mirror of
https://github.com/NawfalMotii79/PLFM_RADAR.git
synced 2026-06-08 22:47:16 +00:00
Jason
5a7e8b8689
Add host-side 3-PRI Chinese-Remainder velocity unfolding and a cluster extractor that reads the 48-bin Doppler frame, splits it into the 3 sub-frames (SHORT/MEDIUM/LONG), and resolves Doppler aliases across coprime PRIs. Resolves the algorithm half of audit C-5; the data is now in extract_targets_from_frame_crt's hands but workers still call the legacy single-PRI extractor (PR-Q.6 wires it). v7/processing.py: - unfold_velocity_crt(v_meas, v_unamb, v_res, max_alias_k=6, tol_factor=0.5) -> (v_est, confidence, alias_set). Brute-force candidate search over PRI-0 fold depth, per-PRI half-bin tolerance. Confidence: CONFIRMED (3-PRI unique), LIKELY (3-PRI with 2 cands, or 2-PRI with unique cand), AMBIGUOUS (1-PRI, 3+ cands, 2-PRI multi-cand, or no fold within tol). - extract_targets_from_frame_crt(frame, waveform, gps, max_alias_k): groups detections by range bin, picks strongest bin per (rbin, sf), decodes signed Doppler via sub_frame = dbin // 16 / bin_in_sf = dbin % 16, calls unfold_velocity_crt, attaches velocity_confidence and alias_set to RadarTarget. Falls back to legacy extract_targets_from_frame for non-48-bin frames. v7/models.py: - RadarTarget gains velocity_confidence (str default "UNKNOWN") and alias_set (list[float] | None). v7/__init__.py: - Re-exports unfold_velocity_crt + extract_targets_from_frame_crt. test_v7.py (16 new tests, 0 failures): - TestUnfoldVelocityCRT (8): zero-velocity CONFIRMED, below per-PRI v_unamb CONFIRMED, above per-PRI (100 m/s) CONFIRMED, near CRT ceiling (~261 m/s) CONFIRMED, negative velocity, 1-PRI AMBIGUOUS, 2-PRI LIKELY, inconsistent measurements AMBIGUOUS+fallback. - TestExtractTargetsFromFrameCrt (8): 3-PRI CONFIRMED target, LONG-only AMBIGUOUS (the 20-km blindspot regime), 2-PRI LIKELY, strongest-bin picking, two targets at distinct ranges, legacy 32-bin frame fallback, no-detections empty, GPS georef. Local: test_v7 100/0/0 (9 graceful skips), test_GUI_V65_Tk 117/0/2.
1304 lines
53 KiB
Python
1304 lines
53 KiB
Python
"""
|
||
V7-specific unit tests for the PLFM Radar GUI V7 modules.
|
||
|
||
Tests cover:
|
||
- v7.models: RadarTarget, RadarSettings, GPSData, ProcessingConfig
|
||
- v7.processing: RadarProcessor, USBPacketParser, apply_pitch_correction
|
||
- v7.workers: polar_to_geographic
|
||
- v7.hardware: STM32USBInterface (basic), production protocol re-exports
|
||
|
||
Does NOT require a running Qt event loop — only unit-testable components.
|
||
Run with: python -m unittest test_v7 -v
|
||
"""
|
||
|
||
import os
|
||
import struct
|
||
import unittest
|
||
from dataclasses import asdict
|
||
|
||
import numpy as np
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.models
|
||
# =============================================================================
|
||
|
||
class TestRadarTarget(unittest.TestCase):
|
||
"""RadarTarget dataclass."""
|
||
|
||
def test_defaults(self):
|
||
t = _models().RadarTarget(id=1, range=1000.0, velocity=5.0,
|
||
azimuth=45.0, elevation=2.0)
|
||
self.assertEqual(t.id, 1)
|
||
self.assertEqual(t.range, 1000.0)
|
||
self.assertEqual(t.snr, 0.0)
|
||
self.assertEqual(t.track_id, -1)
|
||
self.assertEqual(t.classification, "unknown")
|
||
|
||
def test_to_dict(self):
|
||
t = _models().RadarTarget(id=1, range=500.0, velocity=-10.0,
|
||
azimuth=0.0, elevation=0.0, snr=15.0)
|
||
d = t.to_dict()
|
||
self.assertIsInstance(d, dict)
|
||
self.assertEqual(d["range"], 500.0)
|
||
self.assertEqual(d["snr"], 15.0)
|
||
|
||
|
||
class TestRadarSettings(unittest.TestCase):
|
||
"""RadarSettings — verify stale STM32 fields are removed."""
|
||
|
||
def test_no_stale_fields(self):
|
||
"""chirp_duration, freq_min/max, prf1/2 must NOT exist."""
|
||
s = _models().RadarSettings()
|
||
d = asdict(s)
|
||
for stale in ["chirp_duration_1", "chirp_duration_2",
|
||
"freq_min", "freq_max", "prf1", "prf2",
|
||
"chirps_per_position"]:
|
||
self.assertNotIn(stale, d, f"Stale field '{stale}' still present")
|
||
|
||
def test_has_physical_conversion_fields(self):
|
||
s = _models().RadarSettings()
|
||
self.assertIsInstance(s.range_resolution, float)
|
||
self.assertIsInstance(s.velocity_resolution, float)
|
||
self.assertGreater(s.range_resolution, 0)
|
||
self.assertGreater(s.velocity_resolution, 0)
|
||
|
||
def test_defaults(self):
|
||
s = _models().RadarSettings()
|
||
self.assertEqual(s.system_frequency, 10.5e9)
|
||
self.assertEqual(s.coverage_radius, 3072)
|
||
self.assertEqual(s.max_distance, 3072)
|
||
|
||
|
||
class TestGPSData(unittest.TestCase):
|
||
def test_to_dict(self):
|
||
g = _models().GPSData(latitude=41.9, longitude=12.5,
|
||
altitude=100.0, pitch=2.5)
|
||
d = g.to_dict()
|
||
self.assertAlmostEqual(d["latitude"], 41.9)
|
||
self.assertAlmostEqual(d["pitch"], 2.5)
|
||
|
||
|
||
class TestProcessingConfig(unittest.TestCase):
|
||
def test_defaults(self):
|
||
cfg = _models().ProcessingConfig()
|
||
self.assertTrue(cfg.clustering_enabled)
|
||
self.assertTrue(cfg.tracking_enabled)
|
||
self.assertFalse(cfg.mti_enabled)
|
||
self.assertFalse(cfg.cfar_enabled)
|
||
|
||
|
||
class TestNoCrcmodDependency(unittest.TestCase):
|
||
"""crcmod was removed — verify it's not exported."""
