Подготовка к ролям TX/RX: выделяю из монолитного main.cpp
переиспользуемые части без изменения поведения.
- sbus.{h,cpp}: упаковка 25-байтового SBUS-кадра, инициализация и
вывод инвертированного SBUS на USART1 (PA9) — единственный владелец
провода к драйверу, общий для будущих ролей.
- stick.{h,cpp}: калибровка стика, нормализация осей и профиль
газа/поворота, формирование ch[16]. Неиспользованные в прежнем loop
expo()/toSbus() и мёртвые константы не переносятся.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The grid bounds are now explicit config (sar3d_x/y/z_min/max_m) instead of
being derived from the antenna span and the depth gate. The depth mask
still zeroes voxels outside [min_depth, max_depth], so the wider Z window
just shows the masked wedge. The bound fields are double: the parity tool
recomputes the notebook-derived bounds (notebook_grid_bounds) and passes
them through the live config, and a float roundtrip shifted the axes by
~1e-7 m, flipping depth-mask knife-edge voxels against the reference npz.
Parity on frames 0034-0036 unchanged (1.3e-6, axes bit-match).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Full-volume acc/cnt device buffers (~115 MB for the 9.6M-voxel grid) plus
the CUDA context did not fit next to a desktop session that had taken the
T600's 4 GB down to ~190 MB free, so every frame died with cuMemAlloc OOM
and the GUI showed no sar3d picture. The kernel now processes
[gid_begin, gid_end) ranges and the host launches it in 2M-voxel chunks
reusing one ~24 MB buffer pair. Parity vs the reference volumes is
unchanged (max diff 1.3e-6).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
- replay_raw_producer carries the RECORDED per-trace capture windows
from each snapshot's meta.json (re-anchored by the same shift as the
frame time) instead of one synthetic window for all traces — without
this the segmented timing model degenerates in replay;
- GUI/profile/orchestration swap the removed window knobs
(center_depth, half_width_*, grid_n*) for the notebook parameters
(ground depth, pitch override, voxel pitch, Y range, X margin, norm
edge margin, smooth sigma, comp power, tx per segment).
Headless replay smoke on the 20260922_mine_fast_true dataset passes:
51 sar3d result collections, transparent preprocessor.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The old sar3d core was a port of the superseded Horns_3D notebook and
produced wrong volumes. The compute core now follows the reference
notebook exactly:
- segmented_interleaved frame timing rebuilt from per-trace capture
stamps (uniform tx_per_segment split as the no-stamps fallback), with
the coarse inter-segment dtau and the intra-sweep dtau applied as one
phase ramp before the IFFT;
- ground scene coordinates with the ground_depth_m lift (scene Y=0 is
the ground), full-region grid instead of a window around a center
depth, geo_ref compensation anchored on the ground plane, power 0.3;
- notebook finalization in C++: |acc/cnt|, depth mask, normalization
without the Y-edge planes, separable Gaussian over (Z, X), level;
- CUDA kernel computes geometry in double: float32 loses ~3e-4 of an
A-scan sample in tau and drifts ~1e-4 from the float64 reference.
Live-config keys follow: the center_depth/half_width/grid_n window knobs
are replaced by ground/voxel/y-range/margin/sigma/power/tx_per_segment.
Parity against the notebook npz exports (frames 0034-0036 of the
20260922_mine_fast_true dataset): max|diff| <= 1.6e-6 off the depth-mask
knife edge, identical argmax, level rel diff <= 7e-7. Verified via
make sar3d_parity --dump-dir + scripts/sar3d_volume_compare.py; the
executable spec lives in scripts/sar3d_reference_check.py (bit-tight
against the npz, including the animation shifted-grid arithmetic).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The display threshold from 'add treshhold' (e113ef6) was meant for the
sar3d projections; the GPR heatmap goes back to full-range levels and
the constant moves into sar3d_plot_mixin.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Independent monitor + checker for CHANGE_CURRENT_LD1 variation, where the
board sweeps LD1 current autonomously while both laser temperatures must stay
on their static setpoints. Nothing previously verified that the setpoints were
actually reached, so a stale temperature silently corrupted measurements.
New package python_app/hardware_full/laser_control/monitoring/:
- session.py: LaserVariationSession snapshot (targets + tolerance frozen at start)
- readings_channel.py: JSONL append/tail channel for per-sweep readings
- monitor.py: LaserTemperatureMonitor polls the board once per sweep, publishes
- checker.py: LaserTemperatureChecker validates temp1/temp2 vs targets (0.03 C),
warns to console per laser with anti-spam state
CLI entry points scripts/laser_temp_monitor.py and scripts/laser_temp_checker.py
run as independent processes communicating via IPC files.
Also: add temp_tolerance_c to LaserVariationModeModel (schema + codec round-trip)
and write the session snapshot from apply_kamil_adc_laser_control's variation path
so the checker works with pipeline-started runs too.
Tests in tests/test_laser_temp_monitoring.py (17 cases); existing laser-control
protocol and config-codec suites remain green.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
aweandClaude Opus 4.8