kamil_adc support added

data_acq_and_processing/processing/data_processor/include/processing_live_config.hpp

@@ -39,6 +39,7 @@ struct ProcessingLiveConfig {
     float gpr_range_comp_power = 0.28F;
     float gpr_angle_comp_power = 0.10F;
     float gpr_comp_power = 0.2F;
+    std::string gpr_score_mode = "combined";
     float gpr_speed_m_s = 0.0F;
     float gpr_look_angle_deg = 0.0F;
     float gpr_snr_thresh = 4.5F;
@@ -48,6 +49,7 @@ struct ProcessingLiveConfig {
     bool gpr_background_subtract_enabled = true;
     std::uint32_t gpr_background_mean_count = 10U;
     bool gpr_remove_sidelobe_objects_enabled = true;
+    bool reprocess_current_result = true;
     std::uint64_t history_command_seq = 0;
     HistoryCommand history_command = HistoryCommand::None;
 };

data_acq_and_processing/processing/data_processor/src/data_processor.cpp

@@ -77,7 +77,10 @@ void DataProcessor::run(const std::atomic<bool>& stop_requested) {
                 last_applied_history_command_seq = live_config.history_command_seq;
             }
 
-            if (should_replay_entire_history(live_config)) {
+            if (!live_config.reprocess_current_result) {
+                // Socket-fed speed updates should affect only future preprocessed collections,
+                // not replay the current history entry.
+            } else if (should_replay_entire_history(live_config)) {
                 for (std::size_t index = 0; index < preprocessed_history.size(); ++index) {
                     const auto replay_result = process_collection(
                         preprocessed_history[index],

data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp

@@ -41,6 +41,13 @@ using Json = nlohmann::json;
     throw std::runtime_error(field_name + " must be one of: point, extended");
 }
 
+[[nodiscard]] auto parse_gpr_score_mode(const std::string& value, const std::string& field_name) -> std::string {
+    if (value == "peak" || value == "combined") {
+        return value;
+    }
+    throw std::runtime_error(field_name + " must be one of: peak, combined");
+}
+
 void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::string& value) {
     if (value == "backprojection") {
         return;
@@ -241,6 +248,12 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
         }
         config.gpr_comp_power = static_cast<float>(found->get<double>());
     }
+    if (const auto found = root.find("gpr_score_mode"); found != root.end()) {
+        if (!found->is_string()) {
+            throw std::runtime_error("processing.gpr_score_mode must be string");
+        }
+        config.gpr_score_mode = parse_gpr_score_mode(found->get<std::string>(), "processing.gpr_score_mode");
+    }
     if (const auto found = root.find("gpr_speed_m_s"); found != root.end()) {
         if (!found->is_number()) {
             throw std::runtime_error("processing.gpr_speed_m_s must be number");
@@ -292,6 +305,12 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
         }
         config.gpr_remove_sidelobe_objects_enabled = found->get<bool>();
     }
+    if (const auto found = root.find("reprocess_current_result"); found != root.end()) {
+        if (!found->is_boolean()) {
+            throw std::runtime_error("processing.reprocess_current_result must be bool");
+        }
+        config.reprocess_current_result = found->get<bool>();
+    }
     if (const auto found = root.find("history_command_seq"); found != root.end()) {
         config.history_command_seq = parse_u64_number(*found, "processing.history_command_seq");
     }