|
||
|
||
def test_no_crcmod_available(self):
|
||
models = _models()
|
||
self.assertFalse(hasattr(models, "CRCMOD_AVAILABLE"),
|
||
"CRCMOD_AVAILABLE should be removed from models")
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.processing
|
||
# =============================================================================
|
||
|
||
class TestApplyPitchCorrection(unittest.TestCase):
|
||
def test_positive_pitch(self):
|
||
from v7.processing import apply_pitch_correction
|
||
self.assertAlmostEqual(apply_pitch_correction(10.0, 3.0), 7.0)
|
||
|
||
def test_zero_pitch(self):
|
||
from v7.processing import apply_pitch_correction
|
||
self.assertAlmostEqual(apply_pitch_correction(5.0, 0.0), 5.0)
|
||
|
||
|
||
class TestRadarProcessorMTI(unittest.TestCase):
|
||
def test_mti_order1(self):
|
||
from v7.processing import RadarProcessor
|
||
from v7.models import ProcessingConfig
|
||
proc = RadarProcessor()
|
||
proc.set_config(ProcessingConfig(mti_enabled=True, mti_order=1))
|
||
|
||
frame1 = np.ones((64, 32))
|
||
frame2 = np.ones((64, 32)) * 3
|
||
|
||
result1 = proc.mti_filter(frame1)
|
||
np.testing.assert_array_equal(result1, np.zeros((64, 32)),
|
||
err_msg="First frame should be zeros (no history)")
|
||
|
||
result2 = proc.mti_filter(frame2)
|
||
expected = frame2 - frame1
|
||
np.testing.assert_array_almost_equal(result2, expected)
|
||
|
||
def test_mti_order2(self):
|
||
from v7.processing import RadarProcessor
|
||
from v7.models import ProcessingConfig
|
||
proc = RadarProcessor()
|
||
proc.set_config(ProcessingConfig(mti_enabled=True, mti_order=2))
|
||
|
||
f1 = np.ones((4, 4))
|
||
f2 = np.ones((4, 4)) * 2
|
||
f3 = np.ones((4, 4)) * 5
|
||
|
||
proc.mti_filter(f1) # zeros (need 3 frames)
|
||
proc.mti_filter(f2) # zeros
|
||
result = proc.mti_filter(f3)
|
||
# Order 2: x[n] - 2*x[n-1] + x[n-2] = 5 - 4 + 1 = 2
|
||
np.testing.assert_array_almost_equal(result, np.ones((4, 4)) * 2)
|
||
|
||
|
||
class TestRadarProcessorCFAR(unittest.TestCase):
|
||
def test_cfar_1d_detects_peak(self):
|
||
from v7.processing import RadarProcessor
|
||
signal = np.ones(64) * 10
|
||
signal[32] = 500 # inject a strong target
|
||
det = RadarProcessor.cfar_1d(signal, guard=2, train=4,
|
||
threshold_factor=3.0, cfar_type="CA-CFAR")
|
||
self.assertTrue(det[32], "Should detect strong peak at bin 32")
|
||
|
||
def test_cfar_1d_no_false_alarm(self):
|
||
from v7.processing import RadarProcessor
|
||
signal = np.ones(64) * 10 # uniform — no target
|
||
det = RadarProcessor.cfar_1d(signal, guard=2, train=4,
|
||
threshold_factor=3.0)
|
||
self.assertEqual(det.sum(), 0, "Should have no detections in flat noise")
|
||
|
||
|
||
class TestRadarProcessorProcessFrame(unittest.TestCase):
|
||
def test_process_frame_returns_shapes(self):
|
||
from v7.processing import RadarProcessor
|
||
proc = RadarProcessor()
|
||
frame = np.random.randn(64, 32) * 10
|
||
frame[20, 8] = 5000 # inject a target
|
||
power, mask = proc.process_frame(frame)
|
||
self.assertEqual(power.shape, (64, 32))
|
||
self.assertEqual(mask.shape, (64, 32))
|
||
self.assertEqual(mask.dtype, bool)
|
||
|
||
|
||
class TestRadarProcessorWindowing(unittest.TestCase):
|
||
def test_hann_window(self):
|
||
from v7.processing import RadarProcessor
|
||
data = np.ones((4, 32))
|
||
windowed = RadarProcessor.apply_window(data, "Hann")
|
||
# Hann window tapers to ~0 at edges
|
||
self.assertLess(windowed[0, 0], 0.1)
|
||
self.assertGreater(windowed[0, 16], 0.5)
|
||
|
||
def test_none_window(self):
|
||
from v7.processing import RadarProcessor
|
||
data = np.ones((4, 32))
|
||
result = RadarProcessor.apply_window(data, "None")
|
||
np.testing.assert_array_equal(result, data)
|
||
|
||
|
||
class TestRadarProcessorDCNotch(unittest.TestCase):
|
||
def test_dc_removal(self):
|
||
from v7.processing import RadarProcessor
|
||
data = np.ones((4, 8)) * 100
|
||
data[0, :] += 50 # DC offset in range bin 0
|
||
result = RadarProcessor.dc_notch(data)
|
||
# Mean along axis=1 should be ~0
|
||
row_means = np.mean(result, axis=1)
|
||
for m in row_means:
|
||
self.assertAlmostEqual(m, 0, places=10)
|
||
|
||
|
||
class TestRadarProcessorClustering(unittest.TestCase):
|
||
def test_clustering_empty(self):
|
||
from v7.processing import RadarProcessor
|
||
result = RadarProcessor.clustering([], eps=100, min_samples=2)
|
||
self.assertEqual(result, [])
|
||
|
||
|
||
class TestUSBPacketParser(unittest.TestCase):
|
||
def test_parse_gps_text(self):
|
||
from v7.processing import USBPacketParser
|
||
parser = USBPacketParser()
|
||
data = b"GPS:41.9028,12.4964,100.0,2.5\r\n"
|
||
gps = parser.parse_gps_data(data)
|
||
self.assertIsNotNone(gps)
|
||
self.assertAlmostEqual(gps.latitude, 41.9028, places=3)
|
||
self.assertAlmostEqual(gps.longitude, 12.4964, places=3)
|
||
self.assertAlmostEqual(gps.altitude, 100.0)
|
||
self.assertAlmostEqual(gps.pitch, 2.5)
|
||
|
||
def test_parse_gps_text_invalid(self):
|
||
from v7.processing import USBPacketParser
|
||
parser = USBPacketParser()
|
||
self.assertIsNone(parser.parse_gps_data(b"NOT_GPS_DATA"))
|
||
self.assertIsNone(parser.parse_gps_data(b""))
|
||
self.assertIsNone(parser.parse_gps_data(None))
|
||
|
||
def test_parse_binary_gps(self):
|
||
from v7.processing import USBPacketParser
|
||
parser = USBPacketParser()
|
||
# Build a valid binary GPS packet
|
||
pkt = bytearray(b"GPSB")
|
||
pkt += struct.pack(">d", 41.9028) # lat
|
||
pkt += struct.pack(">d", 12.4964) # lon
|
||
pkt += struct.pack(">f", 100.0) # alt
|
||
pkt += struct.pack(">f", 2.5) # pitch
|
||
# Simple checksum
|
||
cksum = sum(pkt) & 0xFFFF
|
||
pkt += struct.pack(">H", cksum)
|
||
self.assertEqual(len(pkt), 30)
|
||
|
||
gps = parser.parse_gps_data(bytes(pkt))
|
||
self.assertIsNotNone(gps)
|
||
self.assertAlmostEqual(gps.latitude, 41.9028, places=3)
|
||
|
||
def test_no_crc16_func_attribute(self):
|
||
"""crcmod was removed — USBPacketParser should not have crc16_func."""
|
||
from v7.processing import USBPacketParser
|
||
parser = USBPacketParser()
|
||
self.assertFalse(hasattr(parser, "crc16_func"),
|
||
"crc16_func should be removed (crcmod dead code)")
|
||
|
||
def test_no_multi_prf_unwrap(self):
|
||
"""multi_prf_unwrap was removed (never called, prf fields removed)."""
