init commit

2026-03-05 14:42:33 +03:00
commit fd4618b20d
964 changed files with 325114 additions and 0 deletions
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "calibrator_interface.hpp"
+#include "shared_types.hpp"
+
+namespace radar::preprocessing {
+
+class CalibrationMaster {
+  public:
+    // `calibrator` encapsulates the actual calibration algorithm (v1: through).
+    explicit CalibrationMaster(std::unique_ptr<CalibratorInterface> calibrator);
+
+    // Loads a serialized raw sweep bundle with one calibration standard per combo.
+    void load_bundle(const std::string& path);
+    // Ensures all runtime combos are present in loaded standards.
+    void validate_combos(const std::vector<ipc::ComboKey>& combos) const;
+    // Applies calibration standard corresponding to measured trace combo.
+    [[nodiscard]] auto apply(const ipc::SweepTraceBlock& measured_trace) const -> ipc::SweepTraceBlock;
+
+  private:
+    std::unique_ptr<CalibratorInterface> calibrator_impl_;
+    std::unordered_map<ipc::ComboKey, ipc::SweepTraceBlock, ipc::ComboKeyHash> standards_by_combo_{};
+};
+
+[[nodiscard]] auto make_through_calibrator() -> std::unique_ptr<CalibratorInterface>;
+
+}  // namespace radar::preprocessing
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "shared_types.hpp"
+
+namespace radar::preprocessing {
+
+class CalibratorInterface {
+  public:
+    virtual ~CalibratorInterface() = default;
+
+    [[nodiscard]] virtual auto name() const -> std::string = 0;
+    [[nodiscard]] virtual auto apply(
+        const std::vector<ipc::Complex32>& measured,
+        const std::vector<ipc::Complex32>& calibration
+    ) const -> std::vector<ipc::Complex32> = 0;
+};
+
+}  // namespace radar::preprocessing
@@ -0,0 +1,101 @@
+#include "calibration_master.hpp"
+
+#include <cstdint>
+#include <fstream>
+#include <iterator>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+namespace radar::preprocessing {
+namespace {
+
+[[nodiscard]] auto combo_to_string(const ipc::ComboKey& combo) -> std::string {
+    return "input=" + std::to_string(combo.input_pos) + " output=" + std::to_string(combo.output_pos);
+}
+
+[[nodiscard]] auto read_binary_file(const std::string& path, const std::string& bundle_label)
+    -> std::vector<std::uint8_t> {
+    std::ifstream stream(path, std::ios::binary);
+    if (!stream.is_open()) {
+        throw std::runtime_error("Failed to open " + bundle_label + " bundle: " + path);
+    }
+
+    return std::vector<std::uint8_t>(std::istreambuf_iterator<char>(stream), std::istreambuf_iterator<char>());
+}
+
+void validate_trace_layout(const ipc::SweepTraceBlock& trace, const std::string& trace_label) {
+    if (trace.frequency_hz.size() != trace.s21.size()) {
+        throw std::runtime_error(
+            trace_label + " frequency/complex vector size mismatch for combo " + combo_to_string(trace.combo)
+        );
+    }
+}
+
+}  // namespace
+
+CalibrationMaster::CalibrationMaster(std::unique_ptr<CalibratorInterface> calibrator)
+    : calibrator_impl_(std::move(calibrator)) {
+    if (!calibrator_impl_) {
+        throw std::runtime_error("CalibrationMaster requires a non-null calibrator");
+    }
+}
+
+void CalibrationMaster::load_bundle(const std::string& path) {
+    if (path.empty()) {
+        throw std::runtime_error("Calibration bundle path must not be empty");
+    }
+
+    const auto bytes = read_binary_file(path, "calibration");
+    if (bytes.empty()) {
+        throw std::runtime_error("Calibration bundle is empty: " + path);
+    }
+
+    const auto collection = ipc::deserialize_raw_collection(bytes);
+    standards_by_combo_.clear();
+    standards_by_combo_.reserve(collection.traces.size());
+    for (const auto& trace : collection.traces) {
+        validate_trace_layout(trace, "Calibration standard");
+        standards_by_combo_.insert_or_assign(trace.combo, trace);
+    }
+
+    if (standards_by_combo_.empty()) {
+        throw std::runtime_error("Calibration bundle does not contain traces: " + path);
+    }
+}
+
+void CalibrationMaster::validate_combos(const std::vector<ipc::ComboKey>& combos) const {
