Add skeleton for USRP and add include dir

CMakeLists.txt

@@ -8,13 +8,16 @@ include(CMakePrintHelpers)
 include(CTest)
 
 find_package(Threads REQUIRED)
-find_package(asio CONFIG REQUIRED)
+find_package(asio  REQUIRED)
 find_path(RAPIDJSON_INCLUDE_DIRS "rapidjson/allocators.h")
 find_package(ryml CONFIG REQUIRED)
 find_package(httplib CONFIG REQUIRED)
 find_package(Armadillo CONFIG REQUIRED)
 find_package(Catch2 CONFIG REQUIRED)
 
+set(CMAKE_PREFIX_PATH "/opt/uhd" ${CMAKE_PREFIX_PATH})
+find_package(UHD "4.6.0.0" CONFIG REQUIRED)
+
 # TODO: when release CI is finished, don't use these dirs, install target should go to prod
 SET (PROJECT_ROOT "${PROJECT_SOURCE_DIR}")
 SET (CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PROJECT_ROOT}/bin")
@@ -27,7 +30,7 @@ MESSAGE ("Binary path: ${PROJECT_BINARY_DIR}")
 MESSAGE ("Binary test path: ${PROJECT_BINARY_TEST_DIR}")
 
 # include from top-level src dir
-include_directories(src)
+include_directories(src ${UHD_INCLUDE_DIRS})
 
 # TODO: create FindSdrplay.cmake for this
 add_library(sdrplay /usr/local/include/sdrplay_api.h)
@@ -38,6 +41,7 @@ add_executable(blah2
   src/blah2.cpp
   src/capture/Capture.cpp
   src/capture/rspduo/RspDuo.cpp
+  src/capture/usrp/Usrp.cpp
   src/process/ambiguity/Ambiguity.cpp
   src/process/clutter/WienerHopf.cpp
   src/process/detection/CfarDetector1D.cpp

config/radar4-usrp.yml

@@ -0,0 +1,64 @@
+capture:
+  fs: 2000000
+  fc: 204640000
+  type: "Usrp"
+  replay:
+    state: false
+    loop: true
+    file: '/opt/blah2/replay/file.rspduo'
+
+process:
+  data:
+    cpi: 0.5
+    buffer: 1.5
+    overlap: 0
+  ambiguity:
+    delayMin: -10
+    delayMax: 400
+    dopplerMin: -200
+    dopplerMax: 200
+  clutter:
+    delayMin: -10
+    delayMax: 400
+  detection:
+    pfa: 0.00001
+    nGuard: 2
+    nTrain: 6
+    minDelay: 5
+    minDoppler: 15
+    nCentroid: 6
+  tracker:
+    initiate:
+      M: 3
+      N: 5
+      maxAcc: 10
+    delete: 10
+    smooth: "none"
+
+network:
+  ip: 0.0.0.0
+  ports:
+    api: 3000
+    map: 3001
+    detection: 3002
+    track: 3003
+    timestamp: 4000
+    timing: 4001
+    iqdata: 4002
+
+truth:
+  asdb:
+    enabled: false
+    ip: 0.0.0.0
+    port: 30000
+  ais:
+    enabled: false
+    ip: 0.0.0.0
+    port: 30001
+
+save:
+  iq: true
+  map: false
+  detection: false
+  timing: false
+  path: "/blah2/save/"

src/capture/Capture.cpp

@@ -1,11 +1,12 @@
 #include "Capture.h"
 #include "rspduo/RspDuo.h"
+#include "usrp/Usrp.h"
 #include <iostream>
 #include <thread>
 #include <httplib.h>
 
 // constants
-const std::string Capture::VALID_TYPE[2] = {"RspDuo", "HackRF"};
+const std::string Capture::VALID_TYPE[2] = {"RspDuo", "Usrp"};
 
 // constructor
 Capture::Capture(std::string _type, uint32_t _fs, uint32_t _fc, std::string _path)
@@ -19,11 +20,22 @@ Capture::Capture(std::string _type, uint32_t _fs, uint32_t _fc, std::string _pat
 
 void Capture::process(IqData *buffer1, IqData *buffer2)
 {
-  // case RspDuo
+  if (is_type_valid(type))
-  if (type == Capture::VALID_TYPE[0])
   {
     std::cout << "Setting up device " + type << std::endl;
-    RspDuo *rspDuo = new RspDuo(this->fc, this->path);
+
+    // RspDuo device
+    if (type == VALID_TYPE[0])
+    {
+      RspDuo *device = new RspDuo(this->fc, this->path);
+    }
+
+    // Usrp device
+    if (type == VALID_TYPE[1])
+    {
+      //Usrp *device = new Usrp(this->fc, this->path);
+    }
+    Usrp *device = new Usrp(this->fc, this->path);
 
     // capture status thread
     std::thread t1([&]{
@@ -33,16 +45,16 @@ void Capture::process(IqData *buffer1, IqData *buffer2)
         httplib::Result res = cli.Get("/capture");
 