|
||
from v7.processing import RadarProcessor
|
||
self.assertFalse(hasattr(RadarProcessor, "multi_prf_unwrap"),
|
||
"multi_prf_unwrap should be removed")
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.workers — polar_to_geographic
|
||
# =============================================================================
|
||
|
||
def _pyqt6_available():
|
||
try:
|
||
import PyQt6.QtCore # noqa: F401
|
||
return True
|
||
except ImportError:
|
||
return False
|
||
|
||
|
||
@unittest.skipUnless(_pyqt6_available(), "PyQt6 not installed")
|
||
class TestPolarToGeographic(unittest.TestCase):
|
||
def test_north_bearing(self):
|
||
from v7.workers import polar_to_geographic
|
||
lat, lon = polar_to_geographic(0.0, 0.0, 1000.0, 0.0)
|
||
# Moving 1km north from equator
|
||
self.assertGreater(lat, 0.0)
|
||
self.assertAlmostEqual(lon, 0.0, places=4)
|
||
|
||
def test_east_bearing(self):
|
||
from v7.workers import polar_to_geographic
|
||
lat, lon = polar_to_geographic(0.0, 0.0, 1000.0, 90.0)
|
||
self.assertAlmostEqual(lat, 0.0, places=4)
|
||
self.assertGreater(lon, 0.0)
|
||
|
||
def test_zero_range(self):
|
||
from v7.workers import polar_to_geographic
|
||
lat, lon = polar_to_geographic(41.9, 12.5, 0.0, 0.0)
|
||
self.assertAlmostEqual(lat, 41.9, places=6)
|
||
self.assertAlmostEqual(lon, 12.5, places=6)
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.hardware — production protocol re-exports
|
||
# =============================================================================
|
||
|
||
class TestHardwareReExports(unittest.TestCase):
|
||
"""Verify hardware.py re-exports all production protocol classes."""
|
||
|
||
def test_exports(self):
|
||
from v7.hardware import (
|
||
FT2232HConnection,
|
||
RadarProtocol,
|
||
STM32USBInterface,
|
||
)
|
||
# Verify these are actual classes/types, not None
|
||
self.assertTrue(callable(FT2232HConnection))
|
||
self.assertTrue(callable(RadarProtocol))
|
||
self.assertTrue(callable(STM32USBInterface))
|
||
|
||
def test_stm32_list_devices_no_crash(self):
|
||
from v7.hardware import STM32USBInterface
|
||
stm = STM32USBInterface()
|
||
self.assertFalse(stm.is_open)
|
||
# list_devices should return empty list (no USB in test env), not crash
|
||
devs = stm.list_devices()
|
||
self.assertIsInstance(devs, list)
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.__init__ — clean exports
|
||
# =============================================================================
|
||
|
||
class TestV7Init(unittest.TestCase):
|
||
"""Verify top-level v7 package exports."""
|
||
|
||
def test_no_crcmod_export(self):
|
||
import v7
|
||
self.assertFalse(hasattr(v7, "CRCMOD_AVAILABLE"),
|
||
"CRCMOD_AVAILABLE should not be in v7.__all__")
|
||
|
||
def test_key_exports(self):
|
||
import v7
|
||
# Core exports (no PyQt6 required)
|
||
for name in ["RadarTarget", "RadarSettings", "GPSData",
|
||
"ProcessingConfig", "FT2232HConnection",
|
||
"RadarProtocol", "RadarProcessor"]:
|
||
self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
|
||
# PyQt6-dependent exports — only present when PyQt6 is installed
|
||
if _pyqt6_available():
|
||
for name in ["RadarDataWorker", "RadarMapWidget",
|
||
"RadarDashboard"]:
|
||
self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
|
||
|
||
|
||
# =============================================================================
|
||
# Test: AGC Visualization data model
|
||
# =============================================================================
|
||
|
||
class TestAGCVisualizationV7(unittest.TestCase):
|
||
"""AGC visualization ring buffer and data model tests (no Qt required)."""
|
||
|
||
def _make_deque(self, maxlen=256):
|
||
from collections import deque
|
||
return deque(maxlen=maxlen)
|
||
|
||
def test_ring_buffer_basics(self):
|
||
d = self._make_deque(maxlen=4)
|
||
for i in range(6):
|
||
d.append(i)
|
||
self.assertEqual(list(d), [2, 3, 4, 5])
|
||
|
||
def test_gain_range_4bit(self):
|
||
"""AGC gain is 4-bit (0-15)."""
|
||
from radar_protocol import StatusResponse
|
||
for g in [0, 7, 15]:
|
||
sr = StatusResponse(agc_current_gain=g)
|
||
self.assertEqual(sr.agc_current_gain, g)
|
||
|
||
def test_peak_range_8bit(self):
|
||
"""Peak magnitude is 8-bit (0-255)."""
|
||
from radar_protocol import StatusResponse
|
||
for p in [0, 128, 255]:
|
||
sr = StatusResponse(agc_peak_magnitude=p)
|
||
self.assertEqual(sr.agc_peak_magnitude, p)
|
||
|
||
def test_saturation_accumulation(self):
|
||
"""Saturation ring buffer sum tracks total events."""
|
||
sat = self._make_deque(maxlen=256)
|
||
for s in [0, 5, 0, 10, 3]:
|
||
sat.append(s)
|
||
self.assertEqual(sum(sat), 18)
|
||
|
||
def test_mode_label_logic(self):
|
||
"""AGC mode string from enable field."""
|
||
from radar_protocol import StatusResponse
|
||
self.assertEqual(
|
||
"AUTO" if StatusResponse(agc_enable=1).agc_enable else "MANUAL",
|
||
"AUTO")
|
||
self.assertEqual(
|
||
"AUTO" if StatusResponse(agc_enable=0).agc_enable else "MANUAL",
|
||
"MANUAL")
|
||
|
||
def test_history_len_default(self):
|
||
"""Default history length should be 256."""
|
||
d = self._make_deque(maxlen=256)
|
||
self.assertEqual(d.maxlen, 256)
|
||
|
||
def test_color_thresholds(self):
|
||
"""Saturation color: green=0, warning=1-10, error>10."""
|
||
from v7.models import DARK_SUCCESS, DARK_WARNING, DARK_ERROR
|
||
def pick_color(total):
|
||
if total > 10:
|
||
return DARK_ERROR
|
||
if total > 0:
|
||
return DARK_WARNING
|
||
return DARK_SUCCESS
|
||
self.assertEqual(pick_color(0), DARK_SUCCESS)
|
||
self.assertEqual(pick_color(5), DARK_WARNING)
|
||
self.assertEqual(pick_color(11), DARK_ERROR)
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.models.WaveformConfig
|
||
# =============================================================================
|
||
|
||
class TestWaveformConfig(unittest.TestCase):
|
||
"""WaveformConfig dataclass and derived physical properties."""
|
||
|
||
def test_defaults(self):
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
self.assertEqual(wc.sample_rate_hz, 100e6)
|
||
self.assertEqual(wc.bandwidth_hz, 20e6)
|
||
self.assertEqual(wc.chirp_duration_s, 30e-6)
|
||
# PR-Q: 3 staggered PRIs (SHORT 175, MEDIUM 161, LONG 167 us)
|
||
self.assertEqual(wc.pri_short_s, 175e-6)
|
||
self.assertEqual(wc.pri_medium_s, 161e-6)
|
||
self.assertEqual(wc.pri_long_s, 167e-6)
|
||
self.assertEqual(wc.center_freq_hz, 10.5e9)
|
||
self.assertEqual(wc.n_range_bins, 512)
|
||
self.assertEqual(wc.n_doppler_bins, 48)
|
||
self.assertEqual(wc.num_subframes, 3)
|
||
self.assertEqual(wc.chirps_per_subframe, 16)
|
||
self.assertEqual(wc.fft_size, 2048)
|
||
self.assertEqual(wc.decimation_factor, 4)
|
||
|
||
def test_range_resolution(self):
|
||
"""range_resolution_m should be ~6.0 m/bin (matched filter, 100 MSPS, decim 4)."""
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
self.assertAlmostEqual(wc.range_resolution_m, 5.996, places=2)
|
||
|
||
def test_velocity_resolution_per_subframe(self):
|
||
"""Per-subframe v_res = lambda / (2 * 16 * PRI), PR-Q stagger."""
