Ayzen
b88d704126
- BG_GATE_ENABLE: frame peak over its median background (sar3d_background); the GUI scales the frame with bg_gate_gain and its cloud threshold. - SAR_CLEAN_ENABLE: CLEAN of a one-frame aperture on a 4x10x4 cm search grid over the whole scene; objects in their own scale (sar3d_objects). - SAR_MARK_ENABLE: boxes by class around object groups (sar3d_marks), with the legend under the views. - SAR_VOXEL_M as three steps X/Y/Z with the notebook defaults 0.025/0.02/0.02. - GPU backend: image/download/load/project API, per-plane block reduction for the maximum, depth gate without FMA; sar3d host code built with -ffp-contract=off. - References regenerated from notebook cells 1 and 5, with new CLEAN scenes and a synthetic box-rule case; docs updated.
576 lines
28 KiB
C++
576 lines
28 KiB
C++
#include "channel_bundle_support.hpp"
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#include "data_preprocessor.hpp"
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#include "locator/tcp_server.hpp"
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#include "object_approach_filter.hpp"
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#include "processing_live_config.hpp"
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#include "runtime_wait.hpp"
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#include "shm_ring.hpp"
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#include "tty_protocol_writer.h"
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#include "switch_sequencer.h"
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <sys/socket.h>
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#include <sys/wait.h>
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#include <unistd.h>
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#include <algorithm>
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#include <array>
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#include <atomic>
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#include <chrono>
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#include <cstring>
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#include <exception>
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#include <filesystem>
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#include <fstream>
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#include <iostream>
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#include <limits>
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#include <random>
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#include <stdexcept>
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#include <thread>
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#include <nlohmann/json.hpp>
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namespace {
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using namespace radar;
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using Json = nlohmann::json;
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void require(bool condition, const char* message) {
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if (!condition) {
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throw std::runtime_error(message);
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}
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}
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template <typename Callable>
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void expect_error(Callable operation) {
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try {
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operation();
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} catch (const std::bad_alloc&) {
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throw; // A malformed count must be rejected before allocating.
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} catch (const std::exception&) {
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return;
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}
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throw std::runtime_error("Expected operation to reject malformed input");
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}
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struct Workspace {
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std::filesystem::path path;
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Workspace() {
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char pattern[] = "/tmp/radar-native-XXXXXX";
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const auto* created = ::mkdtemp(pattern);
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require(created != nullptr, "mkdtemp failed");
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path = created;
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}
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~Workspace() { std::filesystem::remove_all(path); }
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};
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struct RingName {
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std::string name;
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explicit RingName(const std::string& suffix = {})
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: name("/radar_native_test_" + std::to_string(::getpid()) + suffix) {
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::shm_unlink(name.c_str());
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}
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~RingName() { ::shm_unlink(name.c_str()); }
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};
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auto save_bundle(const Workspace& workspace, const char* name, const ipc::RawSweepCollection& collection)
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-> std::string {
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const auto path = workspace.path / name;
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const auto bytes = ipc::serialize_raw_collection(collection);
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std::ofstream(path, std::ios::binary).write(
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reinterpret_cast<const char*>(bytes.data()), static_cast<std::streamsize>(bytes.size()));
