90 lines
3.8 KiB
C++
90 lines
3.8 KiB
C++
#include "sar3d_processor.hpp"
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#include <algorithm>
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#include <complex>
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#include <iostream>
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#include <vector>
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#include <nlohmann/json.hpp>
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using Json = nlohmann::json;
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using namespace radar;
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namespace {
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auto complex_samples(const Json& samples) -> std::vector<std::complex<float>> {
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std::vector<std::complex<float>> values;
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for (const auto& sample : samples) {
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values.emplace_back(sample.at(0).get<float>(), sample.at(1).get<float>());
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}
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return values;
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}
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auto collection(const Json& source) -> ipc::PreprocessedCollection {
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ipc::PreprocessedCollection result;
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result.collection_id = source.at("id");
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result.monotonic_ns = source.at("timestamp");
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for (const auto& entry : source.at("traces")) {
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ipc::SweepTraceBlock trace;
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trace.combo = {entry.at("input"), entry.at("output")};
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trace.capture_start_ns = entry.at("start");
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trace.capture_end_ns = entry.at("end");
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trace.frequency_hz = entry.at("frequency").get<std::vector<float>>();
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for (const auto& sample : complex_samples(entry.at("s21"))) {
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trace.s21.push_back({sample.real(), sample.imag()});
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}
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if (result.traces.empty() || trace.capture_start_ns < result.capture_start_ns) {
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result.capture_start_ns = trace.capture_start_ns;
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}
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result.capture_end_ns = std::max(result.capture_end_ns, trace.capture_end_ns);
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result.traces.push_back(std::move(trace));
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}
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return result;
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}
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}
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// Runs the sar3d processor once: the JSON request on stdin holds the antenna
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// geometry, the live settings and the latest and previous collections; the
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// published payloads go to stdout as JSON.
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int main() {
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try {
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const Json input = Json::parse(std::cin);
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config::RunConfig config;
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config.rings.results.slot_size_bytes = input.value("slot", config.rings.results.slot_size_bytes);
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for (const auto& row : input.at("tx")) {
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config.gpr.tx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
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}
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for (const auto& row : input.at("rx")) {
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config.gpr.rx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
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}
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processing::ProcessingLiveConfig live;
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live.gpr_start_freq_mhz = input.at("f_start").get<float>() / 1e6F;
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live.gpr_stop_freq_mhz = input.at("f_stop").get<float>() / 1e6F;
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live.gpr_min_depth_m = input.at("min_depth");
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live.gpr_max_depth_m = input.at("max_depth");
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live.gpr_speed_m_s = input.at("speed");
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live.gpr_look_angle_deg = input.at("pitch");
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live.sar3d_voxel_m = input.at("voxel");
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live.sar3d_bp_ground_depth_m = input.at("ground");
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live.sar3d_frame_radius = input.at("radius");
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live.sar3d_comp_range_power = input.at("power");
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live.sar3d_use_compensation = input.at("compensation");
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live.sar3d_normalize_each_frame = input.at("normalize");
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std::vector<ipc::PreprocessedCollection> previous;
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for (const auto& member : input.at("previous")) {
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previous.push_back(collection(member));
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}
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processing::Sar3dProcessor processor;
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const auto result = processor.process_collection(config, collection(input.at("latest")), previous, live);
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Json payloads = Json::array();
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for (const auto& payload : result.collection_payloads) {
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payloads.push_back({{"name", payload.processing_name},
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{"x", payload.image_x_axis}, {"y", payload.image_y_axis},
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{"image", payload.image_values}, {"table", payload.table_values},
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{"columns", payload.table_columns}});
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}
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std::cout << Json{{"payloads", payloads}} << '\n';
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} catch (const std::exception& error) {
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std::cout << Json{{"error", error.what()}} << '\n';
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return 1;
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}
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}
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