Add RFG UDP source to rph_radar

python_app/tests/test_rph_radar_protocol.py

@@ -5,7 +5,7 @@ import unittest
 
 import numpy as np
 
-from python_app.hardware_full.rph_radar.protocol import RphRadarStreamParser
+from python_app.hardware_full.rph_radar.protocol import RfgSweepAssembler, RphRadarStreamParser
 
 
 def packet(*, source_id=1, cycle_id=1, start=100, end=200, combo=(1, 2), dirty=0, points=None):
@@ -65,5 +65,80 @@ class RphRadarStreamParserTest(unittest.TestCase):
         self.assertTrue(sweep.dirty)
 
 
+def rfg_datagram(sweep_id, *steps, values=(3, 1, 5, 4, 2, 6), q_shift=27):
+    """RFG SWEEP_AVG datagram; ``values`` are in units of 2**(q_shift - 7)."""
+    return struct.pack("<HH", 6, q_shift) + b"".join(
+        struct.pack("<I6i", (sweep_id << 24) | step, *[value << (q_shift - 7) for value in values]) for step in steps)
+
+
+class RfgSweepAssemblerTest(unittest.TestCase):
+    STEP_NS = 50_000
+    PERIOD_NS = 20_000_000
+
+    def feed(self, assembler, sweep_id, steps, start_ns, delay_ns=7_000):
+        sweeps = []
+        for step in steps:
+            sweeps += assembler.feed(rfg_datagram(sweep_id, step), start_ns + (step + 1) * self.STEP_NS + delay_ns)
+        return sweeps
+
+    def test_complete_sweep_maps_sync_detector_and_reference_and_its_true_window(self):
+        assembler = RfgSweepAssembler(steps=3, step_ns=self.STEP_NS, period_ns=self.PERIOD_NS)
+        self.feed(assembler, 9, [0, 1, 2], 1_000_000_000)
+        (sweep,) = assembler.feed(rfg_datagram(10, 0), 1_020_000_000)
+        self.assertFalse(sweep.dirty)
+        self.assertEqual(sweep.steps.tolist(), [0, 1, 2])
+        np.testing.assert_allclose(sweep.main, [(3 - 1 + 1j * (4 - 2)) / 128] * 3)  # ch0 - ch1
+        np.testing.assert_allclose(sweep.reference, [(5 + 6j) / 128] * 3)          # ch2
+        self.assertEqual(sweep.capture_start_ns, 1_000_007_000)
+        self.assertEqual(sweep.capture_end_ns - sweep.capture_start_ns, 3 * self.STEP_NS)
+
+    def test_window_takes_the_least_delayed_point_when_the_board_batches(self):
+        assembler = RfgSweepAssembler(steps=3, step_ns=self.STEP_NS, period_ns=self.PERIOD_NS)
+        start = 2_000_000_000
+        assembler.feed(rfg_datagram(1, 0, 1), start + 2 * self.STEP_NS + 10_000)  # steps 0-1 batched
+        assembler.feed(rfg_datagram(1, 2), start + 3 * self.STEP_NS + 10_000)
+        (sweep,) = assembler.feed(rfg_datagram(2, 0), start + 30_000_000)
+        self.assertEqual(sweep.capture_start_ns, start + 10_000)
+
+    def test_points_of_older_sweeps_are_ignored_until_the_id_space_could_have_wrapped(self):
+        assembler = RfgSweepAssembler(steps=3, step_ns=self.STEP_NS, period_ns=self.PERIOD_NS)
+        sweeps = []
+        for sweep_id, start in ((1, 0), (3, 20_000_000), (2, 40_000_000), (4, 60_000_000), (3, 80_000_000)):
+            sweeps += self.feed(assembler, sweep_id, [0, 1, 2], start)
+        self.assertEqual([sweep.source_id for sweep in sweeps], [1, 2])  # late 2 and replayed 3 are dropped
+        sweeps = self.feed(assembler, 2, [0, 1, 2], 80_000_000 + 128 * self.PERIOD_NS)  # 4 closes, 2 is new
+        sweeps += self.feed(assembler, 3, [0], 100_000_000 + 128 * self.PERIOD_NS)
+        self.assertEqual([(sweep.source_id, sweep.dirty) for sweep in sweeps], [(3, False), (4, False)])
+
+    def test_reset_turns_the_rest_of_the_sweep_in_progress_dirty(self):
+        assembler = RfgSweepAssembler(steps=3, step_ns=self.STEP_NS, period_ns=self.PERIOD_NS)
+        self.feed(assembler, 4, [0], 0)
+        assembler.reset()
+        self.feed(assembler, 4, [1, 2], 0)
+        (sweep,) = self.feed(assembler, 5, [0], 20_000_000)
+        self.assertTrue(sweep.dirty)
+
+    def test_partial_gapped_shortened_or_reordered_sweeps_are_dirty(self):
+        for steps in ([1, 2], [0, 2], [0, 1], [0, 2, 1], [0, 1, 1, 2]):
+            assembler = RfgSweepAssembler(steps=3, step_ns=self.STEP_NS, period_ns=self.PERIOD_NS)
+            self.feed(assembler, 255, steps, 0)
+            with self.subTest(steps=steps):
+                (sweep,) = assembler.feed(rfg_datagram(0, 0), 10_000_000)  # 255 -> 0 wraps normally
+                self.assertTrue(sweep.dirty)
+
+    def test_a_reused_id_after_an_outage_does_not_splice_two_sweeps(self):
+        assembler = RfgSweepAssembler(steps=3, step_ns=self.STEP_NS, period_ns=self.PERIOD_NS)
+        self.feed(assembler, 5, [0], 0)
+        self.feed(assembler, 5, [1, 2], 4_920_000_000)  # 256 sweep periods later
+        (sweep,) = self.feed(assembler, 6, [0], 4_940_000_000)
+        self.assertTrue(sweep.dirty)
+
+    def test_unexpected_layout_fails_fast(self):
+        for datagram in (b"\x06", struct.pack("<HH", 5, 27), struct.pack("<HH", 6, 31) + rfg_datagram(1, 0)[4:],
+                         rfg_datagram(1, 0)[:-1]):
+            with self.subTest(datagram=datagram), self.assertRaisesRegex(ValueError, "protocol"):
+                RfgSweepAssembler(steps=3, step_ns=1, period_ns=1).feed(datagram, 1)
+
+
 if __name__ == "__main__":
     unittest.main()