+    for (const auto& combo : combos) {
+        if (!standards_by_combo_.contains(combo)) {
+            throw std::runtime_error("Calibration data is missing for combo " + combo_to_string(combo));
+        }
+    }
+}
+
+auto CalibrationMaster::apply(const ipc::SweepTraceBlock& measured_trace) const -> ipc::SweepTraceBlock {
+    validate_trace_layout(measured_trace, "Measured trace");
+
+    const auto found = standards_by_combo_.find(measured_trace.combo);
+    if (found == standards_by_combo_.end()) {
+        throw std::runtime_error(
+            "Calibration standard is missing for measured combo " + combo_to_string(measured_trace.combo)
+        );
+    }
+
+    const auto& standard = found->second;
+    validate_trace_layout(standard, "Calibration standard");
+    if (measured_trace.s21.size() != standard.s21.size()) {
+        throw std::runtime_error(
+            "Calibration standard point count mismatch for combo " + combo_to_string(measured_trace.combo)
+        );
+    }
+
+    ipc::SweepTraceBlock output{};
+    output.combo = measured_trace.combo;
+    output.frequency_hz = measured_trace.frequency_hz;
+    output.s21 = calibrator_impl_->apply(measured_trace.s21, standard.s21);
+
+    return output;
+}
+
+}  // namespace radar::preprocessing
@@ -0,0 +1,76 @@
+#include "calibration_master.hpp"
+
+#include <cstddef>
+#include <memory>
+#include <stdexcept>
+#include <vector>
+
+#include <Eigen/Core>
+
+namespace radar::preprocessing {
+namespace {
+
+class ThroughCalibrator final : public CalibratorInterface {
+  public:
+    [[nodiscard]] auto name() const -> std::string override {
+        return "through";
+    }
+
+    [[nodiscard]] auto apply(
+        const std::vector<ipc::Complex32>& measured,
+        const std::vector<ipc::Complex32>& calibration
+    ) const -> std::vector<ipc::Complex32> override {
+        if (measured.size() != calibration.size()) {
+            throw std::runtime_error("Through calibration vector size mismatch");
+        }
+
+        static_assert(sizeof(ipc::Complex32) == sizeof(float) * 2U, "Complex32 layout must be two contiguous floats");
+
+        constexpr float epsilon = 1e-12F;
+        using InterleavedComplexView = Eigen::Matrix<float, Eigen::Dynamic, 2, Eigen::RowMajor>;
+
+        const auto point_count = static_cast<Eigen::Index>(measured.size());
+        Eigen::Map<const InterleavedComplexView> measured_view(
+            reinterpret_cast<const float*>(measured.data()),
+            point_count,
+            2
+        );
+        Eigen::Map<const InterleavedComplexView> calibration_view(
+            reinterpret_cast<const float*>(calibration.data()),
+            point_count,
+            2
+        );
+
+        const auto measured_re = measured_view.col(0).array();
+        const auto measured_im = measured_view.col(1).array();
+        const auto calibration_re = calibration_view.col(0).array();
+        const auto calibration_im = calibration_view.col(1).array();
+
+        const Eigen::ArrayXf magnitude_squared = calibration_re.square() + calibration_im.square();
+        const auto stable_division_mask = (magnitude_squared > epsilon);
+
+        const Eigen::ArrayXf corrected_re = stable_division_mask.select(
+            ((measured_re * calibration_re) + (measured_im * calibration_im)) / magnitude_squared,
+            measured_re
+        );
+        const Eigen::ArrayXf corrected_im = stable_division_mask.select(
+            ((measured_im * calibration_re) - (measured_re * calibration_im)) / magnitude_squared,
+            measured_im
+        );
+
+        std::vector<ipc::Complex32> corrected(measured.size());
+        Eigen::Map<InterleavedComplexView> corrected_view(reinterpret_cast<float*>(corrected.data()), point_count, 2);
+        corrected_view.col(0) = corrected_re.matrix();
+        corrected_view.col(1) = corrected_im.matrix();
+
+        return corrected;
+    }
+};
+
+}  // namespace
+
+auto make_through_calibrator() -> std::unique_ptr<CalibratorInterface> {
+    return std::make_unique<ThroughCalibrator>();
+}
+
+}  // namespace radar::preprocessing