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fa9da949dfde74cbc6722a65949919e56a65304a
radar_system/Makefile
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awe fa9da949df jetsom compile
2026-09-17 19:26:22 +03:00

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Makefile
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CXX := g++
CXXFLAGS := -std=c++20 -O2 -Wall -Wextra -Wpedantic -pthread -MMD -MP
LDFLAGS := -pthread -lrt
ORCH_LDFLAGS := $(LDFLAGS) -lusb-1.0
VISA_CXXFLAGS ?= -I/usr/include/ni-visa
VISA_LDFLAGS := $(LDFLAGS) -lvisa
BUILD_DIR := build
BIN_DIR := $(BUILD_DIR)/bin
# --- gpr_cpp: external C++/CUDA 3D SAR library (VNA_AlGo). Build it first with
# `bash $(GPR_CPP_DIR)/build_cmake.sh`; it is NOT built by this Makefile. CUDA
# headers and libnvrtc come from the pip nvidia-* packages inside the VNA_AlGo
# venv (same detection as build_cmake.sh); when those are absent (e.g. Jetson,
# where CUDA comes with JetPack) the system toolkit at /usr/local/cuda is used.
# libcuda is always the system driver.
GPR_CPP_DIR ?= $(HOME)/Documents/VNA_AlGo/gpr_cpp
GPR_CPP_LIB ?= $(GPR_CPP_DIR)/build/libgpr_core_cpp.a
GPR_VENV ?= $(GPR_CPP_DIR)/../.venv
GPR_CUDA_INC_DIR ?= $(dir $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/include/nvrtc.h)))
GPR_NVRTC_LIB ?= $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/lib/libnvrtc.so*))
# System-CUDA fallback. An empty GPR_CUDA_INC_DIR would also corrupt the compile
# command: a bare `-I` swallows the next argument.
ifeq ($(strip $(GPR_CUDA_INC_DIR)),)
GPR_CUDA_INC_DIR := /usr/local/cuda/include
endif
ifeq ($(strip $(GPR_NVRTC_LIB)),)
GPR_NVRTC_LIB := $(firstword $(wildcard /usr/local/cuda/lib64/libnvrtc.so*))
endif
GPR_CUDA_LIB_DIR := $(dir $(GPR_NVRTC_LIB))
# libnvrtc from pip ships only as libnvrtc.so.N (no .so symlink), so link the
# full path; the rpath makes the binary find it without LD_LIBRARY_PATH.
DATA_PROCESSOR_LDFLAGS := $(LDFLAGS) $(GPR_CPP_LIB) $(GPR_NVRTC_LIB) -lcuda -Wl,-rpath,$(GPR_CUDA_LIB_DIR)
INCLUDES := \
-I$(GPR_CPP_DIR)/include \
-I$(GPR_CUDA_INC_DIR) \
-Idata_acq_and_processing/common_cpp/ipc/include \
-Idata_acq_and_processing/common_cpp/config/include \
-Idata_acq_and_processing/third_party \
-Idata_acq_and_processing/third_party/eigen \
-Idata_acq_and_processing/sweep_orchestrator/include \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/interfaces \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/radar \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/switches \
-Idata_acq_and_processing/preprocessing/calibration_master/include \
-Idata_acq_and_processing/preprocessing/reference_master/include \
-Idata_acq_and_processing/preprocessing/data_preprocessor/include \
-Idata_acq_and_processing/processing/processors/include \
-Idata_acq_and_processing/processing/data_processor/include \
-Idata_acq_and_processing/processing/locator/include
COMMON_SOURCES := \
data_acq_and_processing/common_cpp/ipc/src/shm_ring.cpp \
data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
data_acq_and_processing/common_cpp/config/src/run_config.cpp
ORCH_SOURCES := \
data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_lifecycle.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_transport.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_protocol.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/radar/remote_compact_m_k209/remote_compact_m_k209_driver.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/h7992_minimal_driver.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/hmc349a_minimal_driver.cpp \
data_acq_and_processing/sweep_orchestrator/src/sweep_orchestrator.cpp \
data_acq_and_processing/sweep_orchestrator/src/main.cpp
