Rename kamil_adc to rph_radar and fix its data path
This commit is contained in:
Ayzen
@@ -63,64 +63,60 @@ PROCESSOR_SOURCES := \
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data_acq_and_processing/processing/data_processor/src/main.cpp \
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$(LOCATOR_SOURCES)
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# Kamil ADC collector: standalone L-Card E-502 acquisition binary. It loads the
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# RadioPhotonic radar (RPH) collector: application-owned L-Card E-502 acquisition binary. It loads the
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# proprietary libx502api/libe502api at runtime via dlopen, so it builds anywhere
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# from the vendored headers alone and only needs those libraries present at run
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# time. Built on demand (not part of `all`) for radar.model == kamil_adc.
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KAMIL_COLLECTOR_DIR := data_acq_and_processing/kamil_adc_collector
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# The collector now also drives the RF switches itself (switch-aware mode), so it
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# uses the common H7992 driver and run_config loader, which
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# pull in the common config/ipc/locator headers and the vendored nlohmann/json.
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KAMIL_COLLECTOR_INCLUDES := \
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-I$(KAMIL_COLLECTOR_DIR)/include \
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-I$(KAMIL_COLLECTOR_DIR)/vendor/lcard \
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# time. Built on demand (not part of `all`) for radar.model == rph_radar.
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RPH_COLLECTOR_DIR := data_acq_and_processing/rph_radar_collector
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# The collector drives H7992 switches from the validated JSON supplied by Python.
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RPH_COLLECTOR_INCLUDES := \
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-I$(RPH_COLLECTOR_DIR)/include \
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-I$(RPH_COLLECTOR_DIR)/vendor/lcard \
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-Idata_acq_and_processing/common_cpp/ipc/include \
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-Idata_acq_and_processing/common_cpp/config/include \
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-Idata_acq_and_processing/common_cpp/hardware/include \
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-Idata_acq_and_processing/processing/locator/include \
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-Idata_acq_and_processing/third_party
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KAMIL_COLLECTOR_LDFLAGS := -pthread -ldl -lutil
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# Collector sources, including the shared drivers/config loader it reuses. These
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# are compiled into a private build/kamil/ tree (see rule below) so they never
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RPH_COLLECTOR_LDFLAGS := -pthread -ldl -lutil
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# Collector sources, including the shared H7992 driver. These
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# are compiled into a private build/rph/ tree (see rule below) so they never
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# collide with pipeline objects, which use different include paths.
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KAMIL_COLLECTOR_SOURCES := \
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$(KAMIL_COLLECTOR_DIR)/src/main.cpp \
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$(KAMIL_COLLECTOR_DIR)/src/tty_protocol_writer.cpp \
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$(KAMIL_COLLECTOR_DIR)/src/capture_file_writer.cpp \
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data_acq_and_processing/common_cpp/config/src/run_config.cpp \
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data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
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RPH_COLLECTOR_SOURCES := \
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$(RPH_COLLECTOR_DIR)/src/main.cpp \
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$(RPH_COLLECTOR_DIR)/src/tty_protocol_writer.cpp \
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data_acq_and_processing/common_cpp/hardware/src/h7992_minimal_driver.cpp
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PREPROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PREPROC_SOURCES:.cpp=.o))
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DATA_PROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PROCESSOR_SOURCES:.cpp=.o))
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KAMIL_BUILD_DIR := $(BUILD_DIR)/kamil
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KAMIL_COLLECTOR_OBJS := $(addprefix $(KAMIL_BUILD_DIR)/,$(KAMIL_COLLECTOR_SOURCES:.cpp=.o))
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DEPFILES := $(sort $(PREPROCESSOR_OBJS:.o=.d) $(DATA_PROCESSOR_OBJS:.o=.d) $(KAMIL_COLLECTOR_OBJS:.o=.d))
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RPH_BUILD_DIR := $(BUILD_DIR)/rph
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RPH_COLLECTOR_OBJS := $(addprefix $(RPH_BUILD_DIR)/,$(RPH_COLLECTOR_SOURCES:.cpp=.o))
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DEPFILES := $(sort $(PREPROCESSOR_OBJS:.o=.d) $(DATA_PROCESSOR_OBJS:.o=.d) $(RPH_COLLECTOR_OBJS:.o=.d))
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NATIVE_TEST_SOURCES := $(COMMON_SOURCES) $(LOCATOR_SOURCES) \
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data_acq_and_processing/tests/native_regressions.cpp \
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data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp \
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$(filter-out %/main.cpp,$(PREPROC_SOURCES)) \
