Mirrors/NawfalMotii79-PLFM_RADAR
1
0
Fork 0
mirror of https://github.com/NawfalMotii79/PLFM_RADAR.git synced 2026-06-10 15:31:21 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix(gui): software_fpga revival post-e8b495c — port chain helpers to fpga_model

Browse Source 
Restore SoftwareFPGA's process_chirps() pipeline by porting the missing
chain stages (MTI canceller, DC notch, CFAR, threshold detection) plus
thin wrappers (range FFT, decimator, Doppler FFT) to fpga_model.py and
swapping software_fpga.py's import target from the deleted
golden_reference.py to fpga_model.

History: golden_reference.py was deleted in e8b495c (the "dead golden
code cleanup") but software_fpga.py kept importing from it.  The
ImportError was swallowed at v7/__init__.py:49-52 so package load
succeeded, but every direct `from v7.software_fpga import SoftwareFPGA`
hit the import-time failure — masking 21 broken tests as
"ModuleNotFoundError" instead of surfacing the real issue.

This was actively breaking the GUI replay-from-raw-IQ feature
(dashboard.py:1334-1347, 1577 + GUI_V65_Tk.py:271-300, 1106-1129):
opening a .npy SDR capture instantiates SoftwareFPGA + ReplayEngine;
the dashboard's opcode dual-dispatch routes spinbox changes to the
SoftwareFPGA setters so re-processing reflects live param tweaks.
With the import broken since April, that path silently dies.

fpga_model.py:
- New top-level constants: FFT_SIZE=2048, NUM_RANGE_BINS=512 (from
  RangeBinDecimator.OUTPUT_BINS), DOPPLER_CHIRPS=48,
  DOPPLER_TOTAL_BINS=48 (track current production: PR-O.6 / PR-F).
- run_range_fft(iq_i, iq_q, twiddle_file): N inferred from input
  length; works for legacy 1024-pt and production 2048-pt callers.
- run_range_bin_decimator(range_i, range_q, mode): per-frame wrapper
  over RangeBinDecimator.decimate (4x decim -> 512 bins).
- run_mti_canceller(decim_i, decim_q, enable): 2-pulse canceller,
  ported verbatim from golden_reference @ commit 237e74c~1.
- run_doppler_fft(mti_i, mti_q): num_subframes inferred from chirp
  count; RANGE_BINS overridden per input shape so legacy
  2-sub-frame (32-chirp) and production 3-sub-frame (48-chirp)
  callers both work.
- run_dc_notch(doppler_i, doppler_q, width): per-bin DC notch,
  generalised to any sub-frame count.
- run_cfar_ca(...): CA / GO / SO modes with bit-accurate alpha-q44
  threshold + 17-bit saturation, ported from golden_reference.
- run_detection(doppler_i, doppler_q, threshold): |I|+|Q| L1 magnitude
  threshold detection.

software_fpga.py:
- _GOLDEN_REF_DIR (cosim/real_data/) -> _FPGA_COSIM_DIR (cosim/)
- `from golden_reference import (...)` -> `from fpga_model import (...)`
- TWIDDLE_1024 -> TWIDDLE_2048 (production 2048-pt range FFT).
- Stage 1 comment: "Range bin decimation (1024 -> 64)" ->
  "(production 2048 -> 512)".
- Stage 1 twiddle path picks fft_twiddle_2048.mem only when
  n_samples=2048 matches; otherwise None to fall back to math-
  generated twiddles for legacy callers.
- Module docstring updated to reflect post-cleanup history.

test_v7.py — modernise three tests to current production dimensions:
- test_process_chirps_returns_radar_frame: pad input to 2048 samples;
  assertions reference NUM_RANGE_BINS / NUM_DOPPLER_BINS from
  radar_protocol; n_dop derived from input chirp count.
- test_cfar_enable_changes_detections: 48 chirps x 2048 samples;
  output (NUM_RANGE_BINS, NUM_DOPPLER_BINS).  No longer skips on
  cosim absence — uses synthetic input.
- test_get_frame_raw_iq_synthetic: (2, 48, 2048) raw IQ;
  (NUM_RANGE_BINS, NUM_DOPPLER_BINS) output.
- test_cosim_dir: also skip when doppler_map_*.npy absent (matches
  _cosim_available pattern in TestSoftwareFPGASignalChain).

