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.
449 lines
22 KiB
Python
449 lines
22 KiB
Python
"""The processor's history stays the acquisition, in order, when the GUI feeds sweeps back.
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To recompute the whole B-scan the GUI pushes its retained sweeps into the processor's
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input ring again (BscanReplay). The processor used to append them to its
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own history as if they were new, so its next replay published every sweep two or three
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times and out of order, and the B-scan came out with its columns rotated.
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Runs the real `data_processor` on private rings; skipped when it has not been built.
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"""
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from __future__ import annotations
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import json
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import os
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import signal
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import subprocess
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import tempfile
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import time
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import unittest
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from pathlib import Path
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import numpy as np
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from python_app.models.dataset_model import ComboKey, SweepCollection, TraceData
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from python_app.orchestration.live_processing_config import ProcessingLiveConfig, ProcessingLiveConfigWriter
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from python_app.orchestration.shm.ring_writer import ShmRingWriter
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from python_app.orchestration.shm.ring_reader import ShmRingReader
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from python_app.orchestration.shm.decoder import PREPROC_MAGIC
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from python_app.storage.npz.serialize import serialize_trace_collection
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_ROOT = Path(__file__).resolve().parents[2]
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_PROCESSOR = _ROOT / "build/bin/data_processor"
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_SWEEPS = 5
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_TIMEOUT_S = 5.0
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def _sweep(collection_id: int, monotonic_ns: int) -> SweepCollection:
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points = 64
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trace = TraceData(
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combo=ComboKey(input=0, output=0),
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frequency_hz=np.linspace(1e9, 6e9, points, dtype=np.float32),
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s21=np.full(points, collection_id, dtype=np.complex64),
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capture_start_ns=monotonic_ns,
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capture_end_ns=monotonic_ns + 1000,
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)
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return SweepCollection(collection_id=collection_id, monotonic_ns=monotonic_ns, traces=[trace],
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capture_start_ns=monotonic_ns, capture_end_ns=monotonic_ns + 1000)
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@unittest.skipUnless(_PROCESSOR.exists(), "data_processor is not built (run make)")
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class _ProcessorTestCase(unittest.TestCase):
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result_slot_size_bytes: int | None = None
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idle_sleep_ms: int | None = None
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def setUp(self) -> None:
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workdir = Path(tempfile.mkdtemp(prefix="processor_history_"))
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config = json.loads((_ROOT / "run_config.json").read_text(encoding="utf-8"))
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for name, ring in config["rings"].items():
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ring["name"] = f"/test_processor_history_{os.getpid()}_{name}"
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if self.result_slot_size_bytes is not None:
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config["rings"]["results"]["slot_size_bytes"] = self.result_slot_size_bytes
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if self.idle_sleep_ms is not None:
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config["run"]["idle_sleep_ms"] = self.idle_sleep_ms
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config["run"]["combos"] = [{"input": 0, "output": 0}]
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config["run"]["processing_live_config_path"] = str(workdir / "processing_live.json")
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config["run"]["locator_server"]["enabled"] = False
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config_path = workdir / "run_config.json"
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config_path.write_text(json.dumps(config), encoding="utf-8")
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self._live = ProcessingLiveConfig(processor_mode="bscan")
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self._live_writer = ProcessingLiveConfigWriter(workdir / "processing_live.json")
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self._live_writer.write(self._live)
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rings = config["rings"]
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shm_files = [Path("/dev/shm" + ring["name"]) for ring in rings.values()]
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self._stderr_path = workdir / "processor.log"
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stderr_log = self._stderr_path.open("w")
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self.addCleanup(stderr_log.close)
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processor = subprocess.Popen(
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[str(_PROCESSOR), "--config", str(config_path)],
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cwd=_ROOT,
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stdout=subprocess.DEVNULL,
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stderr=stderr_log,
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)
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def cleanup() -> None:
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processor.terminate()
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processor.wait(_TIMEOUT_S)
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for path in shm_files:
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path.unlink(missing_ok=True)
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for path in workdir.iterdir():
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path.unlink()
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workdir.rmdir()
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self.addCleanup(cleanup)
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self._processor = processor
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# The processor creates both rings at start-up, the results ring last.
