"""Live reflector measurements and target-phase diagnostics for MIMO calibration.""" from __future__ import annotations import copy import math import numpy as np import pyqtgraph as pg from PyQt6.QtCore import Qt, pyqtSignal from PyQt6.QtWidgets import ( QCheckBox, QComboBox, QDialog, QDoubleSpinBox, QFormLayout, QGroupBox, QHBoxLayout, QHeaderView, QLabel, QLineEdit, QPushButton, QTableWidget, QTableWidgetItem, QVBoxLayout, QWidget, ) from python_app.models.dataset_model import SweepCollection class ObjectCalibrationDialog(QDialog): """Collect full-matrix sweeps, then associate each group with measured XYZ.""" capture_requested = pyqtSignal() calculate_requested = pyqtSignal() cancel_requested = pyqtSignal() def __init__(self, set_name: str, parent=None) -> None: super().__init__(parent) self.setWindowTitle("MIMO Object Calibration") self.resize(1000, 850) self._captures: list[dict] = [] self._config: dict | None = None self._capture_pending = self._calculating = False self._calibration: dict | None = None layout = QVBoxLayout(self) name_row = QHBoxLayout() name_row.addWidget(QLabel("Set name", self)) self._set_name_input = QLineEdit(set_name, self) name_row.addWidget(self._set_name_input) layout.addLayout(name_row) explanation = QLabel( "Снимите данные, затем введите физически измеренные координаты центра отражателя: " "X — поперёк, Y — высота над землёй, Z — вдоль земли. " "Обычные S21-калибровка и выбранный референс уже применены; " "существующая MIMO-поправка при съёмке отключена.", self, ) explanation.setWordWrap(True) layout.addWidget(explanation) self._table = QTableWidget(0, 5, self) self._table.setHorizontalHeaderLabels(["Набор", "Свипов", "X (м)", "Y (м)", "Z (м)"]) horizontal, vertical = self._table.horizontalHeader(), self._table.verticalHeader() assert horizontal is not None and vertical is not None horizontal.setSectionResizeMode(QHeaderView.ResizeMode.Stretch) vertical.hide() self._table.setSelectionBehavior(QTableWidget.SelectionBehavior.SelectRows) self._table.itemChanged.connect(self._measurements_changed) layout.addWidget(self._table) actions = QHBoxLayout() self._capture_button = QPushButton("Снять данные", self) self._capture_button.clicked.connect(self.capture_requested.emit) self._remove_button = QPushButton("Удалить выбранный набор", self) self._remove_button.clicked.connect(self._remove_capture) actions.addWidget(self._capture_button) actions.addWidget(self._remove_button) actions.addStretch(1) layout.addLayout(actions) self._settings: dict[str, QDoubleSpinBox | QCheckBox | QComboBox] = {} form = QFormLayout() for key, title, default, low, high in ( ("sphere_radius_m", "Радиус шара, м (0 — точка)", .16, 0, 100), ("antenna_height_m", "Высота начала координат антенн над землёй, м", .92, 0, 100), ("pitch_deg", "Наклон радара вниз, °", 10, -90, 90), ): form.addRow(title, self._number(key, default, low, high)) layout.addLayout(form) advanced = QGroupBox("Параметры расчёта", self) advanced.setFlat(True) advanced.setCheckable(True) advanced.setChecked(False) advanced_layout = QVBoxLayout(advanced) advanced_content = QWidget(advanced) advanced_form = QFormLayout(advanced_content) for key, title, default, low, high in ( ("f_min", "Нижняя частота оценки, МГц", 2000, 0, 100000), ("f_max", "Верхняя частота оценки, МГц", 6000, 0, 100000), ("gate_half_m", "Полуширина окна эха по пути, м", .15, .000001, 100), ("gate_taper_m", "Плавный край окна, м", .03, .000001, 100), ("coarse_range_search_m", "Грубый поиск по пути, ±м (0 — выкл.)", .6, 0, 100), ("refine_range_m", "Уточнение координат, ±м", .1, 0, 100), ): advanced_form.addRow(title, self._number(key, default, low, high)) axes = QWidget(advanced_content) axes_layout = QHBoxLayout(axes) axes_layout.setContentsMargins(0, 0, 0, 0) self._refine_axes = {} for axis in "xyz": checkbox = QCheckBox(axis.upper(), axes) checkbox.setChecked(True) checkbox.toggled.connect(self._measurements_changed) self._refine_axes[axis] = checkbox axes_layout.addWidget(checkbox) advanced_form.addRow("Уточнять