radar_system/python_app/hardware_full/switched_matrix_radar_service.py

"""Matrix radar behind real GPIO switches on the stimulus and/or receiver path."""

from __future__ import annotations

from dataclasses import dataclass, field, replace
import logging
import time

from python_app.hardware_full.matrix_radar_service import MatrixRadarService
from python_app.hardware_full.switch_service import SwitchService
from python_app.models.dataset_model import ComboKey, SweepCollection, TraceData
from python_app.models.run_config_model import RadarSweepModel, SwitchModel

logger = logging.getLogger(__name__)


@dataclass(slots=True)
class SwitchedMatrixRadarService:
    """Widen a matrix radar's combo matrix with real switch positions.

    Implements the ``MatrixRadarService`` protocol, so the producer and the
    capture workflows treat it as an ordinary matrix radar that simply reports
    more positions. The hardware sweep is never stopped: switches are only ever
    driven BETWEEN ``acquire_collection`` calls, and the inner service's
    free-running collection discards any partially swept cycle.
    """

    inner: MatrixRadarService
    output_switch: SwitchService | None
    input_switch: SwitchService | None
    inner_output_positions: int
    inner_input_positions: int
    settling_ms: int = 0
    # Monotonic end of the previous inner collection, so the DEBUG timing trace can
    # report how long the gap between "sweep collected" and "switch driven" really is
    # — that gap is where a stale in-flight point 0 can still slip past the drain.
    _last_inner_end_ns: int = field(init=False, default=0, repr=False)

    def open(self) -> None:
        """Open the inner radar and both switches."""
        self.inner.open()
        if self.output_switch is not None:
            self.output_switch.open()
        if self.input_switch is not None:
            self.input_switch.open()

    def close(self) -> None:
        """Close switches first, then the inner radar; never raises."""
        for switch in (self.input_switch, self.output_switch):
            if switch is not None:
                try:
                    switch.close()
                except Exception as exc:  # noqa: BLE001 — shutdown path
                    logger.warning("Switch close ignored error: %s", exc)
        self.inner.close()

    def configure(self, sweep: RadarSweepModel) -> None:
        """Apply sweep settings to the inner radar."""
        self.inner.configure(sweep)

    def recover(self) -> None:
        """Reconnect the inner radar; switches are not on the USB transport."""
        self.inner.recover()

    def acquire_collection(self, collection_id: int = 1) -> SweepCollection:
        """Acquire the full widened matrix, one inner collection per switch step.

        A partial failure raises instead of returning a short collection: the
        preprocessor requires every runtime combo to be present, so half a matrix
        is worse than a dropped frame.
        """
        capture_start_ns = time.monotonic_ns()
        out_steps = self.output_switch.position_count() if self.output_switch is not None else 1
        in_steps = self.input_switch.position_count() if self.input_switch is not None else 1
        total_inputs = in_steps * self.inner_input_positions
        total_outputs = out_steps * self.inner_output_positions

        # Place each trace at its canonical index rather than appending. The GPR stage
        # rejects a collection whose trace order differs from run.combos, and run.combos
        # is built output-major (`build_full_combos`) while these loops run switch-major.
        # Appending happens to agree for an output switch and to disagree for an input one.
        slots: list[TraceData | None] = [None] * (total_inputs * total_outputs)

        for out_k in range(out_steps):
            for in_k in range(in_steps):
                step_start_ns = time.monotonic_ns()
                if self.output_switch is not None:
                    self.output_switch.switch_to(out_k)
                if self.input_switch is not None:
                    self.input_switch.switch_to(in_k)
                switched_ns = time.monotonic_ns()
                # Settle AFTER the last switch change and BEFORE collecting, so the
                # cycle we anchor on starts with the RF path already stable.
                if self.settling_ms > 0:
                    time.sleep(self.settling_ms / 1000.0)
                settled_ns = time.monotonic_ns()

                sub = self.inner.acquire_collection(collection_id)
                inner_end_ns = time.monotonic_ns()
                logger.debug(
                    "timing: collection %d step out=%d in=%d | gap_prev_collect_to_switch=%s ms, "
                    "switch=%.3f ms, settle=%.2f ms, inner_collect=%.2f ms",
                    collection_id,
                    out_k,
                    in_k,
                    (
                        f"{(step_start_ns - self._last_inner_end_ns) / 1e6:.2f}"
                        if self._last_inner_end_ns
                        else "n/a"
                    ),
                    (switched_ns - step_start_ns) / 1e6,
                    (settled_ns - switched_ns) / 1e6,
                    (inner_end_ns - settled_ns) / 1e6,
                )
                self._last_inner_end_ns = inner_end_ns
                for trace in sub.traces:
                    input_pos = in_k * self.inner_input_positions + int(trace.combo.input)
                    output_pos = out_k * self.inner_output_positions + int(trace.combo.output)
                    slots[output_pos * total_inputs + input_pos] = replace(
                        trace, combo=ComboKey(input=input_pos, output=output_pos)
                    )

        if any(trace is None for trace in slots):
            missing = sum(1 for trace in slots if trace is None)
            raise RuntimeError(
                f"Switched matrix collection is incomplete: {missing} of {len(slots)} combos missing"
            )

        return SweepCollection(
            collection_id=int(collection_id),
            monotonic_ns=time.monotonic_ns(),
            traces=[trace for trace in slots if trace is not None],
            capture_start_ns=capture_start_ns,
            capture_end_ns=time.monotonic_ns(),
        )

def build_physical_switch(
    model: SwitchModel,
    physical_positions: int,
    radar_driver_mode: str,
) -> SwitchService | None:
    """Build the driver for a real switch described by a virtual switch section.

    The config section carries the LOGICAL axis size and a forced "mock" mode so
    the C++ loader accepts it; the real driver needs the PHYSICAL position count
    and native mode. Mock radar runs keep mock switches so the whole path can be
    exercised without GPIO.
    """
    if physical_positions <= 1:
        return None
    driver_mode = "mock" if radar_driver_mode.strip().lower() == "mock" else "native"
    return SwitchService.from_model(
        replace(model, positions=physical_positions, driver_mode=driver_mode)
    )