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new gpr

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This commit is contained in:
Ayzen
2026-05-05 15:45:52 +03:00
parent 5a70235ef3
commit e86f30023e
29 changed files with 1743 additions and 1797 deletions
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data_acq_and_processing/processing/data_processor/include/processing_live_config.hpp
+6 -9
View File
@@ -2,7 +2,6 @@
#include <chrono>
#include <cstdint>
#include <filesystem>
#include <string>
#include <vector>
@@ -31,15 +30,13 @@ struct ProcessingLiveConfig {
std::vector<std::uint32_t> gpr_output_positions{};
float gpr_min_depth_m = 2.0F;
float gpr_max_depth_m = 14.0F;
float gpr_comp_power = 0.2F;
float gpr_range_comp_power = 0.28F;
float gpr_angle_comp_power = 0.10F;
float gpr_start_freq_mhz = 3000.0F;
float gpr_stop_freq_mhz = 6000.0F;
float gpr_speed_m_s = 0.0F;
float gpr_look_angle_deg = 0.0F;
float gpr_snr_thresh = 4.5F;
float gpr_snr_comp_max = 25.0F;
bool gpr_background_subtract_enabled = true;
std::uint32_t gpr_background_mean_count = 10U;
bool gpr_remove_sidelobe_objects_enabled = true;
std::uint64_t history_command_seq = 0;
HistoryCommand history_command = HistoryCommand::None;
};
@@ -53,12 +50,12 @@ class ProcessingLiveConfigLoader {
[[nodiscard]] auto revision() const -> std::uint64_t;
private:
[[nodiscard]] auto read_from_file() const -> ProcessingLiveConfig;
[[nodiscard]] auto read_file_text() const -> std::string;
std::string path_{};
ProcessingLiveConfig current_{};
std::filesystem::file_time_type last_write_time_{};
bool has_last_write_time_ = false;
std::string last_json_text_{};
bool has_last_json_text_ = false;
std::uint64_t revision_ = 0;
std::chrono::steady_clock::time_point next_check_at_{};
};
data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp
+28 -39
View File
@@ -2,6 +2,7 @@
#include <chrono>
#include <cmath>
#include <filesystem>
#include <fstream>
#include <iostream>
#include <limits>
@@ -181,11 +182,17 @@ using Json = nlohmann::json;
}
config.gpr_max_depth_m = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_comp_power"); found != root.end()) {
if (const auto found = root.find("gpr_range_comp_power"); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error("processing.gpr_comp_power must be number");
throw std::runtime_error("processing.gpr_range_comp_power must be number");
}
config.gpr_comp_power = static_cast<float>(found->get<double>());
config.gpr_range_comp_power = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_angle_comp_power"); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error("processing.gpr_angle_comp_power must be number");
}
config.gpr_angle_comp_power = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_start_freq_mhz"); found != root.end()) {
if (!found->is_number()) {
@@ -199,30 +206,6 @@ using Json = nlohmann::json;
}
config.gpr_stop_freq_mhz = static_cast<float>(found->get<double>());
}
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");
}
config.gpr_speed_m_s = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_look_angle_deg"); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error("processing.gpr_look_angle_deg must be number");
}
config.gpr_look_angle_deg = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_snr_thresh"); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error("processing.gpr_snr_thresh must be number");
}
config.gpr_snr_thresh = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_snr_comp_max"); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error("processing.gpr_snr_comp_max must be number");
}
config.gpr_snr_comp_max = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_background_subtract_enabled"); found != root.end()) {
if (!found->is_boolean()) {
throw std::runtime_error("processing.gpr_background_subtract_enabled must be bool");
@@ -232,6 +215,12 @@ using Json = nlohmann::json;
if (const auto found = root.find("gpr_background_mean_count"); found != root.end()) {
config.gpr_background_mean_count = parse_u32_number(*found, "processing.gpr_background_mean_count");
}
if (const auto found = root.find("gpr_remove_sidelobe_objects_enabled"); found != root.end()) {
if (!found->is_boolean()) {
throw std::runtime_error("processing.gpr_remove_sidelobe_objects_enabled must be bool");
}
config.gpr_remove_sidelobe_objects_enabled = 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");
}
@@ -269,20 +258,20 @@ auto ProcessingLiveConfigLoader::refresh_if_needed() -> ProcessingLiveConfig {
}
next_check_at_ = now + std::chrono::milliseconds(100);
std::error_code time_error{};
const auto file_time = std::filesystem::last_write_time(path_, time_error);
if (time_error) {
return current_;
}
if (has_last_write_time_ && file_time == last_write_time_) {
std::error_code file_error{};
if (!std::filesystem::exists(path_, file_error) || file_error) {
return current_;
}
try {
current_ = read_from_file();
last_write_time_ = file_time;
has_last_write_time_ = true;
const auto json_text = read_file_text();
if (has_last_json_text_ && json_text == last_json_text_) {
return current_;
}
current_ = parse_live_config(json_text, path_);
last_json_text_ = json_text;
has_last_json_text_ = true;
++revision_;
} catch (const std::exception& error) {
std::cerr << "data_processor warning: failed to refresh live processing config: " << error.what() << '\n';
@@ -291,7 +280,7 @@ auto ProcessingLiveConfigLoader::refresh_if_needed() -> ProcessingLiveConfig {
return current_;
}
auto ProcessingLiveConfigLoader::read_from_file() const -> ProcessingLiveConfig {
auto ProcessingLiveConfigLoader::read_file_text() const -> std::string {
std::ifstream stream(path_);
if (!stream.is_open()) {
throw std::runtime_error("Failed to open live processing config: " + path_);
@@ -299,7 +288,7 @@ auto ProcessingLiveConfigLoader::read_from_file() const -> ProcessingLiveConfig
std::stringstream buffer{};
buffer << stream.rdbuf();
return parse_live_config(buffer.str(), path_);
return buffer.str();
}
} // namespace radar::processing