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
# lambda = c / 10.5e9 = 0.02856 m
|
||
# SHORT 175 us: 0.02856 / (32 * 175e-6) = 5.099 m/s/bin
|
||
# MEDIUM 161 us: 0.02856 / (32 * 161e-6) = 5.543 m/s/bin
|
||
# LONG 167 us: 0.02856 / (32 * 167e-6) = 5.343 m/s/bin
|
||
self.assertAlmostEqual(wc.velocity_resolution_short_mps, 5.099, places=2)
|
||
self.assertAlmostEqual(wc.velocity_resolution_medium_mps, 5.543, places=2)
|
||
self.assertAlmostEqual(wc.velocity_resolution_long_mps, 5.343, places=2)
|
||
# Smallest PRI (MEDIUM) gives largest v_res → largest v_unamb.
|
||
self.assertGreater(wc.velocity_resolution_medium_mps, wc.velocity_resolution_long_mps)
|
||
self.assertGreater(wc.velocity_resolution_medium_mps, wc.velocity_resolution_short_mps)
|
||
|
||
def test_max_range(self):
|
||
"""max_range_m = range_resolution * n_range_bins."""
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
self.assertAlmostEqual(wc.max_range_m, wc.range_resolution_m * 512, places=1)
|
||
|
||
def test_max_velocity_per_subframe(self):
|
||
"""Per-subframe v_unamb = v_res * chirps_per_subframe / 2."""
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
for vmax, vres in [
|
||
(wc.max_velocity_short_mps, wc.velocity_resolution_short_mps),
|
||
(wc.max_velocity_medium_mps, wc.velocity_resolution_medium_mps),
|
||
(wc.max_velocity_long_mps, wc.velocity_resolution_long_mps),
|
||
]:
|
||
self.assertAlmostEqual(vmax, vres * 8.0, places=2)
|
||
|
||
def test_extended_max_velocity_crt(self):
|
||
"""CRT-extended v_unamb = max(per-subframe v_unamb) * K."""
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
# MEDIUM has the largest per-subframe v_unamb (smallest PRI).
|
||
# K=6 default → ~266 m/s; well above UAS speeds 50–80 m/s.
|
||
v6 = wc.extended_max_velocity_mps_crt()
|
||
self.assertAlmostEqual(v6, wc.max_velocity_medium_mps * 6, places=2)
|
||
# K=3 should give half of K=6.
|
||
v3 = wc.extended_max_velocity_mps_crt(max_alias_k=3)
|
||
self.assertAlmostEqual(v3, wc.max_velocity_medium_mps * 3, places=2)
|
||
self.assertAlmostEqual(v6, 2.0 * v3, places=2)
|
||
|
||
def test_custom_params(self):
|
||
"""Non-default parameters correctly change derived values."""
|
||
from v7.models import WaveformConfig
|
||
wc1 = WaveformConfig()
|
||
wc2 = WaveformConfig(sample_rate_hz=200e6) # double Fs → halve range bin
|
||
self.assertAlmostEqual(wc2.range_resolution_m, wc1.range_resolution_m / 2, places=2)
|
||
|
||
def test_zero_center_freq_velocity(self):
|
||
"""Zero center freq should ZeroDivisionError in any per-subframe velocity calc."""
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig(center_freq_hz=0.0)
|
||
with self.assertRaises(ZeroDivisionError):
|
||
_ = wc.velocity_resolution_long_mps
|
||
with self.assertRaises(ZeroDivisionError):
|
||
_ = wc.velocity_resolution_short_mps
|
||
with self.assertRaises(ZeroDivisionError):
|
||
_ = wc.velocity_resolution_medium_mps
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.software_fpga.SoftwareFPGA
|
||
# =============================================================================
|
||
|
||
class TestSoftwareFPGA(unittest.TestCase):
|
||
"""SoftwareFPGA register interface and signal chain."""
|
||
|
||
def _make_fpga(self):
|
||
from v7.software_fpga import SoftwareFPGA
|
||
return SoftwareFPGA()
|
||
|
||
def test_reset_defaults(self):
|
||
"""Register reset values match FPGA RTL (radar_system_top.v)."""
|
||
fpga = self._make_fpga()
|
||
self.assertEqual(fpga.detect_threshold, 10_000)
|
||
self.assertEqual(fpga.gain_shift, 0)
|
||
self.assertFalse(fpga.cfar_enable)
|
||
self.assertEqual(fpga.cfar_guard, 2)
|
||
self.assertEqual(fpga.cfar_train, 8)
|
||
self.assertEqual(fpga.cfar_alpha, 0x30)
|
||
self.assertEqual(fpga.cfar_mode, 0)
|
||
self.assertFalse(fpga.mti_enable)
|
||
self.assertEqual(fpga.dc_notch_width, 0)
|
||
self.assertFalse(fpga.agc_enable)
|
||
self.assertEqual(fpga.agc_target, 200)
|
||
self.assertEqual(fpga.agc_attack, 1)
|
||
self.assertEqual(fpga.agc_decay, 1)
|
||
self.assertEqual(fpga.agc_holdoff, 4)
|
||
|
||
def test_setter_detect_threshold(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_detect_threshold(5000)
|
||
self.assertEqual(fpga.detect_threshold, 5000)
|
||
|
||
def test_setter_detect_threshold_clamp_16bit(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_detect_threshold(0x1FFFF) # 17-bit
|
||
self.assertEqual(fpga.detect_threshold, 0xFFFF)
|
||
|
||
def test_setter_gain_shift_clamp_4bit(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_gain_shift(0xFF)
|
||
self.assertEqual(fpga.gain_shift, 0x0F)
|
||
|
||
def test_setter_cfar_enable(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_cfar_enable(True)
|
||
self.assertTrue(fpga.cfar_enable)
|
||
fpga.set_cfar_enable(False)
|
||
self.assertFalse(fpga.cfar_enable)
|
||
|
||
def test_setter_cfar_guard_clamp_4bit(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_cfar_guard(0x1F)
|
||
self.assertEqual(fpga.cfar_guard, 0x0F)
|
||
|
||
def test_setter_cfar_train_min_1(self):
|
||
"""CFAR train cells clamped to min 1."""
|
||
fpga = self._make_fpga()
|
||
fpga.set_cfar_train(0)
|
||
self.assertEqual(fpga.cfar_train, 1)
|
||
|
||
def test_setter_cfar_train_clamp_5bit(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_cfar_train(0x3F)
|
||
self.assertEqual(fpga.cfar_train, 0x1F)
|
||
|
||
def test_setter_cfar_alpha_clamp_8bit(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_cfar_alpha(0x1FF)
|
||
self.assertEqual(fpga.cfar_alpha, 0xFF)
|
||
|
||
def test_setter_cfar_mode_clamp_2bit(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_cfar_mode(7)
|
||
self.assertEqual(fpga.cfar_mode, 3)
|
||
|
||
def test_setter_mti_enable(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_mti_enable(True)
|
||
self.assertTrue(fpga.mti_enable)
|
||
|
||
def test_setter_dc_notch_clamp_3bit(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_dc_notch_width(0xFF)
|
||
self.assertEqual(fpga.dc_notch_width, 7)
|
||
|
||
def test_setter_agc_params_selective(self):
|
||
"""set_agc_params only changes provided fields."""