PREPROC_SOURCES := \
data_acq_and_processing/preprocessing/calibration_master/src/calibration_master.cpp \
data_acq_and_processing/preprocessing/calibration_master/src/channel_bundle_support.cpp \
data_acq_and_processing/preprocessing/calibration_master/src/through_calibrator.cpp \
data_acq_and_processing/preprocessing/reference_master/src/reference_master.cpp \
data_acq_and_processing/preprocessing/data_preprocessor/src/data_preprocessor.cpp \
data_acq_and_processing/preprocessing/data_preprocessor/src/main.cpp
LOCATOR_SOURCES := \
data_acq_and_processing/processing/locator/src/payload_builder.cpp \
data_acq_and_processing/processing/locator/src/tcp_server.cpp
PROCESSOR_SOURCES := \
data_acq_and_processing/processing/processors/src/bscan_processor.cpp \
data_acq_and_processing/processing/processors/src/gpr_processor.cpp \
data_acq_and_processing/processing/processors/src/passthrough_processor.cpp \
data_acq_and_processing/processing/processors/src/sar3d_processor.cpp \
data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp \
data_acq_and_processing/processing/data_processor/src/data_processor.cpp \
data_acq_and_processing/processing/data_processor/src/main.cpp \
$(LOCATOR_SOURCES)
# Kamil ADC collector: standalone L-Card E-502 acquisition binary. It loads the
# proprietary libx502api/libe502api at runtime via dlopen, so it builds anywhere
# from the vendored headers alone and only needs those libraries present at run
# time. Built on demand (not part of `all`) for radar.model == kamil_adc.
KAMIL_COLLECTOR_DIR := data_acq_and_processing/kamil_adc_collector
# The collector now also drives the RF switches itself (switch-aware mode), so it
# reuses the orchestrator's switch drivers and the shared run_config loader, which
# pull in the common config/ipc/locator headers and the vendored nlohmann/json.
KAMIL_COLLECTOR_INCLUDES := \
-I$(KAMIL_COLLECTOR_DIR)/include \
-I$(KAMIL_COLLECTOR_DIR)/vendor/lcard \
-Idata_acq_and_processing/common_cpp/ipc/include \
-Idata_acq_and_processing/common_cpp/config/include \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/interfaces \
-Idata_acq_and_processing/sweep_orchestrator/device_drivers/switches \
-Idata_acq_and_processing/processing/locator/include \
-Idata_acq_and_processing/third_party
KAMIL_COLLECTOR_LDFLAGS := -pthread -ldl -lutil
# Collector sources, including the shared drivers/config loader it reuses. These
# are compiled into a private build/kamil/ tree (see rule below) so they never
# collide with the orchestrator's objects, which use different compile flags.
KAMIL_COLLECTOR_SOURCES := \
$(KAMIL_COLLECTOR_DIR)/src/main.cpp \
$(KAMIL_COLLECTOR_DIR)/src/tty_protocol_writer.cpp \
$(KAMIL_COLLECTOR_DIR)/src/capture_file_writer.cpp \
data_acq_and_processing/common_cpp/config/src/run_config.cpp \
data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/h7992_minimal_driver.cpp \
data_acq_and_processing/sweep_orchestrator/device_drivers/switches/hmc349a_minimal_driver.cpp
SWEEP_ORCH_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(ORCH_SOURCES:.cpp=.o))
PREPROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PREPROC_SOURCES:.cpp=.o))
DATA_PROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PROCESSOR_SOURCES:.cpp=.o))
KAMIL_BUILD_DIR := $(BUILD_DIR)/kamil
KAMIL_COLLECTOR_OBJS := $(addprefix $(KAMIL_BUILD_DIR)/,$(notdir $(KAMIL_COLLECTOR_SOURCES:.cpp=.o)))
DEPFILES := $(sort $(SWEEP_ORCH_OBJS:.o=.d) $(PREPROCESSOR_OBJS:.o=.d) $(DATA_PROCESSOR_OBJS:.o=.d) $(KAMIL_COLLECTOR_OBJS:.o=.d))
TARGETS := \
$(BIN_DIR)/sweep_orchestrator \
$(BIN_DIR)/data_preprocessor \
$(BIN_DIR)/data_processor
.PHONY: all clean kamil_adc_collector sar3d_parity gpr_timing_check
all: $(TARGETS)