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self._results = ShmRingReader(rings["results"]["name"], open_timeout_s=_TIMEOUT_S)
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self.addCleanup(self._results.close)
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ring = rings["preprocessed"]
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self._input = ShmRingWriter(ring["name"], int(ring["capacity"]), int(ring["slot_size_bytes"]))
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self.addCleanup(self._input.close)
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def _push(self, sweeps: list[SweepCollection]) -> None:
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for sweep in sweeps:
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self.assertTrue(self._input.push(serialize_trace_collection(sweep, PREPROC_MAGIC)))
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def _published_ids(self, count: int) -> list[int]:
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"""Ids of the next results: `count` of them plus any that follow shortly after."""
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ids: list[int] = []
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deadline = time.monotonic() + _TIMEOUT_S
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while time.monotonic() < deadline:
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collection = self._results.pop_result_collection()
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if collection is None:
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time.sleep(0.01)
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continue
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ids.append(int(collection.collection_id))
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if len(ids) == count:
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deadline = min(deadline, time.monotonic() + 0.3)
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return ids
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def _result_for_revision(self, revision: int, collection_id: int | None = None):
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deadline = time.monotonic() + _TIMEOUT_S
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while time.monotonic() < deadline:
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result = self._results.pop_result_collection()
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if (result is not None and result.settings_revision == revision
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and (collection_id is None or result.collection_id == collection_id)):
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return result
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time.sleep(0.01)
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self.fail(f"No processor result for settings revision {revision}: {self._stderr_path.read_text()}")
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class FedBackSweepsTest(_ProcessorTestCase):
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def test_mean_history_is_not_limited_by_transport_ring_capacity(self) -> None:
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self._live.processor_mode = "gpr"
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self._live.gpr_input_positions = self._live.gpr_output_positions = [0]
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self._live.gpr_background_subtract_enabled = True
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self._live.gpr_background_mean_count = 60
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self._live.gpr_min_depth_m, self._live.gpr_max_depth_m = .1, 1.5
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self._live.gpr_bp_ground_depth_m = 0.
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self._live_writer.write(self._live)
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start = time.monotonic_ns()
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for cid in range(1, 61):
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sweep = _sweep(cid, start + cid*1_000_000)
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sweep.traces[0].s21 *= (-1.)**np.arange(len(sweep.traces[0].s21))
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self._push([sweep])
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self._result_for_revision(0, cid)
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current = _sweep(61, start + 61_000_000)
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current.traces[0].s21[:] = 30.5 * (-1.)**np.arange(len(current.traces[0].s21))
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self._push([current])
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result = self._result_for_revision(0, 61)
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image = next(payload.image for payload in result.collection_payloads if payload.processing_name == "gpr_accumulator")
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self.assertFalse(np.any(image)) # Exact cancellation of the 60 preceding spectra (1…60).
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def test_remove_targets_exact_sweep_with_reused_ids_and_preserves_missing_targets(self) -> None:
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start_ns = time.monotonic_ns()
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sweeps = [_sweep(cid, start_ns + index * 1_000_000)
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for index, cid in enumerate((7, 8, 7, 9, 8))]
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self._push(sweeps)
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self.assertEqual(self._published_ids(5), [7, 8, 7, 9, 8])
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targets = [
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({"collection_id": 7, "capture_start_ns": sweeps[2].capture_start_ns}, [7, 8, 9, 8]),
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({"collection_id": 8, "capture_start_ns": sweeps[1].capture_start_ns}, [7, 9, 8]),
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({"collection_id": 7, "capture_start_ns": start_ns + 20_000_000}, [7, 9, 8]),
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]
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for sequence, (target, expected) in enumerate(targets, start=1):
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with self.subTest(target=target):
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self._live.settings_revision = sequence
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self._live.history_removed.append(target)
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self._live_writer.write(self._live)
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self.assertEqual(self._published_ids(len(expected)), expected)
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def test_removed_target_arriving_after_command_cannot_reenter_history(self) -> None:
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now = time.monotonic_ns()
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seed, target, following = [_sweep(cid, now + cid * 1_000_000) for cid in (1, 2, 3)]
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self._push([seed])
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self.assertEqual(self._published_ids(1), [1])
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self._live.settings_revision = 1
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self._live.history_removed = [dict(collection_id=target.collection_id, capture_start_ns=target.capture_start_ns)]
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self._live_writer.write(self._live)
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self.assertEqual(self._published_ids(1), [1]) # Confirms the command was applied.
