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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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data_acq_and_processing/preprocessing/calibration_master/include/channel_bundle_support.hpp
+3
View File
@@ -16,6 +16,9 @@ struct ChannelTrace {
std::vector<ipc::Complex32> samples{};
};
void validate_channel_trace_layout(const ChannelTrace& trace, const std::string& label, const ipc::ComboKey& combo);
[[nodiscard]] auto frequency_axes_match(std::span<const float> left, std::span<const float> right) -> bool;
class S21CalibrationBundle {
public:
void load(const std::string& path);
data_acq_and_processing/preprocessing/calibration_master/src/channel_bundle_support.cpp
+23 -10
View File
@@ -12,6 +12,7 @@
#include <stdexcept>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
#include "calibrator_interface.hpp"
@@ -59,6 +60,8 @@ void validate_raw_trace_layout(const ipc::SweepTraceBlock& trace, const std::str
}
}
} // namespace
void validate_channel_trace_layout(
const ChannelTrace& trace,
const std::string& trace_label,
@@ -69,6 +72,12 @@ void validate_channel_trace_layout(
trace_label + " frequency/channel vector size mismatch for combo " + combo_to_string(combo)
);
}
for (std::size_t i = 0; i < trace.samples.size(); ++i) {
if (!std::isfinite(trace.frequency_hz[i]) || !std::isfinite(trace.samples[i].re)
|| !std::isfinite(trace.samples[i].im)) {
throw std::runtime_error(trace_label + " contains non-finite values for combo " + combo_to_string(combo));
}
}
}
[[nodiscard]] auto frequency_axes_match(std::span<const float> left, std::span<const float> right) -> bool {
@@ -77,6 +86,9 @@ void validate_channel_trace_layout(
}
for (std::size_t index = 0; index < left.size(); ++index) {
if (!std::isfinite(left[index]) || !std::isfinite(right[index])) {
return false;
}
const auto delta = std::fabs(left[index] - right[index]);
const auto scale = std::max(std::fabs(left[index]), std::fabs(right[index]));
const auto tolerance = std::max(kFrequencyAbsoluteTolerance, scale * kFrequencyRelativeTolerance);
@@ -87,6 +99,8 @@ void validate_channel_trace_layout(
return true;
}
namespace {
void ensure_frequency_axis_match(
std::span<const float> expected,
std::span<const float> actual,
@@ -122,6 +136,9 @@ void ensure_frequency_axis_match(
const std::string& bundle_label
) -> ChannelTrace {
validate_raw_trace_layout(trace, bundle_label + " trace");
if (trace.frequency_hz.empty()) {
throw std::runtime_error(bundle_label + " trace contains no frequency samples");
}
ChannelTrace channel_trace{};
channel_trace.frequency_hz = trace.frequency_hz;
@@ -275,8 +292,6 @@ void ensure_combo_coverage(
} // namespace
void S21CalibrationBundle::load(const std::string& path) {
traces_by_combo_.clear();
if (path.empty()) {
throw std::runtime_error("S21 calibration bundle path must not be empty");
}
@@ -311,8 +326,6 @@ auto S21CalibrationBundle::resolve(const ipc::ComboKey& combo) const -> const Ch
}
void S21ReferenceBundle::load(const std::string& path) {
traces_by_combo_.clear();
if (path.empty()) {
throw std::runtime_error("S21 reference bundle path must not be empty");
}
@@ -337,9 +350,8 @@ void S11CalibrationBundle::load(
const std::string& short_path,
const std::string& load_path
) {
coefficients_by_combo_.clear();
if (open_path.empty() && short_path.empty() && load_path.empty()) {
coefficients_by_combo_.clear();
// #38: S11 calibration disabled because no OSL paths were provided; surface it instead of silently skipping.