         // if capture status changed
-        if ((res->body == "true") != rspDuo->get_capture())
+        if ((res->body == "true") != device->get_capture())
         {
-          rspDuo->set_capture(res->body == "true");
+          device->set_capture(res->body == "true");
-          if (rspDuo->get_capture())
+          if (device->get_capture())
           {
-            rspDuo->open_file();
+            device->open_file();
           }
           else
           {
-            rspDuo->close_file();
+            device->close_file();
           }
         }
 
@@ -52,23 +64,14 @@ void Capture::process(IqData *buffer1, IqData *buffer2)
 
     if (!replay)
     {
-      rspDuo->start();
+      device->start();
-      rspDuo->process(buffer1, buffer2);
+      device->process(buffer1, buffer2);
     }
     else
     {
-      rspDuo->replay(buffer1, buffer2, file, loop);
+      device->replay(buffer1, buffer2, file, loop);
     }
   }
-  // case HackRF
-  else if (type == Capture::VALID_TYPE[1])
-  {
-  }
-  else
-  {
-    std::cout << "Error: Invalid capture device" << std::endl;
-    exit(1);
-  }
 }
 
 void Capture::set_replay(bool _loop, std::string _file)
@@ -77,3 +80,18 @@ void Capture::set_replay(bool _loop, std::string _file)
   loop = _loop;
   file = _file;
 }
+
+bool Capture::is_type_valid(std::string _type)
+{
+  size_t n = sizeof(Capture::VALID_TYPE) / 
+    sizeof(Capture::VALID_TYPE[0]);
+  for (size_t i = 0; i < n; i++)
+  {
+    if (_type == Capture::VALID_TYPE[i])
+    {
+      return true;
+    }
+  }
+  std::cerr << "Invalid capture device: " << _type << std::endl;
+  return false;
+}

src/capture/Capture.h

@@ -59,6 +59,11 @@ public:
   /// @param file Absolute path of file to replay.
   /// @return Void.
   void set_replay(bool loop, std::string file);
+
+  /// @brief Check if capture device type is valid.
+  /// @param type The capture device type.
+  /// @return True is capture device type is valid.
+  bool is_type_valid(std::string type);
 };
 
 #endif

src/capture/usrp/Usrp.cpp

@@ -0,0 +1,181 @@
+#include "Usrp.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/time.h>
+#include <time.h>
+#include <unistd.h>
+#include <iostream>
+
+#include <uhd/usrp/multi_usrp.hpp>
+#include <complex>
+
+// constructor
+Usrp::Usrp(uint32_t _fc, std::string _path)
+{
+  fc = _fc;
+  path = _path;
+  capture = false;
+}
+
+std::string Usrp::set_file(std::string path)
+{
+  char buffer[15];
+  gettimeofday(&start_tm, NULL);
+  strftime(buffer, 16, "%Y%m%d-%H%M%S", localtime(&start_tm.tv_sec));
+  return path + buffer + ".usrp";
+}
+
+void Usrp::start()
+{
+}
+
+void Usrp::stop()
+{
+}
+
+void Usrp::process(IqData *buffer1, IqData *buffer2)
+{
+    // create a USRP object
+    uhd::usrp::multi_usrp::sptr usrp = 
+      uhd::usrp::multi_usrp::make("localhost");
+
+    // Set the sample rate
+    double sampleRate = 2e6; // Replace with your desired sample rate
+    usrp->set_rx_rate(sampleRate);
+
+    // Set the center frequency
+    double centerFrequency = (double)fc;
+    usrp->set_rx_freq(centerFrequency);
+
+    // Set the gain
+    double gain = 20.0; // Replace with your desired gain
+    usrp->set_rx_gain(gain);
+
+    // Set the number of channels
+    size_t numChannels = 1; // Assuming one channel for simplicity
+    usrp->set_rx_antenna("RX2", 0); // Set antenna for channel 0
+
+    // Set the receive buffer size
+    size_t bufferSize = 1024 * numChannels;
+    std::vector<std::complex<float>> buffer(bufferSize);
+
+    // Create a receive streamer
+    uhd::stream_args_t streamArgs("fc32", "sc16");
+    uhd::rx_streamer::sptr rxStreamer = usrp->get_rx_stream(streamArgs);
+
+    // Setup streaming
+    uhd::rx_metadata_t metadata;
+    rxStreamer->issue_stream_cmd(uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS);
+
+    while(true)
+    {
+      // Receive samples
+      size_t numReceived = rxStreamer->recv(&buffer[0], buffer.size(), metadata);
+
+      // Stop streaming
+      // rxStreamer->issue_stream_cmd(uhd::stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS);
+
+      // Check for errors
+      if (metadata.error_code != uhd::rx_metadata_t::ERROR_CODE_NONE) {
+          std::cerr << "Error during reception: " << metadata.strerror() << std::endl;
+          return;
+      }
+
+      // Copy received samples to the output buffer
+      //iqBuffer.resize(numReceived);
+      //std::copy(buffer.begin(), buffer.begin() + numReceived, iqBuffer.begin());
+      buffer1->lock();
+      buffer2->lock();
+      for (size_t i = 0; i < buffer.size(); i++)
+      {
+        buffer1->push_back({(double)buffer[i][0], (double)buffer[i][1]})
+      }
+      buffer1->unlock();
+      buffer2->unlock();
+    }
+}
+
+void Usrp::replay(IqData *_buffer1, IqData *_buffer2, std::string _file, bool _loop)
+{
+  buffer1 = _buffer1;
+  buffer2 = _buffer2;
+
+  short i1, q1, i2, q2;
+  int rv;
+  file_replay = fopen(_file.c_str(), "rb");
+
+  while (true)
+  {
+    rv = fread(&i1, 1, sizeof(short), file_replay);
+    rv = fread(&q1, 1, sizeof(short), file_replay);
+    rv = fread(&i2, 1, sizeof(short), file_replay);
+    rv = fread(&q2, 1, sizeof(short), file_replay);
+
+    buffer1->lock();
+    buffer2->lock();
+
+    if (buffer1->get_length() < buffer1->get_n())
+    {
+      buffer1->push_back({(double)i1, (double)q1});
+      buffer2->push_back({(double)i2, (double)q2});
+    }
+
+    buffer1->unlock();
+    buffer2->unlock();
+
+  }
+
+}
+
+void Usrp::open_file()
+{
+  file = set_file(path);
+
+  char time_tx[BUFFER_SIZE_NR];
+
+  // get start date and time
+  gettimeofday(&start_tm, NULL);
+  strftime(time_tx, sizeof(time_tx), "%d %b %Y %H:%M:%S", localtime(&start_tm.tv_sec));
+  fprintf(stderr, "Info - start - start_tm: %s.%03ld\n", time_tx, start_tm.tv_usec / 1000);
+
+  //validate();
+
+  // open files
+  if (chunk_time_nr == 0)
+  {
+    out_file_fp = fopen(file.c_str(), "wb");
+
+    if (out_file_fp == NULL)
+    {
+      fprintf(stderr, "Error - start - opening output file %s\n", file.c_str());
+      exit(1);
+    }
+
+    fprintf(stderr, "Info - start - output file %s\n", file.c_str());
+  }
+
+  return;
+}
+
+void Usrp::close_file()
+{
+  if (out_file_fp != NULL)
+  {
+    fclose(out_file_fp);
+  }
+}
+
+
+void Usrp::set_capture(bool _capture)
+{
+  capture = _capture;
+}
+
+bool Usrp::get_capture()
+{
+  return capture;
+}