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return path.string();
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}
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void write_u32(std::vector<std::uint8_t>& bytes, std::size_t offset, std::uint32_t value) {
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require(offset + sizeof(value) <= bytes.size(), "invalid test offset");
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std::memcpy(bytes.data() + offset, &value, sizeof(value));
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}
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void test_wire_format() {
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ipc::RawSweepCollection raw{.collection_id = 7, .monotonic_ns = 42,
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.capture_start_ns = 21, .capture_end_ns = 40,
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.traces = {{.combo = {1, 2}, .frequency_hz = {1, 2},
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.s21 = {{5, 6}, {7, 8}},
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.capture_start_ns = 25, .capture_end_ns = 39}}};
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ipc::ResultCollection results{.collection_id = 7, .monotonic_ns = 0x0102030405060708ULL,
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.processing_duration_ns = 17, .settings_revision = 0xfedcba9876543210ULL,
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.capture_start_ns = 21, .capture_end_ns = 40, .speed_m_s = -1.5F,
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.collection_payloads = {
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{.kind = ipc::ResultKind::TraceComplex, .frequency_hz = {1}, .trace = {{2, 3}}},
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{.kind = ipc::ResultKind::ScalarF32, .scalar_value = 4},
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{.kind = ipc::ResultKind::ImageF32, .image_x_axis = {1, 2},
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.image_y_axis = {3}, .image_values = {4, 5}},
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{.kind = ipc::ResultKind::TableF32, .table_columns = 2, .table_values = {6, 7}},
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{.kind = ipc::ResultKind::ImageF32, .image_y_axis = {1}},
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{.kind = ipc::ResultKind::TableF32, .table_columns = 3}},
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.blocks = {{.combo = {1, 2}, .payloads = {{.kind = ipc::ResultKind::ScalarF32}}}}};
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const auto raw_bytes = ipc::serialize_raw_collection(raw);
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const auto pre_bytes = ipc::serialize_preprocessed_collection(raw);
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const auto result_bytes = ipc::serialize_result_collection(results);
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const std::array<std::uint8_t, 64> result_header{
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'R', 'S', 'L', '3', 7, 0, 0, 0, 0, 0, 0, 0,
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8, 7, 6, 5, 4, 3, 2, 1, 17, 0, 0, 0, 0, 0, 0, 0,
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0x10, 0x32, 0x54, 0x76, 0x98, 0xba, 0xdc, 0xfe,
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21, 0, 0, 0, 0, 0, 0, 0, 40, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0xc0, 0xbf, 6, 0, 0, 0, 1, 0, 0, 0,
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};
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require(std::equal(result_header.begin(), result_header.end(), result_bytes.begin()),
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"RSL3 must preserve exact acquisition identity and settings in its 64-byte header");
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require(std::memcmp(raw_bytes.data(), "RAW3", 4) == 0 &&
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std::memcmp(pre_bytes.data(), "PRP3", 4) == 0,
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"trace collections must use the S21-only version 3 format");
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// Collection header + one trace header + two 12-byte points + capture trailer.
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require(raw_bytes.size() == 24 + 12 + 2 * 12 + 16 + 4 + 16 && pre_bytes.size() == raw_bytes.size(),
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"trace wire format must contain only frequency and S21 samples");
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auto old_raw = raw_bytes;
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auto old_pre = pre_bytes;
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write_u32(old_raw, 0, 0x32574152U);
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write_u32(old_pre, 0, 0x32525050U);
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expect_error([&] { (void)ipc::deserialize_raw_collection(old_raw); });
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expect_error([&] { (void)ipc::deserialize_preprocessed_collection(old_pre); });
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require(ipc::serialize_raw_collection(ipc::deserialize_raw_collection(raw_bytes)) == raw_bytes,
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"raw roundtrip changed data");
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require(ipc::serialize_preprocessed_collection(ipc::deserialize_preprocessed_collection(pre_bytes)) == pre_bytes,
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"preprocessed roundtrip changed data");
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for (const std::size_t tail : {36U, 20U}) {
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expect_error([&] { (void)ipc::deserialize_raw_collection(std::span(raw_bytes).first(raw_bytes.size() - tail)); });
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expect_error([&] { (void)ipc::deserialize_preprocessed_collection(std::span(pre_bytes).first(pre_bytes.size() - tail)); });
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}
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// Deterministic random mutations include wire-compatible valid frames as seeds.