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self._push([target, following])
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self.assertEqual(self._published_ids(1), [3])
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self._live.settings_revision = 2
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self._live_writer.write(self._live)
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self.assertEqual(self._published_ids(2), [1, 3])
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def test_result_preserves_capture_window_for_missing_tap_counterparts(self) -> None:
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sweep = _sweep(1, time.monotonic_ns())
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sweep.capture_start_ns = (1 << 63) + 987654321
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sweep.capture_end_ns = sweep.capture_start_ns + 123456789
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self._push([sweep])
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result = self._result_for_revision(0)
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self.assertEqual(result.capture_start_ns, sweep.capture_start_ns)
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self.assertEqual(result.capture_end_ns, sweep.capture_end_ns)
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def test_fed_back_sweeps_are_processed_but_not_retained(self) -> None:
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start_ns = time.monotonic_ns()
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sweeps = [_sweep(index, start_ns + index * 1_000_000) for index in range(1, _SWEEPS + 1)]
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expected = [sweep.collection_id for sweep in sweeps]
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self._push(sweeps)
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self.assertEqual(self._published_ids(_SWEEPS), expected)
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# The GUI feeds them back: each is processed again under its own id.
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self._push(sweeps)
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self.assertEqual(self._published_ids(_SWEEPS), expected)
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# A settings change makes the processor replay its history: each sweep once, in order.
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self._live.bscan_gain = 2.0
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self._live_writer.write(self._live)
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self.assertEqual(self._published_ids(_SWEEPS), expected)
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def test_sweep_failing_to_recompute_does_not_stall_new_input(self) -> None:
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self._live.processor_mode = "gpr"
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self._live.gpr_input_positions = self._live.gpr_output_positions = [0]
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self._live.gpr_background_subtract_enabled = False
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self._live.tx_geometry = [{"output_pos": 0, "x_m": 0.0, "y_m": 0.0, "z_m": 0.0}]
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self._live.rx_geometry = [{"input_pos": 0, "x_m": 0.0, "y_m": 0.0, "z_m": 0.0}]
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self._live_writer.write(self._live)
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start = time.monotonic_ns()
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self._push([_sweep(1, start)])
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self._result_for_revision(0, 1)
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failing = _sweep(2, start + 1_000_000)
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failing.traces[0].capture_end_ns = failing.traces[0].capture_start_ns # GPR rejects an empty trace window
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self._push([failing])
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deadline = time.monotonic() + _TIMEOUT_S
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while self._input._read_u64(32) != self._input._read_u64(24): # now the newest retained sweep
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self.assertLess(time.monotonic(), deadline, self._stderr_path.read_text())
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time.sleep(.01)
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# Both arrive while the processor is stopped past its 100 ms live-file check, so on
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# resuming it recomputes that failing sweep before it takes the next one.