src/capture/usrp/Usrp.h

@@ -0,0 +1,83 @@
+/// @file Usrp.h
+/// @class Usrp
+/// @brief A class to capture data on the Ettus Research USRP.
+/// @details Uses the UHD C API to extract samples into the processing chain.
+/// 
+/// Should work on all USRP models EXCEPT discontinued (USRP1, USRP2).
+/// Networked models require an IP address in the config file.
+///
+/// @author 30hours
+
+#ifndef USRP_H
+#define USRP_H
+
+#include "data/IqData.h"
+
+#include <stdint.h>
+#include <string>
+
+#define BUFFER_SIZE_NR 1024
+
+class Usrp
+{
+private:
+  /// @brief Center frequency (Hz)
+  uint32_t fc;
+  
+  /// @brief File path.
+  std::string path;
+  /// @brief True if capture is enabled.
+  bool capture;
+
+public:
+  /// @brief Constructor.
+  /// @param fc Center frequency (Hz).
+  /// @param path Path to save IQ data.
+  /// @return The object.
+  Usrp(uint32_t fc, std::string path);
+
+  /// @brief Get file name from path.
+  /// @return String of file name based on current time.
+  std::string set_file(std::string path);
+
+  /// @brief Call methods to start capture.
+  /// @return Void.
+  void start();
+
+  /// @brief Call methods to gracefully stop capture.
+  /// @return Void.
+  void stop();
+
+  /// @brief Implement capture function on RSPduo.
+  /// @param buffer1 Pointer to reference buffer.
+  /// @param buffer2 Pointer to surveillance buffer.
+  /// @return Void.
+  void process(IqData *buffer1, IqData *buffer2);
+
+  /// @brief Implement replay function on RSPduo.
+  /// @param buffer1 Pointer to reference buffer.
+  /// @param buffer2 Pointer to surveillance buffer.
+  /// @param file Path to file to replay data from.
+  /// @param loop True if samples should loop at EOF.
+  /// @return Void.
+  void replay(IqData *buffer1, IqData *buffer2, std::string file, bool loop);
+
+  /// @brief Open a new file to record IQ.
+  /// @return Void.
+  void open_file();
+
+  /// @brief Close IQ file gracefully.
+  /// @return Void.
+  void close_file();
+
+  /// @brief Setter for capture.
+  /// @param capture True if capture is enabled.
+  /// @return Void.
+  void set_capture(bool capture);
+
+  /// @brief Getter for capture.
+  /// @return True if capture is true.
+  bool get_capture();
+};
+
+#endif