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std::mt19937 random(0x52414452U);
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for (unsigned iteration = 0; iteration < 10'000U; ++iteration) {
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auto bytes = iteration % 2U == 0U ? raw_bytes : pre_bytes;
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for (unsigned edit = 0; edit < 1U + random() % 5U; ++edit) {
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bytes[random() % bytes.size()] = static_cast<std::uint8_t>(random());
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}
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if (iteration % 4U == 0U) {
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bytes.resize(random() % bytes.size());
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}
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try {
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if (iteration % 2U == 0U) { (void)ipc::deserialize_raw_collection(bytes); }
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else { (void)ipc::deserialize_preprocessed_collection(bytes); }
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} catch (const std::bad_alloc&) { throw; }
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catch (const std::runtime_error&) {}
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}
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}
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void test_configuration(const std::string& seed_path, const Workspace& workspace) {
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std::ifstream input(seed_path);
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const auto seed = Json::parse(input);
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const auto config_path = workspace.path / "config.json";
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const auto save = [&](const Json& config) { std::ofstream(config_path) << config; };
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save(seed);
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const auto config = config::load_run_config(config_path.string());
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auto no_taps = seed;
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no_taps["rings"]["preprocessed_tap"]["name"] = "";
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save(no_taps);
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const auto disabled = config::load_run_config(config_path.string()).rings;
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require(disabled.preprocessed_tap.name.empty(),
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"explicit empty tap names must disable the optional rings");
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for (const auto* key : {"raw", "preprocessed", "results"}) {
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auto invalid = no_taps;
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invalid["rings"][key]["name"] = "";
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save(invalid);
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expect_error([&] { (void)config::load_run_config(config_path.string()); });
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}
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for (const auto* port : {"port1", "port2"}) {
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auto with_driver = seed;
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with_driver["switches"][port]["driver"] = "h7992";
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save(with_driver);
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(void)config::load_run_config(config_path.string());
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for (const auto& driver : {Json("hmc349a"), Json("unknown"), Json(7)}) {
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with_driver["switches"][port]["driver"] = driver;
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save(with_driver);
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expect_error([&] { (void)config::load_run_config(config_path.string()); });
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}
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}
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auto with_object_calibration = seed;
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with_object_calibration["preprocess"]["s21"]["object_calibration"] =
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Json{{"set_name", "reflector"}, {"bundle_path", "corrections.bin"}};
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save(with_object_calibration);
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const auto selected = config::load_run_config(config_path.string()).preprocess.s21.object_calibration;
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require(selected.bundle_path == "corrections.bin",
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"object calibration asset did not load");
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with_object_calibration["preprocess"]["s21"].erase("object_calibration");
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save(with_object_calibration);
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require(config::load_run_config(config_path.string()).preprocess.s21.object_calibration.bundle_path.empty(),
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"absent object calibration was not disabled");
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for (const auto& invalid_asset : {Json(nullptr), Json{{"bundle_path", true}}}) {
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with_object_calibration["preprocess"]["s21"]["object_calibration"] = invalid_asset;
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save(with_object_calibration);
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expect_error([&] { (void)config::load_run_config(config_path.string()); });
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}
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for (const auto& [pointer, value] : std::array<std::pair<const char*, double>, 3>{{
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{"/run/combos/0/input", 0.0000001},
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{"/rings/raw/slot_size_bytes", 65}, {"/gpr/rx_geometry/0/x_m", 1e100}}}) {
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auto invalid = seed;
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invalid[Json::json_pointer(pointer)] = value;
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save(invalid);
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expect_error([&] { (void)config::load_run_config(config_path.string()); });
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}
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const auto live_path = workspace.path / "live.json";
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std::ofstream(live_path) << Json{{"bscan_gain", 2}, {"settings_revision", 11},
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{"sar3d_bg_gate_enabled", false}, {"sar3d_clean_enabled", false},
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{"legacy_gpr_mode", false}, {"relative_permittivity", "obsolete"}};
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processing::ProcessingLiveConfigLoader loader(live_path.string(), config);
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const auto loaded = loader.refresh_if_needed();
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require(loaded.bscan_gain == 2 && !loaded.sar3d_bg_gate_enabled && !loaded.sar3d_clean_enabled,