kamil_adc_collector: $(BIN_DIR)/kamil_adc_collector
# On-demand parity check of the sar3d processor against the gpr_cpp
# standalone_bp example (same .npy dataset). Not part of `all`.
SAR3D_PARITY_OBJS := $(addprefix $(BUILD_DIR)/, \
data_acq_and_processing/processing/tools/sar3d_parity_main.o \
data_acq_and_processing/processing/processors/src/sar3d_processor.o)
sar3d_parity: $(BIN_DIR)/sar3d_parity
$(BIN_DIR)/sar3d_parity: $(SAR3D_PARITY_OBJS) $(GPR_CPP_LIB)
@mkdir -p $(BIN_DIR)
$(CXX) $(SAR3D_PARITY_OBJS) -o $@ $(DATA_PROCESSOR_LDFLAGS)
# On-demand numeric check of the backprojection frame-timing model against the
# Multi_antenna_3D notebook (scripts/gpr_timing_check_reference.py prints the
# same numbers from the notebook formulas). Not part of `all`.
GPR_TIMING_CHECK_OBJS := $(addprefix $(BUILD_DIR)/, \
data_acq_and_processing/processing/tools/gpr_timing_check_main.o \
data_acq_and_processing/common_cpp/ipc/src/shared_types.o \
data_acq_and_processing/common_cpp/config/src/run_config.o)
gpr_timing_check: $(BIN_DIR)/gpr_timing_check
$(BIN_DIR)/gpr_timing_check: $(GPR_TIMING_CHECK_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(GPR_TIMING_CHECK_OBJS) -o $@ $(LDFLAGS)
$(BIN_DIR)/sweep_orchestrator: $(SWEEP_ORCH_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(SWEEP_ORCH_OBJS) -o $@ $(ORCH_LDFLAGS)
$(BIN_DIR)/data_preprocessor: $(PREPROCESSOR_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(PREPROCESSOR_OBJS) -o $@ $(LDFLAGS)
$(BIN_DIR)/data_processor: $(DATA_PROCESSOR_OBJS) $(GPR_CPP_LIB)
@mkdir -p $(BIN_DIR)
$(CXX) $(DATA_PROCESSOR_OBJS) -o $@ $(DATA_PROCESSOR_LDFLAGS)
# The collector compiles into its own build/kamil/ tree with collector-only
# includes (no VISA), so the shared driver/config sources it reuses never collide
# with the orchestrator's objects of the same name. Basenames are unique, so a
# vpath lets one pattern rule find every source.
vpath %.cpp $(sort $(dir $(KAMIL_COLLECTOR_SOURCES)))
$(KAMIL_BUILD_DIR)/%.o: %.cpp
@mkdir -p $(dir $@)
$(CXX) $(CXXFLAGS) $(KAMIL_COLLECTOR_INCLUDES) -c $< -o $@
$(BIN_DIR)/kamil_adc_collector: $(KAMIL_COLLECTOR_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(KAMIL_COLLECTOR_OBJS) -o $@ $(KAMIL_COLLECTOR_LDFLAGS)
$(BUILD_DIR)/%.o: %.cpp
@mkdir -p $(dir $@)
$(CXX) $(CXXFLAGS) $(VISA_CXXFLAGS) $(INCLUDES) -c $< -o $@
-include $(DEPFILES)
clean:
rm -rf $(BUILD_DIR)
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