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self._processor.send_signal(signal.SIGSTOP)
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os.waitpid(self._processor.pid, os.WUNTRACED)
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try:
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self._live.settings_revision = 1
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self._live_writer.write(self._live)
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self._push([_sweep(3, start + 2_000_000)])
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time.sleep(.2)
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finally:
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self._processor.send_signal(signal.SIGCONT)
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self._result_for_revision(1, 3)
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def test_bscan_band_without_two_sweep_points_gives_an_empty_profile(self) -> None:
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self._live.bscan_start_freq_mhz, self._live.bscan_stop_freq_mhz = 7000.0, 8000.0 # sweep is 1-6 GHz
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self._live.settings_revision = 1
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self._live_writer.write(self._live)
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self._push([_sweep(1, time.monotonic_ns())])
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payload = self._result_for_revision(1, 1).blocks[0].payloads[0]
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self.assertEqual((payload.processing_name, payload.frequency_hz.size, payload.trace.size), ("bscan", 0, 0))
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def test_live_geometry_recomputes_retained_gpr_without_restarting(self) -> None:
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self._live.processor_mode = "gpr"
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self._live.gpr_input_positions = [0]
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self._live.gpr_output_positions = [0]
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self._live.gpr_background_subtract_enabled = False
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self._live.gpr_speed_m_s = 0.75
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self._live.tx_geometry = [{"output_pos": 0, "x_m": 0.0, "y_m": 0.0, "z_m": 0.0}]
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self._live.rx_geometry = [{"input_pos": 0, "x_m": 0.0, "y_m": 0.0, "z_m": 0.0}]
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self._live.settings_revision = (1 << 63) + 987654321
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self._live_writer.write(self._live)
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self._push([_sweep(1, time.monotonic_ns())])
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original = self._result_for_revision(self._live.settings_revision)
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self.assertEqual(original.speed_m_s, 0.75)
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original_image = next(payload for payload in original.collection_payloads if payload.processing_name == "gpr_accumulator")
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# A malformed live file retains the last accepted geometry and revision.
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accepted_revision = self._live.settings_revision
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self._live.settings_revision += 1
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self._live.gpr_speed_m_s = 1.25
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self._live.tx_geometry.append(dict(self._live.tx_geometry[0]))
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self._live_writer.write(self._live)
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self._push([_sweep(2, time.monotonic_ns())])
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retained = self._result_for_revision(accepted_revision, collection_id=2)
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self.assertEqual(retained.speed_m_s, 0.75)
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retained_image = next(payload for payload in retained.collection_payloads if payload.processing_name == "gpr_accumulator")
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np.testing.assert_array_equal(retained_image.image_x_axis, original_image.image_x_axis)
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self._live.tx_geometry = self._live.tx_geometry[:1]
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self._live.tx_geometry[0]["x_m"] = 2.0
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self._live.rx_geometry[0]["x_m"] = 2.0
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self._live.gpr_speed_m_s = 2.5
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self._live.settings_revision += 1
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self._live_writer.write(self._live)
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updated = self._result_for_revision(self._live.settings_revision)
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self.assertEqual(updated.speed_m_s, 2.5)
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updated_image = next(payload for payload in updated.collection_payloads if payload.processing_name == "gpr_accumulator")
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self.assertEqual(updated.collection_id, retained.collection_id)
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self.assertEqual(updated.capture_start_ns, retained.capture_start_ns)
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np.testing.assert_allclose(updated_image.image_x_axis, original_image.image_x_axis + 2.0, atol=1e-6)
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self.assertIsNone(self._processor.poll())
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class PendingInputHistoryTest(_ProcessorTestCase):
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idle_sleep_ms = 1000
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def test_clear_history_discards_already_queued_input_and_accepts_future_sweeps(self) -> None:
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now = time.monotonic_ns()
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sweeps = [_sweep(cid, now + cid * 1_000_000) for cid in (1, 2, 3, 4)]
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self._push(sweeps[:1])
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self.assertEqual(self._published_ids(1), [1])
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# The seed has completed and the processor is in its configured idle wait.
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# Freeze the consumer while preparing a backlog and the Clear command.
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# No further data is produced until that backlog has been consumed.