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"valid live config did not load");
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const auto revision = loader.revision();
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for (const auto& invalid : {Json{{"bscan_gain", 1e100}},
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Json{{"gpr_input_positions", {0.0000001}}}, Json{{"bscan_gain", true}},
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Json{{"processor_mode", "legacy_gpr"}}}) {
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std::ofstream(live_path) << invalid;
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std::this_thread::sleep_for(std::chrono::milliseconds(110));
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const auto current = loader.refresh_if_needed();
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require(current.bscan_gain == 2 && loader.revision() == revision,
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"invalid live config replaced the last valid settings");
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}
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}
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void test_ring() {
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RingName name;
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expect_error([&] { (void)ipc::ShmRing::open_or_create(name.name, 2, 65); });
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expect_error([&] { (void)ipc::ShmRing::open_or_create(name.name, 0xffffffffU, 0xfffffff8U); });
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auto ring = ipc::ShmRing::open_or_create(name.name, 2, 4096);
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const auto child = ::fork();
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require(child >= 0, "fork failed");
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if (child == 0) {
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std::array<std::uint64_t, 512> words{};
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for (std::uint64_t sequence = 1; sequence <= 20'000U; ++sequence) {
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words.fill(sequence);
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if (!ring.push({reinterpret_cast<const std::uint8_t*>(words.data()), sizeof(words)})) {
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::_exit(2);
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}
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}
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::_exit(0);
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}
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std::uint64_t previous = 0;
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std::vector<std::uint8_t> payload;
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int status = 0;
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bool finished = false;
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const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(10);
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try {
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while (true) {
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if (ring.pop(payload)) {
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require(payload.size() == 4096, "stress payload changed size");
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std::uint64_t sequence = 0;
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std::memcpy(&sequence, payload.data(), sizeof(sequence));
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require(sequence > previous, "stress ring yielded duplicate or older data");
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for (std::size_t offset = 0; offset < payload.size(); offset += sizeof(sequence)) {
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std::uint64_t word = 0;
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std::memcpy(&word, payload.data() + offset, sizeof(word));
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require(word == sequence, "stress ring accepted a torn payload");
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}
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previous = sequence;
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} else if (finished) { break; }
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finished = finished || ::waitpid(child, &status, WNOHANG) == child;
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require(std::chrono::steady_clock::now() < deadline, "ring stress timed out");
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}
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require(WIFEXITED(status) && WEXITSTATUS(status) == 0 && previous != 0,
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"ring stress writer failed");
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} catch (...) {
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::kill(child, SIGKILL);
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if (!finished) { (void)::waitpid(child, &status, 0); }
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throw;
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}
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}
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void test_acquisition_identity() {
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processing::ObjectApproachFilter filter;
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const std::vector<processing::ObjectApproachFilter::Point> points{{0, 2}};
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require(!filter.confirm(points, 1, 1'000'000'000ULL, 0, 0, 2).front(), "first frame confirmed a track");
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require(filter.confirm(points, 1, 2'000'000'000ULL, 0, 0, 2).front(),
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"reused collection id replaced a distinct acquisition");
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require(filter.confirm(points, 1, 2'000'000'000ULL, 0, 0, 2).front(),
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"reprocessing duplicated a frame or lost its predecessor");
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require(!filter.confirm(points, 7, 1'000'000'000ULL, 0, 0, 2).front(),
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"an earlier capture time failed to reset replay history");
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}
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void test_interruptible_wait() {
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std::atomic<bool> stop{false};
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std::jthread request_stop([&] {
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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stop.store(true);
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});
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const auto start = std::chrono::steady_clock::now();
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require(config::wait_or_stop(0xffffffffU, stop), "large wait ignored stop");
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require(std::chrono::steady_clock::now() - start < std::chrono::seconds(1),
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"large wait delayed shutdown");
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}
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void test_cosine_notch_taper() {
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// Band 2.0-2.1 GHz with 0.1 GHz shoulders: 1 at the outer edges, 0.5 halfway,
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// 0 from the band edges inwards.