координаты", axes) phase_model = QComboBox(advanced_content) phase_model.addItems(["const", "linear", "poly3", "raw"]) phase_model.setCurrentText("linear") phase_model.currentTextChanged.connect(self._measurements_changed) self._settings["phase_model"] = phase_model advanced_form.addRow("Модель фазы антенны", phase_model) amplitude = QCheckBox("Выравнивать также амплитуды", advanced_content) amplitude.toggled.connect(self._measurements_changed) self._settings["apply_amplitude"] = amplitude advanced_form.addRow(amplitude) advanced_content.hide() advanced.toggled.connect(advanced_content.setVisible) advanced_layout.addWidget(advanced_content) layout.addWidget(advanced) self._target_combo = QComboBox(self) self._target_combo.currentIndexChanged.connect(self._draw_phase_effect) layout.addWidget(self._target_combo) self._phase_plot = pg.PlotWidget(background="#0f141c", enableMenu=False) self._phase_plot.setLabel("left", "Target phase relative to first pair", units="deg") self._phase_plot.setLabel("bottom", "Tx / Rx pair") self._phase_plot.showGrid(x=True, y=True, alpha=.2) self._phase_plot.setMinimumHeight(220) self._phase_plot.addLegend() layout.addWidget(self._phase_plot) self._quality_label = QLabel("Фазы вкладов пар появятся после расчёта.", self) self._quality_label.setWordWrap(True) layout.addWidget(self._quality_label) self._status_label = QLabel("Готово к съёмке", self) self._status_label.setWordWrap(True) layout.addWidget(self._status_label) footer = QHBoxLayout() self._calculate_button = QPushButton("Рассчитать и сохранить", self) self._calculate_button.clicked.connect(self.calculate_requested.emit) self._cancel_button = QPushButton("Отменить операцию", self) self._cancel_button.clicked.connect(self.cancel_requested.emit) close_button = QPushButton("Закрыть", self) close_button.clicked.connect(self.reject) footer.addWidget(self._calculate_button) footer.addWidget(self._cancel_button) footer.addStretch(1) footer.addWidget(close_button) layout.addLayout(footer) self._update_actions() def _number(self, key: str, value: float, low: float, high: float) -> QDoubleSpinBox: field = QDoubleSpinBox(self) field.setDecimals(6) field.setRange(low, high) field.setSingleStep(100 if key in {"f_min", "f_max"} else .1 if key == "pitch_deg" else .01) field.setValue(value) field.valueChanged.connect(self._measurements_changed) self._settings[key] = field return field def add_capture(self, collections: list[SweepCollection], config: dict) -> None: """Freeze a captured group before the operator enters its target coordinates.""" if not collections: raise ValueError("Не получены свипы отражателя") if self._config is not None and any( config.get(key) != self._config.get(key) for key in ("radar", "gpr", "preprocess") ): raise ValueError("Параметры радара, геометрия или препроцессинг изменились между наборами") self._config = copy.deepcopy(config) self._captures.append({"collections": copy.deepcopy(collections)}) row = self._table.rowCount() self._table.insertRow(row) for column, value in enumerate((str(row + 1), str(len(collections)), "", "", "")): item = QTableWidgetItem(value) if column < 2: item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsEditable) self._table.setItem(row, column, item) self._table.setCurrentCell(row, 2) self.set_status("Данные сняты. Введите координаты центра отражателя для нового набора.") self._update_actions() def calculation_inputs(self) -> tuple[list[dict], dict, dict]: """Validate XYZ after capture; expose a frozen recipe to the worker.""" if not self._captures or self._config is None: raise ValueError("Сначала снимите данные отражателя") groups = [] for row, capture in enumerate(self._captures): try: coordinates = [] for column in (2, 3, 4): item = self._table.item(row, column) assert item is not None coordinates.append(float(item.text().strip())) target = tuple(coordinates) except ValueError as exc: raise ValueError(f"Введите X, Y и Z центра отражателя для набора {row + 1}") from