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$(KAMIL_COLLECTOR_DIR)/src/capture_file_writer.cpp \
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$(KAMIL_COLLECTOR_DIR)/src/tty_protocol_writer.cpp
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$(RPH_COLLECTOR_DIR)/src/tty_protocol_writer.cpp \
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data_acq_and_processing/common_cpp/hardware/src/h7992_minimal_driver.cpp
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NATIVE_BUILD_DIR := $(BUILD_DIR)/native_tests
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NATIVE_TEST_OBJS := $(addprefix $(NATIVE_BUILD_DIR)/,$(NATIVE_TEST_SOURCES:.cpp=.o))
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NATIVE_CXXFLAGS := $(CXXFLAGS) -O1 -g $(if $(NATIVE_SANITIZERS),-fsanitize=$(NATIVE_SANITIZERS) -fno-omit-frame-pointer)
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NATIVE_FLAGS_STAMP := $(NATIVE_BUILD_DIR)/compiler.flags
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$(shell mkdir -p $(NATIVE_BUILD_DIR) && echo '$(NATIVE_CXXFLAGS)' | cmp -s - $(NATIVE_FLAGS_STAMP) || echo '$(NATIVE_CXXFLAGS)' > $(NATIVE_FLAGS_STAMP))
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DEPFILES += $(NATIVE_TEST_OBJS:.o=.d)
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DEPFILES += $(NATIVE_TEST_OBJS:.o=.d) $(RPH_BUILD_DIR)/data_acq_and_processing/tests/collector_regressions.d
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TARGETS := \
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$(BIN_DIR)/data_preprocessor \
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$(BIN_DIR)/data_processor
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.PHONY: all clean kamil_adc_collector check-native check-sar3d
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.PHONY: all clean rph_radar_collector check-native check-sar3d
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all: $(TARGETS)
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kamil_adc_collector: $(BIN_DIR)/kamil_adc_collector
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rph_radar_collector: $(BIN_DIR)/rph_radar_collector
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check-native: $(NATIVE_BUILD_DIR)/native_regressions
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check-native: $(NATIVE_BUILD_DIR)/native_regressions $(BIN_DIR)/collector_regressions $(NATIVE_BUILD_DIR)/rph_sdk/libx502api.so
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LD_LIBRARY_PATH=$(abspath $(NATIVE_BUILD_DIR)/rph_sdk) $(BIN_DIR)/collector_regressions
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$(NATIVE_BUILD_DIR)/native_regressions run_config_examples/run_config_simulator.example.json
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SAR3D_TEST_SOURCES := data_acq_and_processing/tests/sar3d_fixture.cpp \
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@@ -146,7 +142,7 @@ $(NATIVE_BUILD_DIR)/native_regressions: $(NATIVE_TEST_OBJS)
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$(NATIVE_BUILD_DIR)/%.o: %.cpp $(NATIVE_FLAGS_STAMP)
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@mkdir -p $(dir $@)
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$(CXX) $(NATIVE_CXXFLAGS) $(INCLUDES) -I$(KAMIL_COLLECTOR_DIR)/include -c $< -o $@
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$(CXX) $(NATIVE_CXXFLAGS) $(INCLUDES) -Idata_acq_and_processing/common_cpp/hardware/include -I$(RPH_COLLECTOR_DIR)/include -c $< -o $@
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$(BIN_DIR)/data_preprocessor: $(PREPROCESSOR_OBJS)
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@mkdir -p $(BIN_DIR)
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@@ -161,13 +157,24 @@ $(BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: CXXF
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$(BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: $(SAR3D_CUDA_STAMP)
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# Keep source-relative paths so moving a source also replaces its dependencies.
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$(KAMIL_BUILD_DIR)/%.o: %.cpp
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$(RPH_BUILD_DIR)/%.o: %.cpp
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@mkdir -p $(dir $@)
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$(CXX) $(CXXFLAGS) $(KAMIL_COLLECTOR_INCLUDES) -c $< -o $@
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$(CXX) $(CXXFLAGS) $(RPH_COLLECTOR_INCLUDES) -c $< -o $@
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$(BIN_DIR)/kamil_adc_collector: $(KAMIL_COLLECTOR_OBJS)
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$(RPH_BUILD_DIR)/data_acq_and_processing/tests/collector_regressions.o: data_acq_and_processing/tests/collector_regressions.cpp
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$(NATIVE_BUILD_DIR)/rph_sdk/libx502api.so: data_acq_and_processing/tests/rph_sdk_fixture.cpp
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@mkdir -p $(@D)
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$(CXX) -std=c++20 -shared -fPIC -I$(RPH_COLLECTOR_DIR)/vendor/lcard $< -o $@
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ln -sf libx502api.so $(@D)/libe502api.so
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$(BIN_DIR)/collector_regressions: $(RPH_BUILD_DIR)/data_acq_and_processing/tests/collector_regressions.o $(filter-out %/main.o,$(RPH_COLLECTOR_OBJS))
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@mkdir -p $(BIN_DIR)
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$(CXX) $(KAMIL_COLLECTOR_OBJS) -o $@ $(KAMIL_COLLECTOR_LDFLAGS)
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$(CXX) $^ -o $@ $(RPH_COLLECTOR_LDFLAGS)
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$(BIN_DIR)/rph_radar_collector: $(RPH_COLLECTOR_OBJS)
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@mkdir -p $(BIN_DIR)
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$(CXX) $(RPH_COLLECTOR_OBJS) -o $@ $(RPH_COLLECTOR_LDFLAGS)
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$(BUILD_DIR)/%.o: %.cpp
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@mkdir -p $(dir $@)
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