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const std::vector<float> frequency_hz{1.85e9F, 1.9e9F, 1.95e9F, 2.0e9F, 2.05e9F,
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2.1e9F, 2.15e9F, 2.2e9F, 2.25e9F};
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const std::vector<float> expected{1.0F, 1.0F, 0.5F, 0.0F, 0.0F, 0.0F, 0.5F, 1.0F, 1.0F};
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const auto mask = preprocessing::build_notch_mask(frequency_hz,
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{.enabled = true, .bands_hz = {{2.0e9F, 2.1e9F}}, .taper_width_hz = 1e8F, .taper_type = "cosine"});
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for (std::size_t index = 0U; index < expected.size(); ++index) {
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require(std::abs(mask[index] - expected[index]) < 1e-3F, "cosine notch shoulders are not 1 -> 0 towards the band");
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}
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}
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void test_asset_reload_preserves_data(const Workspace& workspace) {
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const auto save = [&](const char* name, float sample) {
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return save_bundle(workspace, name, {.traces = {
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{.frequency_hz = {1}, .s21 = {{sample, 0}}}}});
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};
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const auto open = save("open.bin", 1);
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const auto nan = save("nan.bin", std::numeric_limits<float>::quiet_NaN());
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preprocessing::S21CalibrationBundle s21_calibration;
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s21_calibration.load(save("through.bin", 2));
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expect_error([&] { s21_calibration.load(nan); });
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const std::array<float, 1> frequency{1};
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std::array<ipc::Complex32, 1> samples{{{6, 8}}};
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s21_calibration.apply({}, frequency, samples);
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require(samples[0].re == 3 && samples[0].im == 4, "failed S21 reload changed previous calibration");
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const std::array<float, 1> nan_axis{std::numeric_limits<float>::quiet_NaN()};
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expect_error([&] { s21_calibration.apply({}, nan_axis, samples); });
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preprocessing::S21ReferenceBundle reference;
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reference.load(open, s21_calibration, {{}});
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expect_error([&] { reference.load(nan, s21_calibration, {{}}); });
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ipc::SweepTraceBlock trace{.frequency_hz = {1}, .s21 = {{2, 0}}};
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reference.apply(trace);
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require(trace.s21[0].re == 1.5F, "failed reference reload changed the calibrated reference");
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}
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void test_object_calibration(const Workspace& workspace) {
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const ipc::SweepTraceBlock first{.combo = {7, 3}, .frequency_hz = {1e9F, 2e9F},
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.s21 = {{2, 3}, {4, 5}}, .capture_start_ns = 5, .capture_end_ns = 15};
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const ipc::SweepTraceBlock second{.combo = {1, 9}, .frequency_hz = {3e9F, 4e9F, 5e9F},
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.s21 = {{6, 7}, {8, 9}, {10, 11}}};
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auto factors_first = first;
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factors_first.s21 = {{0, 2}, {2, 0}};
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auto factors_second = second;
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factors_second.s21 = {{1, -1}, {-1, 0}, {0, 1}};
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preprocessing::S21ObjectCalibrationBundle correction;
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auto trace = first;
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correction.apply(trace);
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require(ipc::serialize_raw_collection({.traces = {trace}}) == ipc::serialize_raw_collection({.traces = {first}}),
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"disabled object calibration changed a trace");
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correction.load(save_bundle(workspace, "object.bin", {.traces = {factors_second, factors_first}}));
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correction.validate_combos({first.combo, second.combo});
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expect_error([&] { correction.validate_combos({{0, 0}}); });
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for (auto invalid : {first, second}) {
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invalid.combo = {0, 0};
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expect_error([&] { correction.apply(invalid); });
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}
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auto mismatch = second;
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mismatch.frequency_hz[1] += 1e8F; // Same endpoints and count; interior grid differs.