|
||
fpga = self._make_fpga()
|
||
fpga.set_agc_params(target=100)
|
||
self.assertEqual(fpga.agc_target, 100)
|
||
self.assertEqual(fpga.agc_attack, 1) # unchanged
|
||
fpga.set_agc_params(attack=3, decay=5)
|
||
self.assertEqual(fpga.agc_attack, 3)
|
||
self.assertEqual(fpga.agc_decay, 5)
|
||
self.assertEqual(fpga.agc_target, 100) # unchanged
|
||
|
||
def test_setter_agc_params_clamp(self):
|
||
fpga = self._make_fpga()
|
||
fpga.set_agc_params(target=0xFFF, attack=0xFF, decay=0xFF, holdoff=0xFF)
|
||
self.assertEqual(fpga.agc_target, 0xFF)
|
||
self.assertEqual(fpga.agc_attack, 0x0F)
|
||
self.assertEqual(fpga.agc_decay, 0x0F)
|
||
self.assertEqual(fpga.agc_holdoff, 0x0F)
|
||
|
||
|
||
class TestSoftwareFPGASignalChain(unittest.TestCase):
|
||
"""SoftwareFPGA.process_chirps with real co-sim data."""
|
||
|
||
COSIM_DIR = os.path.join(
|
||
os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
|
||
"real_data", "hex"
|
||
)
|
||
|
||
def _cosim_available(self):
|
||
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 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, NUM_RANGE_BINS, NUM_DOPPLER_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"))
|
||
|
||
# Production chirp width = FFT_SIZE = 2048 samples; pad with zeros.
|
||
n_chirps = dec_i.shape[0]
|
||
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)
|
||
|
||
self.assertIsInstance(frame, RadarFrame)
|
||
self.assertEqual(frame.frame_number, 42)
|
||
self.assertAlmostEqual(frame.timestamp, 1.0)
|
||
# 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."""
|
||
from v7.software_fpga import SoftwareFPGA
|
||
from radar_protocol import NUM_RANGE_BINS, NUM_DOPPLER_BINS
|
||
|
||
# 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
|
||
|
||
fpga_thresh = SoftwareFPGA()
|
||
fpga_thresh.set_detect_threshold(1) # very low → many detections
|
||
frame_thresh = fpga_thresh.process_chirps(iq_i, iq_q)
|
||
|
||
fpga_cfar = SoftwareFPGA()
|
||
fpga_cfar.set_cfar_enable(True)
|
||
fpga_cfar.set_cfar_alpha(0x10)
|
||
frame_cfar = fpga_cfar.process_chirps(iq_i, iq_q)
|
||
|
||
self.assertIsNotNone(frame_thresh)
|
||
self.assertIsNotNone(frame_cfar)
|
||
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):
|
||
"""quantize_raw_iq utility function."""
|
||
|
||
def test_3d_input(self):
|
||
"""3-D (frames, chirps, samples) → uses first frame."""
|
||
from v7.software_fpga import quantize_raw_iq
|
||
raw = np.random.randn(5, 32, 1024) + 1j * np.random.randn(5, 32, 1024)
|
||
iq_i, iq_q = quantize_raw_iq(raw)
|
||
self.assertEqual(iq_i.shape, (32, 1024))
|
||
self.assertEqual(iq_q.shape, (32, 1024))
|
||
self.assertTrue(np.all(np.abs(iq_i) <= 32767))
|
||
self.assertTrue(np.all(np.abs(iq_q) <= 32767))
|
||
|
||
def test_2d_input(self):
|
||
"""2-D (chirps, samples) → works directly."""
|
||
from v7.software_fpga import quantize_raw_iq
|
||
raw = np.random.randn(32, 1024) + 1j * np.random.randn(32, 1024)
|
||
iq_i, _iq_q = quantize_raw_iq(raw)
|
||
self.assertEqual(iq_i.shape, (32, 1024))
|
||
|
||
def test_zero_input(self):
|
||
"""All-zero complex input → all-zero output."""
|
||
from v7.software_fpga import quantize_raw_iq
|
||
raw = np.zeros((32, 1024), dtype=np.complex128)
|
||
iq_i, iq_q = quantize_raw_iq(raw)
|
||
self.assertTrue(np.all(iq_i == 0))
|
||
self.assertTrue(np.all(iq_q == 0))
|
||
|
||
def test_peak_target_scaling(self):
|
||
"""Peak of output should be near peak_target."""
|
||
from v7.software_fpga import quantize_raw_iq
|
||
raw = np.zeros((32, 1024), dtype=np.complex128)
|
||
raw[0, 0] = 1.0 + 0j # single peak
|
||
iq_i, _iq_q = quantize_raw_iq(raw, peak_target=500)
|
||
# The peak I value should be exactly 500 (sole max)
|
||
self.assertEqual(int(iq_i[0, 0]), 500)
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.replay (ReplayEngine, detect_format)
|
||
# =============================================================================
|
||
|
||
class TestDetectFormat(unittest.TestCase):
|
||
"""detect_format auto-detection logic."""
|
||
|
||
COSIM_DIR = os.path.join(
|
||
os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
|
||
"real_data", "hex"
|
||
)
|
||
|
||
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)
|
||
|
||
def test_npy_file(self):
|
||
"""A .npy file → RAW_IQ_NPY."""
|
||
from v7.replay import detect_format, ReplayFormat
|
||
import tempfile
|
||
with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
|
||
np.save(f, np.zeros((2, 32, 1024), dtype=np.complex128))
|
||
tmp = f.name
|
||
try:
|
||
self.assertEqual(detect_format(tmp), ReplayFormat.RAW_IQ_NPY)
|
||
finally:
|
||
os.unlink(tmp)
|
||
|
||
def test_h5_file(self):
|
||
"""A .h5 file → HDF5."""
|
||
from v7.replay import detect_format, ReplayFormat
|
||
self.assertEqual(detect_format("/tmp/fake_recording.h5"), ReplayFormat.HDF5)
|
||
|
||
def test_unknown_extension_raises(self):
|
||
from v7.replay import detect_format
|
||
with self.assertRaises(ValueError):
|
||
detect_format("/tmp/data.csv")
|
||
|
||
def test_empty_dir_raises(self):
|
||
"""Directory without co-sim files → ValueError."""
|
||
from v7.replay import detect_format
|
||
import tempfile
|
||
with tempfile.TemporaryDirectory() as td, self.assertRaises(ValueError):
|
||
detect_format(td)
|
||
|
||
|
||
class TestReplayEngineCosim(unittest.TestCase):
|
||
"""ReplayEngine loading from FPGA co-sim directory."""
|
||
|
||
COSIM_DIR = os.path.join(
|
||
os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
|
||
"real_data", "hex"
|
||
)
|
||
|
||
def _available(self):
|
||
return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
|
||
|
||
def test_load_cosim(self):
|
||
if not self._available():
|
||
self.skipTest("co-sim data not found")
|
||
from v7.replay import ReplayEngine, ReplayFormat
|
||
engine = ReplayEngine(self.COSIM_DIR)
|
||
self.assertEqual(engine.fmt, ReplayFormat.COSIM_DIR)
|
||
self.assertEqual(engine.total_frames, 1)
|
||
|
||
def test_get_frame_cosim(self):
|
||
if not self._available():
|
||
self.skipTest("co-sim data not found")
|
||
from v7.replay import ReplayEngine
|
||
from radar_protocol import RadarFrame
|
||
engine = ReplayEngine(self.COSIM_DIR)
|
||
frame = engine.get_frame(0)
|
||
self.assertIsInstance(frame, RadarFrame)
|
||
self.assertEqual(frame.range_doppler_i.shape, (64, 32))
|
||
self.assertEqual(frame.magnitude.shape, (64, 32))
|
||
|
||
def test_get_frame_out_of_range(self):
|
||
if not self._available():
|
||
self.skipTest("co-sim data not found")
|
||
from v7.replay import ReplayEngine
|
||
engine = ReplayEngine(self.COSIM_DIR)
|
||
with self.assertRaises(IndexError):
|
||
engine.get_frame(1)
|
||
with self.assertRaises(IndexError):
|
||
engine.get_frame(-1)
|
||
|
||
|
||
class TestReplayEngineRawIQ(unittest.TestCase):
|
||
"""ReplayEngine loading from raw IQ .npy cube."""