exc if not all(math.isfinite(value) for value in target): raise ValueError(f"Координаты набора {row + 1} должны быть конечными числами") groups.append({**capture, "target_scene_m": target}) settings: dict[str, float | bool | str | tuple[str, ...] | tuple[int, ...]] = { key: field.value() * (1e6 if key in {"f_min", "f_max"} else 1) if isinstance(field, QDoubleSpinBox) else field.isChecked() if isinstance(field, QCheckBox) else field.currentText() for key, field in self._settings.items() } settings["refine_axes"] = tuple(axis for axis, field in self._refine_axes.items() if field.isChecked()) traces = self._captures[0]["collections"][0].traces settings["input_idx"] = tuple(sorted({trace.combo.input for trace in traces})) settings["output_idx"] = tuple(sorted({trace.combo.output for trace in traces})) return groups, copy.deepcopy(self._config), settings def set_name(self) -> str: return self._set_name_input.text().strip() def set_capture_pending(self, pending: bool) -> None: self._capture_pending = pending self._update_actions() def set_calculating(self, calculating: bool) -> None: self._calculating = calculating self._update_actions() def set_status(self, message: str) -> None: self._status_label.setText(message) def show_calibration(self, calibration: dict) -> None: self._calibration = calibration self._target_combo.clear() for index, target in enumerate(calibration.get("meta", {}).get("targets", [])): xyz = target.get("nominal_scene_m", []) self._target_combo.addItem(f"Набор {index + 1}: {xyz}") self._draw_phase_effect() def _draw_phase_effect(self, *_args) -> None: self._phase_plot.clear() if self._calibration is None: return diagnostics = self._calibration.get("meta", {}).get("diagnostics", []) index = self._target_combo.currentIndex() if not 0 <= index < len(diagnostics): self._quality_label.setText("У этого набора нет диагностики фаз в точке цели.") return diagnostic = diagnostics[index] phases = np.array([diagnostic["phase_before_deg"], diagnostic["phase_after_deg"]]).reshape(2, -1) before, after = (phases - phases[0, 0] + 180) % 360 - 180 pairs = [(output, input_pos) for output in self._calibration["tx_output_pos"] for input_pos in self._calibration["rx_input_pos"]] xx = np.arange(len(pairs)) for values, color, label in ((before, "#ed7d31", "До"), (after, "#42c7a5", "После")): self._phase_plot.plot(xx, values, pen=pg.mkPen(color, width=1.5), symbol="o", symbolBrush=color, symbolPen=color, name=label) step = max(1, len(pairs) // 16) self._phase_plot.getAxis("bottom").setTicks([[ (k, f"o{pairs[k][0]}/i{pairs[k][1]}") for k in range(0, len(pairs), step) ]]) self._quality_label.setText( f"Согласованность фаз в точке цели: {diagnostic['coherence_before']:.3f} " f"→ {diagnostic['coherence_after']:.3f} (1 — все вклады в фазе)." ) def _remove_capture(self) -> None: row = self._table.currentRow() if row >= 0: self._captures.pop(row) self._table.removeRow(row) for index in range(self._table.rowCount()): item = self._table.item(index, 0) assert item is not None item.setText(str(index + 1)) if not self._captures: self._config = None self._measurements_changed() def _measurements_changed(self, *_args) -> None: self._calibration = None if hasattr(self, "_phase_plot"): self._phase_plot.clear() self._target_combo.clear() self._quality_label.setText("Параметры изменены — требуется новый расчёт.") def _update_actions(self) -> None: busy = self._capture_pending or self._calculating self._capture_button.setEnabled(not busy) self._remove_button.setEnabled(not busy and bool(self._captures)) self._calculate_button.setEnabled(not busy and bool(self._captures)) self._cancel_button.setEnabled(busy) self._table.setEnabled(not busy) self._set_name_input.setEnabled(not busy) for field in [*self._settings.values(), *self._refine_axes.values()]: field.setEnabled(not busy) def reject(self) -> None: self.cancel_requested.emit() super().reject() def closeEvent(self, event) -> None: # noqa: N802 self.cancel_requested.emit() super().closeEvent(event)