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expect_error([&] { correction.apply(mismatch); });
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mismatch = second;
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mismatch.s21.pop_back();
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expect_error([&] { correction.apply(mismatch); });
|
|
auto nonfinite = factors_first;
|
|
nonfinite.s21[0].re = std::numeric_limits<float>::quiet_NaN();
|
|
expect_error([&] { correction.load(save_bundle(workspace, "object_nan.bin", {.traces = {nonfinite}})); });
|
|
expect_error([&] { correction.load(save_bundle(workspace, "object_duplicate.bin", {.traces = {factors_first, factors_first}})); });
|
|
auto expected = first;
|
|
expected.s21 = {{-6, 4}, {8, 10}};
|
|
trace = first;
|
|
correction.apply(trace);
|
|
require(ipc::serialize_raw_collection({.traces = {trace}}) == ipc::serialize_raw_collection({.traces = {expected}}),
|
|
"object calibration changed timing, pair identity, or multiplication after a failed reload");
|
|
trace = second;
|
|
correction.apply(trace);
|
|
require(trace.s21[0].re == 13 && trace.s21[0].im == 1 && trace.s21[1].re == -8 && trace.s21[1].im == -9 &&
|
|
trace.s21[2].re == -11 && trace.s21[2].im == 10, "object calibration mixed pairs or frequency grids");
|
|
trace = first;
|
|
trace.s21[0] = {std::numeric_limits<float>::max(), std::numeric_limits<float>::max()};
|
|
expect_error([&] { correction.apply(trace); });
|
|
correction.load("");
|
|
trace = first;
|
|
correction.apply(trace);
|
|
require(trace.s21[0].re == 2 && trace.s21[0].im == 3, "clearing object calibration left stale factors");
|
|
}
|
|
|
|
void test_object_calibration_pipeline(const Workspace& workspace) {
|
|
const ipc::SweepTraceBlock trace{.combo = {7, 3}, .frequency_hz = {1e9F, 2e9F},
|
|
.s21 = {{2, 4}, {6, 8}}, .capture_start_ns = 5, .capture_end_ns = 15};
|
|
auto standard = trace;
|
|
standard.s21 = {{2, 0}, {2, 0}};
|
|
auto reference = trace;
|
|
reference.s21 = {{1, 2}, {2, 2}};
|
|
auto factors = trace;
|
|
factors.s21 = {{0, 2}, {5, 1}};
|
|
config::RunConfig config;
|
|
config.preprocess.s21.calibration.bundle_path =
|
|
save_bundle(workspace, "pipeline_through.bin", {.traces = {standard}});
|
|
config.preprocess.s21.reference.bundle_path =
|
|
save_bundle(workspace, "pipeline_reference.bin", {.traces = {reference}});
|
|
config.run_combos = {trace.combo};
|
|
config.preprocess.s21.object_calibration.bundle_path =
|
|
save_bundle(workspace, "pipeline_object.bin", {.traces = {factors}});
|
|
config.preprocess.notch = {.enabled = true, .bands_hz = {{2e9F, 2e9F}}, .taper_type = "hard"};
|
|
RingName raw_name("_object_raw"), pre_name("_object_pre");
|
|
auto raw_ring = ipc::ShmRing::open_or_create(raw_name.name, 2, 4096);
|
|
auto pre_ring = ipc::ShmRing::open_or_create(pre_name.name, 2, 4096);
|
|
preprocessing::DataPreprocessor preprocessor(config, raw_ring, pre_ring);
|
|
require(raw_ring.push(ipc::serialize_raw_collection({.collection_id = 41, .capture_start_ns = 5,
|
|
.capture_end_ns = 15, .traces = {trace}})), "test raw ring could not hold a sweep");
|
|
std::atomic<bool> stop{false};
|
|
std::exception_ptr error;
|
|
std::jthread worker([&] { try { preprocessor.run(stop); } catch (...) { error = std::current_exception(); } });
|
|
std::vector<std::uint8_t> bytes;
|
|
const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(2);
|
|
while (bytes.empty() && std::chrono::steady_clock::now() < deadline) {
|
|
(void)pre_ring.pop(bytes);
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
|
}
|
|
stop.store(true);
|
|
worker.join();
|
|
if (error) { std::rethrow_exception(error); }
|
|
require(!bytes.empty(), "object-corrected preprocessed collection was not published");