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self._processor.send_signal(signal.SIGSTOP)
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os.waitpid(self._processor.pid, os.WUNTRACED)
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try:
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self._push(sweeps[1:3])
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self._live.history_clear_before_ns = time.monotonic_ns()
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self._live.settings_revision = 1
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self._live_writer.write(self._live)
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finally:
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self._processor.send_signal(signal.SIGCONT)
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deadline = time.monotonic() + _TIMEOUT_S
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while self._input._read_u64(32) != self._input._read_u64(24):
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self.assertLess(time.monotonic(), deadline, self._stderr_path.read_text())
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time.sleep(.01)
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delayed = _sweep(2, time.monotonic_ns())
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delayed.capture_start_ns, delayed.capture_end_ns = sweeps[1].capture_start_ns, sweeps[1].capture_end_ns
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self._push([delayed, _sweep(4, time.monotonic_ns())])
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self.assertEqual(self._published_ids(1), [4])
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self._live.settings_revision = 2
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self._live_writer.write(self._live)
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self.assertEqual(self._published_ids(1), [4])
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def test_multiple_deletions_survive_coalesced_live_updates_and_queued_replays(self) -> None:
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now = time.monotonic_ns()
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sweeps = [_sweep(cid, now + cid * 1_000_000) for cid in (1, 2, 3, 4)]
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self._push(sweeps[:3])
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self.assertEqual(self._published_ids(3), [1, 2, 3])
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self._processor.send_signal(signal.SIGSTOP)
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os.waitpid(self._processor.pid, os.WUNTRACED)
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try:
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for sweep in reversed(sweeps[1:3]):
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self._live.history_removed.append(dict(collection_id=sweep.collection_id,
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capture_start_ns=sweep.capture_start_ns))
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self._live.settings_revision += 1
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self._live_writer.write(self._live)
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# A normal settings write follows both clicks before the processor wakes.
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self._live.bscan_gain = 2.
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self._live.settings_revision += 1
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self._live_writer.write(self._live)
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self._push(sweeps[1:])
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finally:
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self._processor.send_signal(signal.SIGCONT)
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self.assertEqual(self._published_ids(2), [1, 4])
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self._live.settings_revision += 1
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self._live_writer.write(self._live)
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self.assertEqual(self._published_ids(2), [1, 4])
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class OversizedResultsTest(_ProcessorTestCase):
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result_slot_size_bytes = 4096
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def test_valid_mode_recovers_after_an_oversized_result(self) -> None:
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self._live.processor_mode = "gpr"
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self._live.gpr_input_positions = [0]
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self._live.gpr_output_positions = [0]
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self._live.gpr_background_subtract_enabled = False
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self._live.settings_revision = 17
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self._live_writer.write(self._live)
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self._push([_sweep(1, time.monotonic_ns())])
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deadline = time.monotonic() + _TIMEOUT_S
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while "requires" not in self._stderr_path.read_text():
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self.assertIsNone(self._processor.poll(), self._stderr_path.read_text())
|
|
self.assertLess(time.monotonic(), deadline, self._stderr_path.read_text())
|
|
time.sleep(0.01)
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|
self.assertIn("increase rings.results.slot_size_bytes", self._stderr_path.read_text())
|
|
self._live.processor_mode = "pass_through"
|
|
self._live.settings_revision = 18
|
|
self._live_writer.write(self._live)
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|
self.assertEqual(self._result_for_revision(18).collection_id, 1)
|
|
self._push([_sweep(2, time.monotonic_ns())])
|
|
self.assertEqual(self._result_for_revision(18, collection_id=2).collection_id, 2)
|
|
self.assertIsNone(self._processor.poll())
|
|
|
|
|
|
class Sar3dRecoveryTest(_ProcessorTestCase):
|
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def test_sar3d_failure_recovers_without_restarting(self) -> None:
|
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self._live.processor_mode = "sar3d"
|
|
self._live.gpr_input_positions = [0]
|
|
self._live.gpr_output_positions = [0]
|
|
self._live.gpr_background_subtract_enabled = False
|
|
self._live.gpr_min_depth_m = 2.0
|
|
self._live.gpr_max_depth_m = 5.0
|
|
self._live.gpr_speed_m_s = 0.0
|
|
self._live.gpr_start_freq_mhz = 1500.0
|
|
self._live.gpr_stop_freq_mhz = 6000.0
|
|
self._live.sar3d_voxel_x_m = self._live.sar3d_voxel_y_m = self._live.sar3d_voxel_z_m = 0.4
|
|
self._live.sar3d_frame_radius = 0
|
|
self._live.tx_geometry = [{"output_pos": 0, "x_m": -0.3, "y_m": 0.0, "z_m": 0.0}]
|
|
self._live.rx_geometry = [{"input_pos": 0, "x_m": 0.2, "y_m": 0.4, "z_m": 0.0}]
|
|
self._live.settings_revision = 31
|
|
self._live_writer.write(self._live)
|
|
sweep = _sweep(1, time.monotonic_ns())