|
||
|
||
def test_load_raw_iq_synthetic(self):
|
||
"""Synthetic raw IQ cube loads and produces correct frame count."""
|
||
import tempfile
|
||
from v7.replay import ReplayEngine, ReplayFormat
|
||
from v7.software_fpga import SoftwareFPGA
|
||
|
||
raw = np.random.randn(3, 32, 1024) + 1j * np.random.randn(3, 32, 1024)
|
||
with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
|
||
np.save(f, raw)
|
||
tmp = f.name
|
||
try:
|
||
fpga = SoftwareFPGA()
|
||
engine = ReplayEngine(tmp, software_fpga=fpga)
|
||
self.assertEqual(engine.fmt, ReplayFormat.RAW_IQ_NPY)
|
||
self.assertEqual(engine.total_frames, 3)
|
||
finally:
|
||
os.unlink(tmp)
|
||
|
||
def test_get_frame_raw_iq_synthetic(self):
|
||
"""get_frame on raw IQ runs SoftwareFPGA and returns RadarFrame."""
|
||
import tempfile
|
||
from v7.replay import ReplayEngine
|
||
from v7.software_fpga import SoftwareFPGA
|
||
from radar_protocol import RadarFrame, NUM_RANGE_BINS, NUM_DOPPLER_BINS
|
||
|
||
# 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
|
||
try:
|
||
fpga = SoftwareFPGA()
|
||
engine = ReplayEngine(tmp, software_fpga=fpga)
|
||
frame = engine.get_frame(0)
|
||
self.assertIsInstance(frame, RadarFrame)
|
||
self.assertEqual(frame.range_doppler_i.shape, (NUM_RANGE_BINS, NUM_DOPPLER_BINS))
|
||
self.assertEqual(frame.frame_number, 0)
|
||
finally:
|
||
os.unlink(tmp)
|
||
|
||
def test_raw_iq_no_fpga_raises(self):
|
||
"""Raw IQ get_frame without SoftwareFPGA → RuntimeError."""
|
||
import tempfile
|
||
from v7.replay import ReplayEngine
|
||
|
||
raw = np.random.randn(1, 32, 1024) + 1j * np.random.randn(1, 32, 1024)
|
||
with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
|
||
np.save(f, raw)
|
||
tmp = f.name
|
||
try:
|
||
engine = ReplayEngine(tmp)
|
||
with self.assertRaises(RuntimeError):
|
||
engine.get_frame(0)
|
||
finally:
|
||
os.unlink(tmp)
|
||
|
||
|
||
class TestReplayEngineHDF5(unittest.TestCase):
|
||
"""ReplayEngine loading from HDF5 recordings."""
|
||
|
||
def _skip_no_h5py(self):
|
||
try:
|
||
import h5py # noqa: F401
|
||
except ImportError:
|
||
self.skipTest("h5py not installed")
|
||
|
||
def test_load_hdf5_synthetic(self):
|
||
"""Synthetic HDF5 loads and iterates frames."""
|
||
self._skip_no_h5py()
|
||
import tempfile
|
||
import h5py
|
||
from v7.replay import ReplayEngine, ReplayFormat
|
||
from radar_protocol import RadarFrame
|
||
|
||
with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as f:
|
||
tmp = f.name
|
||
|
||
try:
|
||
with h5py.File(tmp, "w") as hf:
|
||
hf.attrs["creator"] = "test"
|
||
hf.attrs["range_bins"] = 64
|
||
hf.attrs["doppler_bins"] = 32
|
||
grp = hf.create_group("frames")
|
||
for i in range(3):
|
||
fg = grp.create_group(f"frame_{i:06d}")
|
||
fg.attrs["timestamp"] = float(i)
|
||
fg.attrs["frame_number"] = i
|
||
fg.attrs["detection_count"] = 0
|
||
fg.create_dataset("range_doppler_i",
|
||
data=np.zeros((64, 32), dtype=np.int16))
|
||
fg.create_dataset("range_doppler_q",
|
||
data=np.zeros((64, 32), dtype=np.int16))
|
||
fg.create_dataset("magnitude",
|
||
data=np.zeros((64, 32), dtype=np.float64))
|
||
fg.create_dataset("detections",
|
||
data=np.zeros((64, 32), dtype=np.uint8))
|
||
fg.create_dataset("range_profile",
|
||
data=np.zeros(64, dtype=np.float64))
|
||
|
||
engine = ReplayEngine(tmp)
|
||
self.assertEqual(engine.fmt, ReplayFormat.HDF5)
|
||
self.assertEqual(engine.total_frames, 3)
|
||
|
||
frame = engine.get_frame(1)
|
||
self.assertIsInstance(frame, RadarFrame)
|
||
self.assertEqual(frame.frame_number, 1)
|
||
self.assertEqual(frame.range_doppler_i.shape, (64, 32))
|
||
engine.close()
|
||
finally:
|
||
os.unlink(tmp)
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.processing.extract_targets_from_frame
|
||
# =============================================================================
|
||
|
||
class TestExtractTargetsFromFrame(unittest.TestCase):
|
||
"""extract_targets_from_frame bin-to-physical conversion."""
|
||
|
||
def _make_frame(self, det_cells=None):
|
||
"""Create a minimal RadarFrame with optional detection cells."""
|
||
from radar_protocol import RadarFrame
|
||
frame = RadarFrame()
|
||
if det_cells:
|
||
for rbin, dbin in det_cells:
|
||
frame.detections[rbin, dbin] = 1
|
||
frame.magnitude[rbin, dbin] = 1000.0
|
||
frame.detection_count = int(frame.detections.sum())
|
||
frame.timestamp = 1.0
|
||
return frame
|
||
|
||
def test_no_detections(self):
|
||
from v7.processing import extract_targets_from_frame
|
||
frame = self._make_frame()
|
||
targets = extract_targets_from_frame(frame)
|
||
self.assertEqual(len(targets), 0)
|
||
|
||
def test_single_detection_range(self):
|
||
"""Detection at range bin 10 → range = 10 * range_resolution."""
|
||
from v7.processing import extract_targets_from_frame
|
||
# PR-Q: n_doppler_bins=48 → centre bin = 24 (was 16 in 32-bin world).
|
||
frame = self._make_frame(det_cells=[(10, 24)])
|
||
targets = extract_targets_from_frame(frame, range_resolution=5.996)
|
||
self.assertEqual(len(targets), 1)
|
||
self.assertAlmostEqual(targets[0].range, 10 * 5.996, places=1)
|
||
self.assertAlmostEqual(targets[0].velocity, 0.0, places=2)
|
||
|
||
def test_velocity_sign(self):
|
||
"""Doppler bin < center → negative velocity, > center → positive."""
|
||
from v7.processing import extract_targets_from_frame
|
||
# PR-Q: centre = 24 in 48-bin frame. dbin=10 below, dbin=30 above.
|
||
frame = self._make_frame(det_cells=[(5, 10), (5, 30)])
|
||
targets = extract_targets_from_frame(frame, velocity_resolution=1.484)
|
||
# dbin=10: vel = (10-24)*1.484 = -20.776 (approaching)
|
||
# dbin=30: vel = (30-24)*1.484 = +8.904 (receding)
|
||
self.assertLess(targets[0].velocity, 0)
|
||
self.assertGreater(targets[1].velocity, 0)
|
||
|
||
def test_snr_positive_for_nonzero_mag(self):
|
||
from v7.processing import extract_targets_from_frame
|
||
frame = self._make_frame(det_cells=[(3, 16)])
|
||
targets = extract_targets_from_frame(frame)
|
||
self.assertGreater(targets[0].snr, 0)
|
||
|
||
def test_gps_georef(self):
|
||
"""With GPS data, targets get non-zero lat/lon."""