|
|
const auto result = ipc::deserialize_preprocessed_collection(bytes);
|
|
const auto& output = result.traces.at(0);
|
|
require(result.collection_id == 41 && result.capture_start_ns == 5 && result.capture_end_ns == 15 &&
|
|
output.combo == trace.combo && output.capture_start_ns == 5 && output.capture_end_ns == 15,
|
|
"object calibration lost capture identity or timing");
|
|
require(output.s21[0].re == -2 && output.s21[0].im == 1 && output.s21[1].re == 0 && output.s21[1].im == 0,
|
|
"object calibration ran before existing preprocessing or was applied more than once");
|
|
|
|
}
|
|
|
|
void test_locator_packet_errors() {
|
|
int sockets[2]{};
|
|
require(::socketpair(AF_UNIX, SOCK_STREAM, 0, sockets) == 0, "socketpair failed");
|
|
std::atomic<double> speed{0};
|
|
std::atomic<std::int64_t> at_ns{0};
|
|
locator::ClientSession client(sockets[0], "regression", 2, 1024);
|
|
client.start(speed, at_ns);
|
|
const auto send_json = [&](const std::string& json) {
|
|
std::vector<std::uint8_t> bytes(8 + json.size());
|
|
write_u32(bytes, 4, static_cast<std::uint32_t>(json.size()));
|
|
std::memcpy(bytes.data() + 8, json.data(), json.size());
|
|
const auto sent = ::send(sockets[1], bytes.data(), bytes.size(), MSG_NOSIGNAL);
|
|
if (sent != static_cast<ssize_t>(bytes.size())) {
|
|
throw std::runtime_error(std::string("send test packet failed: ") + std::strerror(errno));
|
|
}
|
|
};
|
|
send_json("{\"vlc\":1e400}");
|
|
send_json("{\"vlc\":1e308}");
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(50));
|
|
require(at_ns.load() == 0 && speed.load() == 0, "invalid socket speed reached the processor");
|
|
send_json("{\"vlc\":3.5}");
|
|
const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(2);
|
|
while (at_ns.load() == 0 && std::chrono::steady_clock::now() < deadline) {
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
|
}
|
|
require(speed.load() == 3.5 && at_ns.load() > 0, "locator stopped after oversized JSON number");
|
|
client.request_stop();
|
|
client.join();
|
|
::close(sockets[1]);
|
|
require(client.has_exited(), "locator session did not finish both loops");
|
|
locator::LocatorServerConfig config{.host = "127.0.0.1", .port = 0};
|
|
locator::TcpServer server(config);
|
|
for (unsigned iteration = 0; iteration < 30; ++iteration) { server.start(); server.stop(); }
|
|
}
|
|
|
|
void test_tty_sweep_overflow(const Workspace& workspace) {
|
|
TtyProtocolWriter writer((workspace.path / "overflow_tty").string(), 32'096);
|
|
const int fd = ::open(writer.path().c_str(), O_RDONLY | O_NONBLOCK);
|
|
require(fd >= 0, "Cannot open test PTY");
|
|
std::vector<std::uint16_t> words(8'000, 42);
|
|
for (std::uint64_t id = 1; id <= 100; ++id) {
|
|
writer.enqueue_sweep(words, {id, id, id * 100, id * 100 + 50, 1, 2, false});
|
|
}
|
|
require(writer.stats().ring_overflows > 0, "test did not overflow the queue");
|
|
std::vector<std::uint8_t> received;
|
|
std::uint64_t last_id = 0;
|
|
const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(2);
|
|
while (last_id < 100 && std::chrono::steady_clock::now() < deadline) {
|
|
std::array<std::uint8_t, 8192> chunk{};
|
|
const auto n = ::read(fd, chunk.data(), chunk.size());
|
|
if (n > 0) { received.insert(received.end(), chunk.begin(), chunk.begin() + n); }
|
|
while (received.size() >= 16'048) {
|
|
require(std::memcmp(received.data(), "RPH1", 4) == 0, "overflow truncated a sweep header");
|
|
const auto value = [&](std::size_t at, unsigned size) {
|
|
std::uint64_t result = 0;
|
|
for (unsigned i = 0; i < size; ++i) { result |= std::uint64_t{received[at + i]} << (8U * i); }
|
|
return result;
|
|
};
|
|
require(value(4, 4) == 16'000 && value(8, 8) > last_id, "lost framing or source order");