|
|
# df=25 MHz gives a 6 m unambiguous one-way range. The history tests'
|
|
# 64-point sweep aliases before this test's 2..5 m depth gate.
|
|
sweep.traces[0].frequency_hz = np.linspace(1e9, 6e9, 201, dtype=np.float32)
|
|
sweep.traces[0].s21 = np.exp(-4j * np.pi * sweep.traces[0].frequency_hz * 4.0 / 3e8).astype(np.complex64)
|
|
self._push([sweep])
|
|
|
|
def ready_images(result):
|
|
payloads = {item.processing_name: item for item in result.collection_payloads}
|
|
self.assertEqual(payloads["sar3d_status"].table[0, 0], 0)
|
|
images = [payloads[name].image for name in ("sar3d_front", "sar3d_side", "sar3d_top", "sar3d_oblique")]
|
|
for image in images:
|
|
self.assertTrue(np.all(np.isfinite(image)))
|
|
self.assertGreater(float(image.max()), 0.0)
|
|
self.assertIn("sar3d_peak", payloads)
|
|
return images
|
|
|
|
first = self._result_for_revision(31)
|
|
status = next(item for item in first.collection_payloads if item.processing_name == "sar3d_status")
|
|
if status.table[0, 0] == 3:
|
|
self.assertIn("CUDA", bytes(map(int, status.table[0, 1:])).decode("utf-8"))
|
|
self.assertFalse(any(item.processing_name in {"sar3d_front", "sar3d_side", "sar3d_top", "sar3d_oblique"}
|
|
for item in first.collection_payloads))
|
|
self._push([_sweep(2, sweep.monotonic_ns + 1_000_000)])
|
|
repeated = self._result_for_revision(31, collection_id=2)
|
|
repeated_status = next(item for item in repeated.collection_payloads if item.processing_name == "sar3d_status")
|
|
np.testing.assert_array_equal(status.table, repeated_status.table)
|
|
self._live.processor_mode = "pass_through"
|
|
self._live.settings_revision = 34
|
|
self._live_writer.write(self._live)
|
|
recovered = self._result_for_revision(34, collection_id=2)
|
|
self.assertEqual(len(recovered.blocks), 1)
|
|
self.assertIsNone(self._processor.poll())
|
|
return
|
|
original = ready_images(first)
|
|
self._live.gpr_start_freq_mhz = 8000.0
|
|
self._live.gpr_stop_freq_mhz = 9000.0
|
|
self._live.settings_revision = 32
|
|
self._live_writer.write(self._live)
|
|
failed = self._result_for_revision(32)
|
|
status = next(item for item in failed.collection_payloads if item.processing_name == "sar3d_status")
|
|
self.assertEqual(status.table[0, 0], 2)
|
|
self.assertIn("frequency points", bytes(map(int, status.table[0, 1:])).decode("utf-8"))
|
|
self.assertIsNone(self._processor.poll())
|
|
|
|
self._live.gpr_start_freq_mhz = 1500.0
|
|
self._live.gpr_stop_freq_mhz = 6000.0
|
|
self._live.settings_revision = 33
|
|
self._live_writer.write(self._live)
|
|
recovered = self._result_for_revision(33)
|
|
self.assertEqual(recovered.collection_id, sweep.collection_id)
|
|
for before, after in zip(original, ready_images(recovered)):
|
|
np.testing.assert_array_equal(before, after)
|
|
self.assertIsNone(self._processor.poll())
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|