMP := $(NATIVE_BUILD_DIR)/compiler.flags
$(shell mkdir -p $(NATIVE_BUILD_DIR) && echo '$(NATIVE_CXXFLAGS)' | cmp -s - $(NATIVE_FLAGS_STAMP) || echo '$(NATIVE_CXXFLAGS)' > $(NATIVE_FLAGS_STAMP))
DEPFILES += $(NATIVE_TEST_OBJS:.o=.d)
TARGETS := \
$(BIN_DIR)/sweep_orchestrator \
$(BIN_DIR)/data_preprocessor \
$(BIN_DIR)/data_processor
.PHONY: all clean kamil_adc_collector
.PHONY: all clean kamil_adc_collector check-native check-sar3d
all: $(TARGETS)
kamil_adc_collector: $(BIN_DIR)/kamil_adc_collector
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/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)
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
$(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)
$(NATIVE_BUILD_DIR)/native_regressions: $(NATIVE_TEST_OBJS)
$(CXX) $(NATIVE_CXXFLAGS) $^ -o $@ $(LDFLAGS) -lutil
$(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)
@@ -142,13 +195,13 @@ $(BIN_DIR)/data_preprocessor: $(PREPROCESSOR_OBJS)
$(BIN_DIR)/data_processor: $(DATA_PROCESSOR_OBJS) $(SAR3D_CUDA_STAMP)
@mkdir -p $(BIN_DIR)
$(CXX) $(DATA_PROCESSOR_OBJS) -o $@ $(LDFLAGS) $(SAR3D_LDFLAGS)
$(if $(SAR3D_LDFLAGS),,@echo "note: CUDA not found, data_processor built without the sar3d GPU backend")
$(if $(SAR3D_LDFLAGS),,@echo "note: CUDA not found, selecting sar3d will show a warning")
$(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 (no VISA), so the shared driver/config sources it reuses never collide
# 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)))
@@ -163,7 +216,7 @@ $(BIN_DIR)/kamil_adc_collector: $(KAMIL_COLLECTOR_OBJS)
$(BUILD_DIR)/%.o: %.cpp
@mkdir -p $(dir $@)
$(CXX) $(CXXFLAGS) $(VISA_CXXFLAGS) $(INCLUDES) -c $< -o $@
$(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@
-include $(DEPFILES)