std::cerr << "S11 calibration: no open/short/load bundle paths provided; reflection correction disabled\n";
return;
@@ -357,13 +369,15 @@ void S11CalibrationBundle::load(
ensure_combo_coverage(short_traces, open_traces, "S11 short calibration", "S11 open calibration");
ensure_combo_coverage(load_traces, open_traces, "S11 load calibration", "S11 open calibration");
coefficients_by_combo_.reserve(open_traces.size());
decltype(coefficients_by_combo_) coefficients;
coefficients.reserve(open_traces.size());
for (const auto& [combo, open_trace] : open_traces) {
coefficients_by_combo_.insert_or_assign(
coefficients.insert_or_assign(
combo,
solve_osl_coefficients(combo, open_trace, short_traces.at(combo), load_traces.at(combo))
);
}
coefficients_by_combo_ = std::move(coefficients);
}
auto S11CalibrationBundle::is_enabled() const noexcept -> bool {
@@ -422,9 +436,8 @@ auto S11CalibrationBundle::resolve(const ipc::ComboKey& combo) const -> const Co
}
void S11ReferenceBundle::load(const std::string& path) {
traces_by_combo_.clear();
if (path.empty()) {
traces_by_combo_.clear();
// #38: S11 reference disabled because no path was provided; surface it instead of silently skipping.
std::cerr << "S11 reference: no bundle path provided; reference normalization disabled\n";
return;
data_acq_and_processing/preprocessing/data_preprocessor/src/data_preprocessor.cpp
+3 -4
View File
@@ -1,14 +1,13 @@
#include "data_preprocessor.hpp"
#include "runtime_wait.hpp"
#include <algorithm>
#include <chrono>
#include <cmath>
#include <cstdint>
#include <iostream>
#include <span>
#include <stdexcept>
#include <string_view>
#include <thread>
#include <vector>
namespace radar::preprocessing {
@@ -117,7 +116,6 @@ auto DataPreprocessor::try_pop_raw_collection(
ipc::RawSweepCollection* out_collection
) -> bool {
if (!raw_ring_.pop(serialized_raw)) {
std::this_thread::sleep_for(std::chrono::milliseconds(config_.runtime.idle_sleep_ms));
return false;
}
@@ -145,6 +143,7 @@ void DataPreprocessor::run(const std::atomic<bool>& stop_requested) {
while (!stop_requested.load(std::memory_order_relaxed)) {
try {
if (!try_pop_raw_collection(serialized_raw, &raw_collection)) {
(void)config::wait_or_stop(config_.runtime.idle_sleep_ms, stop_requested);
continue;
}
const auto preprocessed_collection = preprocess_collection(raw_collection);
@@ -174,7 +173,7 @@ void DataPreprocessor::run(const std::atomic<bool>& stop_requested) {
// Back-off floored at 1ms (the empty-ring sleep is never reached while a
// persistent error keeps the ring non-empty) so the catch cannot busy-spin
// a CPU core even when idle_sleep_ms is configured to 0.
std::this_thread::sleep_for(std::chrono::milliseconds(std::max<int>(1, config_.runtime.idle_sleep_ms)));
(void)config::wait_or_stop(std::max(1U, config_.runtime.idle_sleep_ms), stop_requested);
}
}
}
data_acq_and_processing/preprocessing/reference_master/src/reference_master.cpp
-33
View File
@@ -1,7 +1,5 @@
#include "reference_master.hpp"
#include <algorithm>
#include <cmath>
#include <span>
#include <stdexcept>
#include <string>
@@ -15,41 +13,10 @@
namespace radar::preprocessing {
namespace {
constexpr float kFrequencyRelativeTolerance = 1e-5F;
constexpr float kFrequencyAbsoluteTolerance = 1e-3F;
[[nodiscard]] auto combo_to_string(const ipc::ComboKey& combo) -> std::string {
return "input=" + std::to_string(combo.input_pos) + " output=" + std::to_string(combo.output_pos);
}
void validate_channel_trace_layout(
const ChannelTrace& trace,
const std::string& trace_label,
const ipc::ComboKey& combo
) {
if (trace.frequency_hz.size() != trace.samples.size()) {
throw std::runtime_error(
trace_label + " frequency/channel vector size mismatch for combo " + combo_to_string(combo)
);
}
}
[[nodiscard]] auto frequency_axes_match(std::span<const float> left, std::span<const float> right) -> bool {
if (left.size() != right.size()) {
return false;
}
for (std::size_t index = 0; index < left.size(); ++index) {
const auto delta = std::fabs(left[index] - right[index]);
const auto scale = std::max(std::fabs(left[index]), std::fabs(right[index]));
const auto tolerance = std::max(kFrequencyAbsoluteTolerance, scale * kFrequencyRelativeTolerance);
if (delta > tolerance) {
return false;
}
}
return true;
}
} // namespace
void ReferenceMaster::load_s21_reference_bundle(const std::string& path) {