|
|
last_id = value(8, 8);
|
|
require(value(16, 8) == last_id && value(24, 8) == last_id * 100 &&
|
|
value(32, 8) == last_id * 100 + 50 && value(40, 2) == 1 && value(42, 2) == 2,
|
|
"sweep lost source identity, timing, or combo");
|
|
require(received[48] == 42 && received[16'047] == 0, "corrupt point payload");
|
|
received.erase(received.begin(), received.begin() + 16'048);
|
|
}
|
|
if (n <= 0) { std::this_thread::sleep_for(std::chrono::milliseconds(1)); }
|
|
}
|
|
::close(fd);
|
|
require(last_id == 100 && received.empty(), "latest complete sweep did not arrive");
|
|
}
|
|
|
|
void test_switch_backlog() {
|
|
drivers::H7992MinimalDriverSettings settings{.mode = config::DriverMode::Mock};
|
|
rph::SwitchSequencer sequencer({.combos = {{0, 0}, {0, 1}}},
|
|
std::make_unique<drivers::H7992MinimalDriver>(settings),
|
|
std::make_unique<drivers::H7992MinimalDriver>(settings));
|
|
sequencer.open();
|
|
sequencer.session_started();
|
|
require(!sequencer.on_sweep_end(false), "duration limit requested a new session");
|
|
require(sequencer.current_combo().output_pos == 0 && sequencer.cycle_id() == 1,
|
|
"duration limit switched hardware before the physical sweep ended");
|
|
require(sequencer.on_sweep_end(), "GPIO change must request a new source session");
|
|
for (unsigned i = 0; i < 10; ++i) {
|
|
require(sequencer.current_dirty(), "queued pre-switch sweep incorrectly clean");
|
|
require(!sequencer.on_sweep_end(), "dirty backlog requested another session");
|
|
require(sequencer.current_combo().output_pos == 1 && sequencer.cycle_id() == 1,
|
|
"dirty backlog advanced the combo or cycle");
|
|
}
|
|
sequencer.session_started();
|
|
require(!sequencer.current_dirty(), "new source session must permit a complete sweep");
|
|
sequencer.on_sweep_end();
|
|
require(sequencer.current_combo().output_pos == 0 && sequencer.cycle_id() == 2,
|
|
"clean cycle did not advance");
|
|
rph::SwitchSequencer single({.combos = {{0, 0}}},
|
|
std::make_unique<drivers::H7992MinimalDriver>(settings),
|
|
std::make_unique<drivers::H7992MinimalDriver>(settings));
|
|
single.open(); single.session_started();
|
|
require(!single.on_sweep_end() && single.cycle_id() == 2 && !single.current_dirty(),
|
|
"unchanged combination restarted its source or stopped advancing cycles");
|
|
}
|
|
|
|
void test_unread_tty_shutdown(const Workspace& workspace) {
|
|
TtyProtocolWriter writer((workspace.path / "tty").string(), 160'048);
|
|
const std::vector<std::uint16_t> words(80'000, 42);
|
|
writer.enqueue_sweep(words, {1, 1, 100, 200});
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(50));
|
|
const auto start = std::chrono::steady_clock::now();
|
|
writer.shutdown();
|
|
require(std::chrono::steady_clock::now() - start < std::chrono::seconds(1),
|
|
"unread tty blocked shutdown");
|
|
writer.shutdown();
|
|
}
|
|
|
|
} // namespace
|
|
|
|
int main(int argc, char** argv) {
|
|
try {
|
|
require(argc == 2, "Pass the simulator config fixture path");
|
|
Workspace workspace;
|
|
test_wire_format();
|
|
test_configuration(argv[1], workspace);
|
|
test_asset_reload_preserves_data(workspace);
|
|
test_object_calibration(workspace);
|
|
test_object_calibration_pipeline(workspace);
|
|
test_ring();
|
|
test_acquisition_identity();
|
|
test_interruptible_wait();
|
|
test_cosine_notch_taper();
|
|
test_tty_sweep_overflow(workspace);
|
|
test_switch_backlog();
|
|
test_unread_tty_shutdown(workspace);
|
|
test_locator_packet_errors();
|
|
std::cout << "native regressions passed (10,000 decoder mutations; 20,000 concurrent ring frames)\n";
|
|
} catch (const std::exception& error) {
|
|
std::cerr << "native regression failed: " << error.what() << '\n';
|
|
return 1;
|
|
}
|
|
}
|