Local: test_v7 100/0/0 (9 graceful skips: optional deps + missing
cosim .npy data), test_GUI_V65_Tk 117/0/2.  Down from 21 ERRORs.
This commit is contained in:
Jason
2026-05-02 15:22:54 +05:45
parent 71afa96d68
commit 54627bbbe3
3 changed files with 276 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_3_GUI/test_v7.py
+34 -26
View File
@@ -629,23 +629,23 @@ class TestSoftwareFPGASignalChain(unittest.TestCase):
return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
def test_process_chirps_returns_radar_frame(self):
"""process_chirps produces a RadarFrame with correct shapes."""
"""process_chirps produces a RadarFrame with production shapes (PR-O.6 / PR-F)."""
if not self._cosim_available():
self.skipTest("co-sim data not found")
from v7.software_fpga import SoftwareFPGA
from radar_protocol import RadarFrame
from radar_protocol import RadarFrame, NUM_RANGE_BINS, NUM_DOPPLER_BINS
# Load decimated range data as minimal input (32 chirps x 64 bins)
# Load decimated range data and pad up to current FPGA chirp width.
dec_i = np.load(os.path.join(self.COSIM_DIR, "decimated_range_i.npy"))
dec_q = np.load(os.path.join(self.COSIM_DIR, "decimated_range_q.npy"))
# Build fake 1024-sample chirps from decimated data (pad with zeros)
# Production chirp width = FFT_SIZE = 2048 samples; pad with zeros.
n_chirps = dec_i.shape[0]
iq_i = np.zeros((n_chirps, 1024), dtype=np.int64)
iq_q = np.zeros((n_chirps, 1024), dtype=np.int64)
# Put decimated data into first 64 bins so FFT has something
iq_i[:, :dec_i.shape[1]] = dec_i
iq_q[:, :dec_q.shape[1]] = dec_q
iq_i = np.zeros((n_chirps, 2048), dtype=np.int64)
iq_q = np.zeros((n_chirps, 2048), dtype=np.int64)
n_copy = min(2048, dec_i.shape[1])
iq_i[:, :n_copy] = dec_i[:, :n_copy]
iq_q[:, :n_copy] = dec_q[:, :n_copy]
fpga = SoftwareFPGA()
frame = fpga.process_chirps(iq_i, iq_q, frame_number=42, timestamp=1.0)
@@ -653,22 +653,26 @@ class TestSoftwareFPGASignalChain(unittest.TestCase):
self.assertIsInstance(frame, RadarFrame)
self.assertEqual(frame.frame_number, 42)
self.assertAlmostEqual(frame.timestamp, 1.0)
self.assertEqual(frame.range_doppler_i.shape, (64, 32))
self.assertEqual(frame.range_doppler_q.shape, (64, 32))
self.assertEqual(frame.magnitude.shape, (64, 32))
self.assertEqual(frame.detections.shape, (64, 32))
self.assertEqual(frame.range_profile.shape, (64,))
# Doppler width tracks input n_chirps (16-multiple → that-many sub-frames).
n_dop = (n_chirps // 16) * 16
self.assertEqual(frame.range_doppler_i.shape, (NUM_RANGE_BINS, n_dop))
self.assertEqual(frame.range_doppler_q.shape, (NUM_RANGE_BINS, n_dop))
self.assertEqual(frame.magnitude.shape, (NUM_RANGE_BINS, n_dop))
self.assertEqual(frame.detections.shape, (NUM_RANGE_BINS, n_dop))
self.assertEqual(frame.range_profile.shape, (NUM_RANGE_BINS,))
self.assertEqual(frame.detection_count, int(frame.detections.sum()))
# Sanity: NUM_DOPPLER_BINS is the production max (48).
self.assertLessEqual(n_dop, NUM_DOPPLER_BINS)