|
||
from v7.processing import extract_targets_from_frame
|
||
from v7.models import GPSData
|
||
gps = GPSData(latitude=41.9, longitude=12.5, altitude=0.0,
|
||
pitch=0.0, heading=90.0)
|
||
frame = self._make_frame(det_cells=[(10, 16)])
|
||
targets = extract_targets_from_frame(
|
||
frame, range_resolution=100.0, gps=gps)
|
||
# Should be roughly east of radar position
|
||
self.assertAlmostEqual(targets[0].latitude, 41.9, places=2)
|
||
self.assertGreater(targets[0].longitude, 12.5)
|
||
|
||
def test_multiple_detections(self):
|
||
from v7.processing import extract_targets_from_frame
|
||
frame = self._make_frame(det_cells=[(0, 0), (10, 10), (63, 31)])
|
||
targets = extract_targets_from_frame(frame)
|
||
self.assertEqual(len(targets), 3)
|
||
# IDs should be sequential 0, 1, 2
|
||
self.assertEqual([t.id for t in targets], [0, 1, 2])
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.processing.unfold_velocity_crt (PR-Q.5, audit C-5)
|
||
# =============================================================================
|
||
|
||
def _fold_v(v: float, v_unamb: float) -> float:
|
||
"""Helper: fold v into signed [-v_unamb, +v_unamb] (FFT convention)."""
|
||
span = 2.0 * v_unamb
|
||
return ((v + v_unamb) % span) - v_unamb
|
||
|
||
|
||
class TestUnfoldVelocityCRT(unittest.TestCase):
|
||
"""3-PRI Chinese-Remainder Doppler unfolding."""
|
||
|
||
def _vu_vr(self):
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
v_unamb = [
|
||
wc.max_velocity_short_mps,
|
||
wc.max_velocity_medium_mps,
|
||
wc.max_velocity_long_mps,
|
||
]
|
||
v_res = [
|
||
wc.velocity_resolution_short_mps,
|
||
wc.velocity_resolution_medium_mps,
|
||
wc.velocity_resolution_long_mps,
|
||
]
|
||
return v_unamb, v_res
|
||
|
||
def test_zero_velocity_three_pri_confirmed(self):
|
||
"""All zero measurements → v=0, single fold, CONFIRMED."""
|
||
from v7.processing import unfold_velocity_crt
|
||
v_unamb, v_res = self._vu_vr()
|
||
v_est, conf, alias = unfold_velocity_crt([0.0, 0.0, 0.0], v_unamb, v_res)
|
||
self.assertAlmostEqual(v_est, 0.0, places=2)
|
||
self.assertEqual(conf, "CONFIRMED")
|
||
self.assertEqual(len(alias), 1)
|
||
|
||
def test_below_per_pri_unamb_three_pri_confirmed(self):
|
||
"""v_true=30 m/s (below per-PRI v_unamb ~42 m/s): all 3 PRIs measure +30 directly."""
|
||
from v7.processing import unfold_velocity_crt
|
||
v_unamb, v_res = self._vu_vr()
|
||
v_true = 30.0
|
||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||
# Sanity: each |v_meas| ≤ v_unamb
|
||
for vm, vu in zip(v_meas, v_unamb, strict=False):
|
||
self.assertLessEqual(abs(vm), vu)
|
||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||
self.assertEqual(conf, "CONFIRMED")
|
||
self.assertEqual(len(alias), 1)
|
||
|
||
def test_above_per_pri_unamb_crt_unfolds_correctly(self):
|
||
"""v_true=100 m/s (above any per-PRI v_unamb): 3-PRI CRT unfolds."""
|
||
from v7.processing import unfold_velocity_crt
|
||
v_unamb, v_res = self._vu_vr()
|
||
v_true = 100.0
|
||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||
# Each per-PRI fold differs (since each PRI has different v_unamb)
|
||
self.assertNotAlmostEqual(v_meas[0], v_meas[1], places=1)
|
||
self.assertNotAlmostEqual(v_meas[1], v_meas[2], places=1)
|
||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||
self.assertEqual(conf, "CONFIRMED")
|
||
self.assertEqual(len(alias), 1)
|
||
|
||
def test_negative_velocity_crt_unfolds(self):
|
||
"""v_true=-75 m/s: CRT unfolds to a negative velocity."""
|
||
from v7.processing import unfold_velocity_crt
|
||
v_unamb, v_res = self._vu_vr()
|
||
v_true = -75.0
|
||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||
self.assertEqual(conf, "CONFIRMED")
|
||
|
||
def test_long_only_single_pri_ambiguous(self):
|
||
"""1-PRI input → AMBIGUOUS (LONG-only-at-20-km regime)."""
|
||
from v7.processing import unfold_velocity_crt
|
||
v_unamb, v_res = self._vu_vr()
|
||
# Only LONG sub-frame seeing the target.
|
||
v_est, conf, alias = unfold_velocity_crt(
|
||
[15.0], [v_unamb[2]], [v_res[2]],
|
||
)
|
||
self.assertAlmostEqual(v_est, 15.0, places=2)
|
||
self.assertEqual(conf, "AMBIGUOUS")
|
||
self.assertEqual(alias, [15.0])
|
||
|
||
def test_two_pri_consistent_likely(self):
|
||
"""2-PRI consistent measurements → LIKELY (less constraint than 3-PRI)."""
|
||
from v7.processing import unfold_velocity_crt
|
||
v_unamb, v_res = self._vu_vr()
|
||
v_true = 25.0
|
||
# SHORT + MEDIUM only (LONG dropped out, e.g. clutter).
|
||
v_meas = [_fold_v(v_true, v_unamb[0]), _fold_v(v_true, v_unamb[1])]
|
||
v_est, conf, alias = unfold_velocity_crt(
|
||
v_meas, [v_unamb[0], v_unamb[1]], [v_res[0], v_res[1]],
|
||
)
|
||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||
self.assertEqual(conf, "LIKELY")
|
||
|
||
def test_inconsistent_measurements_ambiguous_fallback(self):
|
||
"""Bogus per-PRI measurements that no fold reconciles → AMBIGUOUS, return PRI-0."""
|
||
from v7.processing import unfold_velocity_crt
|
||
v_unamb, v_res = self._vu_vr()
|
||
# Random per-PRI values that do not correspond to any v_true.
|
||
v_meas = [10.0, -30.0, 35.0]
|
||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||
self.assertEqual(conf, "AMBIGUOUS")
|
||
self.assertAlmostEqual(v_est, 10.0, places=2) # PRI-0 fallback
|
||
|
||
def test_search_depth_covers_extended_ceiling(self):
|
||
"""K=6 covers ±extended_max_velocity_mps_crt ≈ 266 m/s."""
|
||
from v7.processing import unfold_velocity_crt
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
v_unamb, v_res = self._vu_vr()
|
||
# Pick v_true near the advertised CRT ceiling.
|
||
v_true = wc.extended_max_velocity_mps_crt(max_alias_k=6) - 5.0 # ~261 m/s
|
||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res, max_alias_k=6)
|
||
self.assertAlmostEqual(v_est, v_true, places=0) # within 1 m/s
|
||
# Should still be CONFIRMED for a real velocity at this scale.
|
||
self.assertIn(conf, ("CONFIRMED", "LIKELY"))
|
||
|
||
|
||
# =============================================================================
|
||
# Test: v7.processing.extract_targets_from_frame_crt (PR-Q.5)
|
||
# =============================================================================
|
||
|
||
class TestExtractTargetsFromFrameCrt(unittest.TestCase):
|
||
"""3-PRI cluster extractor with CRT unfolding."""
|
||
|
||
def _make_frame(self, det_cells_with_mag=None):
|
||
"""Create RadarFrame; det_cells_with_mag is list of (rbin, dbin, mag)."""
|
||
from radar_protocol import RadarFrame
|
||
frame = RadarFrame()
|
||
if det_cells_with_mag:
|
||
for rbin, dbin, mag in det_cells_with_mag:
|
||
frame.detections[rbin, dbin] = 1
|
||
frame.magnitude[rbin, dbin] = mag
|
||
frame.detection_count = int(frame.detections.sum())
|
||
frame.timestamp = 1.0
|
||
return frame
|
||
|
||
def test_three_pri_target_confirmed(self):
|
||
"""Detection at rbin=10 in all 3 sub-frames at bin 3 → CONFIRMED, v ≈ 15 m/s."""
