added GPR

data_acq_and_processing/processing/processors/src/bscan_processor.cpp

@@ -215,23 +215,39 @@ auto BScanProcessor::name() const -> std::string {
     return "bscan";
 }
 
-auto BScanProcessor::process(const ipc::SweepTraceBlock& trace, const ProcessingLiveConfig& live_config)
-    -> ipc::ResultPayload {
-    ipc::ResultPayload payload{};
-    payload.processing_name = name();
-    payload.kind = ipc::ResultKind::TraceComplex;
+auto BScanProcessor::process_collection(
+    const config::RunConfig& /*run_config*/,
+    const ipc::PreprocessedCollection& collection,
+    std::span<const ipc::PreprocessedCollection> /*previous_collections*/,
+    const ProcessingLiveConfig& live_config
+) -> ipc::ResultCollection {
+    ipc::ResultCollection results{};
+    results.collection_id = collection.collection_id;
+    results.monotonic_ns = collection.monotonic_ns;
+    results.blocks.reserve(collection.traces.size());
 
-    auto profile = compute_bscan_profile(trace, live_config);
-    payload.frequency_hz = std::move(profile.depth_m);
-    payload.trace.reserve(profile.response.size());
-    for (const auto value : profile.response) {
-        payload.trace.push_back(ipc::Complex32{
-            .re = value,
-            .im = 0.0F,
-        });
+    for (const auto& trace : collection.traces) {
+        ipc::ResultPayload payload{};
+        payload.processing_name = name();
+        payload.kind = ipc::ResultKind::TraceComplex;
+
+        auto profile = compute_bscan_profile(trace, live_config);
+        payload.frequency_hz = std::move(profile.depth_m);
+        payload.trace.reserve(profile.response.size());
+        for (const auto value : profile.response) {
+            payload.trace.push_back(ipc::Complex32{
+                .re = value,
+                .im = 0.0F,
+            });
+        }
+
+        ipc::ResultBlock block{};
+        block.combo = trace.combo;
+        block.payloads.push_back(std::move(payload));
+        results.blocks.push_back(std::move(block));
     }
 
-    return payload;
+    return results;
 }
 
 }  // namespace radar::processing

data_acq_and_processing/processing/processors/src/passthrough_processor.cpp

@@ -13,27 +13,43 @@ auto PassThroughProcessor::name() const -> std::string {
     return "pass_through";
 }
 
-auto PassThroughProcessor::process(const ipc::SweepTraceBlock& trace, const ProcessingLiveConfig& live_config)
-    -> ipc::ResultPayload {
-    ipc::ResultPayload payload{};
-    payload.processing_name = name();
-    payload.kind = ipc::ResultKind::TraceComplex;
-    payload.frequency_hz = trace.frequency_hz;
-    payload.trace = trace.s21;
+auto PassThroughProcessor::process_collection(
+    const config::RunConfig& /*run_config*/,
+    const ipc::PreprocessedCollection& collection,
+    std::span<const ipc::PreprocessedCollection> /*previous_collections*/,
+    const ProcessingLiveConfig& live_config
+) -> ipc::ResultCollection {
+    ipc::ResultCollection results{};
+    results.collection_id = collection.collection_id;
+    results.monotonic_ns = collection.monotonic_ns;
+    results.blocks.reserve(collection.traces.size());
 
-    const float linear_gain = std::pow(10.0F, live_config.gain_db / 20.0F);
-    const float phase_rad = live_config.phase_deg * (kPi / 180.0F);
-    const float cos_phase = std::cos(phase_rad);
-    const float sin_phase = std::sin(phase_rad);
+    for (const auto& trace : collection.traces) {
+        ipc::ResultPayload payload{};
+        payload.processing_name = name();
+        payload.kind = ipc::ResultKind::TraceComplex;
+        payload.frequency_hz = trace.frequency_hz;
+        payload.trace = trace.s21;
 
-    for (auto& sample : payload.trace) {
-        const float re = sample.re;
-        const float im = sample.im;
-        sample.re = linear_gain * ((re * cos_phase) - (im * sin_phase));
-        sample.im = linear_gain * ((re * sin_phase) + (im * cos_phase));
+        const float linear_gain = std::pow(10.0F, live_config.gain_db / 20.0F);
+        const float phase_rad = live_config.phase_deg * (kPi / 180.0F);
+        const float cos_phase = std::cos(phase_rad);
+        const float sin_phase = std::sin(phase_rad);
+
+        for (auto& sample : payload.trace) {
+            const float re = sample.re;
+            const float im = sample.im;
+            sample.re = linear_gain * ((re * cos_phase) - (im * sin_phase));
+            sample.im = linear_gain * ((re * sin_phase) + (im * cos_phase));
+        }
+
+        ipc::ResultBlock block{};
+        block.combo = trace.combo;
+        block.payloads.push_back(std::move(payload));
+        results.blocks.push_back(std::move(block));
     }
 
-    return payload;
+    return results;
 }
 
 }  // namespace radar::processing