def test_cfar_enable_changes_detections(self):
"""Enabling CFAR vs simple threshold should yield different detection counts."""
if not self._cosim_available():
self.skipTest("co-sim data not found")
from v7.software_fpga import SoftwareFPGA
from radar_protocol import NUM_RANGE_BINS, NUM_DOPPLER_BINS
iq_i = np.zeros((32, 1024), dtype=np.int64)
iq_q = np.zeros((32, 1024), dtype=np.int64)
# Inject a single strong tone in bin 10 of every chirp
# Production dimensions: 48 chirps × 2048 samples.
iq_i = np.zeros((NUM_DOPPLER_BINS, 2048), dtype=np.int64)
iq_q = np.zeros((NUM_DOPPLER_BINS, 2048), dtype=np.int64)
# Inject a single strong tone in bin 10 of every chirp.
iq_i[:, 10] = 5000
iq_q[:, 10] = 3000
@@ -678,14 +682,13 @@ class TestSoftwareFPGASignalChain(unittest.TestCase):
fpga_cfar = SoftwareFPGA()
fpga_cfar.set_cfar_enable(True)
fpga_cfar.set_cfar_alpha(0x10) # low alpha → more detections
fpga_cfar.set_cfar_alpha(0x10)
frame_cfar = fpga_cfar.process_chirps(iq_i, iq_q)
# Just verify both produce valid frames — exact counts depend on chain
self.assertIsNotNone(frame_thresh)
self.assertIsNotNone(frame_cfar)
self.assertEqual(frame_thresh.magnitude.shape, (64, 32))
self.assertEqual(frame_cfar.magnitude.shape, (64, 32))
self.assertEqual(frame_thresh.magnitude.shape, (NUM_RANGE_BINS, NUM_DOPPLER_BINS))
self.assertEqual(frame_cfar.magnitude.shape, (NUM_RANGE_BINS, NUM_DOPPLER_BINS))
class TestQuantizeRawIQ(unittest.TestCase):
@@ -741,6 +744,9 @@ class TestDetectFormat(unittest.TestCase):
def test_cosim_dir(self):
if not os.path.isdir(self.COSIM_DIR):
self.skipTest("co-sim dir not found")
# COSIM_DIR format requires doppler_map_i/q.npy; skip if absent.
if not os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy")):
self.skipTest("co-sim doppler_map .npy files not present")
from v7.replay import detect_format, ReplayFormat
self.assertEqual(detect_format(self.COSIM_DIR), ReplayFormat.COSIM_DIR)
@@ -841,9 +847,11 @@ class TestReplayEngineRawIQ(unittest.TestCase):
import tempfile
from v7.replay import ReplayEngine
from v7.software_fpga import SoftwareFPGA
from radar_protocol import RadarFrame
from radar_protocol import RadarFrame, NUM_RANGE_BINS, NUM_DOPPLER_BINS
raw = np.random.randn(2, 32, 1024) + 1j * np.random.randn(2, 32, 1024)
# Production dimensions: 48 chirps × 2048 samples per frame.
raw = (np.random.randn(2, NUM_DOPPLER_BINS, 2048)
+ 1j * np.random.randn(2, NUM_DOPPLER_BINS, 2048))
with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
np.save(f, raw)
tmp = f.name
@@ -852,7 +860,7 @@ class TestReplayEngineRawIQ(unittest.TestCase):
engine = ReplayEngine(tmp, software_fpga=fpga)
frame = engine.get_frame(0)
self.assertIsInstance(frame, RadarFrame)
self.assertEqual(frame.range_doppler_i.shape, (64, 32))
self.assertEqual(frame.range_doppler_i.shape, (NUM_RANGE_BINS, NUM_DOPPLER_BINS))
self.assertEqual(frame.frame_number, 0)
finally:
os.unlink(tmp)