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
# bins 3 / 19 / 35 = sub-frame {0, 1, 2} bin-in-sf 3.
|
||
frame = self._make_frame([
|
||
(10, 3, 1000.0),
|
||
(10, 19, 800.0),
|
||
(10, 35, 1200.0),
|
||
])
|
||
targets = extract_targets_from_frame_crt(frame, wc)
|
||
self.assertEqual(len(targets), 1)
|
||
t = targets[0]
|
||
self.assertAlmostEqual(t.range, 10 * wc.range_resolution_m, places=1)
|
||
# bin 3 across PRIs maps to ~ 15 m/s (≈ 3 · v_res ≈ 15.3 / 16.6 / 16.0)
|
||
self.assertGreater(t.velocity, 12.0)
|
||
self.assertLess(t.velocity, 18.0)
|
||
self.assertEqual(t.velocity_confidence, "CONFIRMED")
|
||
self.assertIsNotNone(t.alias_set)
|
||
self.assertEqual(len(t.alias_set), 1)
|
||
|
||
def test_long_only_target_ambiguous(self):
|
||
"""Detection only in LONG sub-frame at rbin=20 → AMBIGUOUS, single-PRI v."""
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
# dbin = 32 + 5 = 37 → LONG sub-frame, bin 5 (positive).
|
||
frame = self._make_frame([(20, 37, 1500.0)])
|
||
targets = extract_targets_from_frame_crt(frame, wc)
|
||
self.assertEqual(len(targets), 1)
|
||
t = targets[0]
|
||
self.assertEqual(t.velocity_confidence, "AMBIGUOUS")
|
||
# v should be close to 5 · v_res_long ≈ 26.7 m/s
|
||
expected_v = 5.0 * wc.velocity_resolution_long_mps
|
||
self.assertAlmostEqual(t.velocity, expected_v, places=1)
|
||
|
||
def test_two_pri_target_likely(self):
|
||
"""Detection in SHORT + MEDIUM but not LONG → LIKELY."""
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
# bin 4 in SHORT (dbin=4), bin 4 in MEDIUM (dbin=20).
|
||
frame = self._make_frame([
|
||
(15, 4, 900.0),
|
||
(15, 20, 700.0),
|
||
])
|
||
targets = extract_targets_from_frame_crt(frame, wc)
|
||
self.assertEqual(len(targets), 1)
|
||
self.assertEqual(targets[0].velocity_confidence, "LIKELY")
|
||
|
||
def test_strongest_bin_per_subframe_picked(self):
|
||
"""Two detections in same sub-frame at same rbin: stronger one wins."""
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
# SHORT sub-frame: bins 3 (mag=500) and 5 (mag=1500) — bin 5 stronger.
|
||
# MEDIUM: bin 5 (mag=1200) — matches.
|
||
# LONG: bin 5 (mag=1100).
|
||
frame = self._make_frame([
|
||
(8, 3, 500.0),
|
||
(8, 5, 1500.0),
|
||
(8, 21, 1200.0),
|
||
(8, 37, 1100.0),
|
||
])
|
||
targets = extract_targets_from_frame_crt(frame, wc)
|
||
self.assertEqual(len(targets), 1)
|
||
t = targets[0]
|
||
# Expected v ≈ 5 · v_res ≈ 25.5 m/s (3-PRI CRT picks the bin-5 fold).
|
||
self.assertGreater(t.velocity, 23.0)
|
||
self.assertLess(t.velocity, 28.0)
|
||
self.assertEqual(t.velocity_confidence, "CONFIRMED")
|
||
|
||
def test_two_targets_at_different_ranges(self):
|
||
"""Two targets at distinct rbins → 2 RadarTargets, IDs sequential."""
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
frame = self._make_frame([
|
||
# Target A at rbin 5, all 3 sub-frames bin 2.
|
||
(5, 2, 800.0), (5, 18, 700.0), (5, 34, 750.0),
|
||
# Target B at rbin 30, all 3 sub-frames bin 12 (negative velocity).
|
||
(30, 12, 600.0), (30, 28, 550.0), (30, 44, 580.0),
|
||
])
|
||
targets = extract_targets_from_frame_crt(frame, wc)
|
||
self.assertEqual(len(targets), 2)
|
||
self.assertEqual([t.id for t in targets], [0, 1])
|
||
# rbin 5 should come first (sorted), with positive v; rbin 30 negative.
|
||
self.assertGreater(targets[0].velocity, 0)
|
||
self.assertLess(targets[1].velocity, 0)
|
||
for t in targets:
|
||
self.assertEqual(t.velocity_confidence, "CONFIRMED")
|
||
|
||
def test_falls_back_to_legacy_for_non_48_bin_frame(self):
|
||
"""Frame with n_doppler != 48 → calls legacy extract_targets_from_frame."""
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig
|
||
from radar_protocol import RadarFrame
|
||
# Synthesize a 32-bin frame manually.
|
||
frame = RadarFrame()
|
||
frame.detections = np.zeros((64, 32), dtype=np.uint8)
|
||
frame.magnitude = np.zeros((64, 32), dtype=np.float64)
|
||
frame.detections[5, 16] = 1 # legacy center
|
||
frame.magnitude[5, 16] = 1000.0
|
||
frame.detection_count = 1
|
||
frame.timestamp = 1.0
|
||
wc = WaveformConfig()
|
||
targets = extract_targets_from_frame_crt(frame, wc)
|
||
self.assertEqual(len(targets), 1)
|
||
# Legacy path → velocity_confidence stays default "UNKNOWN".
|
||
self.assertEqual(targets[0].velocity_confidence, "UNKNOWN")
|
||
self.assertIsNone(targets[0].alias_set)
|
||
|
||
def test_no_detections_returns_empty(self):
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig
|
||
wc = WaveformConfig()
|
||
frame = self._make_frame([])
|
||
targets = extract_targets_from_frame_crt(frame, wc)
|
||
self.assertEqual(targets, [])
|
||
|
||
def test_gps_georef_with_crt(self):
|
||
"""GPS-georef populates lat/lon (smoke test)."""
|
||
from v7.processing import extract_targets_from_frame_crt
|
||
from v7.models import WaveformConfig, GPSData
|
||
wc = WaveformConfig()
|
||
gps = GPSData(latitude=41.9, longitude=12.5, altitude=0.0,
|
||
pitch=0.0, heading=90.0)
|
||
frame = self._make_frame([(10, 3, 1000.0), (10, 19, 800.0), (10, 35, 1200.0)])
|
||
targets = extract_targets_from_frame_crt(frame, wc, gps=gps)
|
||
self.assertEqual(len(targets), 1)
|
||
self.assertAlmostEqual(targets[0].latitude, 41.9, places=2)
|
||
self.assertGreater(targets[0].longitude, 12.5)
|
||
|
||
|
||
# =============================================================================
|
||
# Helper: lazy import of v7.models
|
||
# =============================================================================
|
||
|
||
def _models():
|
||
import v7.models
|
||
return v7.models
|
||
|
||
|
||
if __name__ == "__main__":
|
||
unittest.main()
|