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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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python_app/scripts/kamil_adc_raw_producer.py
+48 -42
View File
@@ -3,7 +3,7 @@
from __future__ import annotations
import argparse
from contextlib import suppress
from contextlib import ExitStack, suppress
import logging
from pathlib import Path
import signal
@@ -131,42 +131,46 @@ def main() -> int:
args.config, len(config.combos), config.runtime.continuous,
)
raw_writer = ShmRingWriter(
config.rings.raw.name,
config.rings.raw.capacity,
config.rings.raw.slot_size_bytes,
)
raw_tap_writer = ShmRingWriter(
config.rings.raw_tap.name,
config.rings.raw_tap.capacity,
config.rings.raw_tap.slot_size_bytes,
)
logger.debug(
"Opened SHM ring writers: raw=%s, raw_tap=%s",
config.rings.raw.name, config.rings.raw_tap.name,
)
# Switch-aware mode: with native switches the collector drives the RF switches
# itself, in the hardware gap between sweeps, and tags each sweep with its combo
# — no sweep lost at a switch boundary. The producer then only reads tagged
# sweeps and must not touch the GPIO lines the collector owns. With mock switches
# (dev/tests) we keep the Python-driven path, which is fine where speed and the
# in-gap timing do not matter.
collector_driven = (
config.input_switch.driver_mode == "native"
and config.output_switch.driver_mode == "native"
)
radar = KamilAdcService(
config,
switch_config_path=str(args.config) if collector_driven else None,
)
input_switch = None if collector_driven else SwitchService.from_model(config.input_switch)
output_switch = None if collector_driven else SwitchService.from_model(config.output_switch)
logger.info(
"Kamil ADC switch control: %s",
"collector-driven (in-gap, lossless)" if collector_driven else "producer-driven",
)
radar = input_switch = output_switch = None
cleanup = ExitStack()
try:
raw_writer = ShmRingWriter(
config.rings.raw.name,
config.rings.raw.capacity,
config.rings.raw.slot_size_bytes,
)
cleanup.callback(raw_writer.close)
raw_tap_writer = ShmRingWriter(
config.rings.raw_tap.name,
config.rings.raw_tap.capacity,
config.rings.raw_tap.slot_size_bytes,
)
cleanup.callback(raw_tap_writer.close)
logger.debug(
"Opened SHM ring writers: raw=%s, raw_tap=%s",
config.rings.raw.name, config.rings.raw_tap.name,
)
# Switch-aware mode: with native switches the collector drives the RF switches
# itself, in the hardware gap between sweeps, and tags each sweep with its combo
# — no sweep lost at a switch boundary. The producer then only reads tagged
# sweeps and must not touch the GPIO lines the collector owns. With mock switches
# (dev/tests) we keep the Python-driven path, which is fine where speed and the
# in-gap timing do not matter.
collector_driven = (
config.input_switch.driver_mode == "native"
and config.output_switch.driver_mode == "native"
)
radar = KamilAdcService(
config,
switch_config_path=str(args.config) if collector_driven else None,
)
input_switch = None if collector_driven else SwitchService.from_model(config.input_switch)
output_switch = None if collector_driven else SwitchService.from_model(config.output_switch)
logger.info(
"Kamil ADC switch control: %s",
"collector-driven (in-gap, lossless)" if collector_driven else "producer-driven",
)
if not _open_radar_with_retry(config, radar, input_switch, output_switch, stop_requested):
return 0 # asked to stop before a device became available
@@ -187,10 +191,12 @@ def main() -> int:
sweep_start_ns = time.monotonic_ns()
sweep = radar.acquire(combo=(combo.input, combo.output))
else:
if input_switch is None or output_switch is None:
raise RuntimeError("Producer-driven switches are not initialized")
output_switch.switch_to(combo.output)
input_switch.switch_to(combo.input)
if config.runtime.settling_ms > 0:
time.sleep(config.runtime.settling_ms / 1000.0)
if config.runtime.settling_ms > 0 and stop_requested.wait(config.runtime.settling_ms / 1000.0):
break
# Stamped after switching and settling so the window covers
# the sweep alone, not the dead time before it.
sweep_start_ns = time.monotonic_ns()
@@ -264,10 +270,10 @@ def main() -> int:
if input_switch is not None:
with suppress(Exception):
input_switch.close()
with suppress(Exception):
radar.close()
raw_tap_writer.close()
raw_writer.close()
if radar is not None:
with suppress(Exception):
radar.close()
cleanup.close()
logger.info("Kamil ADC raw producer stopped")
return 0