mirror of
https://github.com/30hours/blah2.git
synced 2024-11-18 12:33:58 +00:00
Added ambiguity processing unit test and refactored for code quality and memory management
This commit is contained in:
Daniel Gustainis
Daniel Gustainis
parent
abe0991dda
commit
7746465c10
6 changed files with 24235 additions and 154 deletions
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@ -15,7 +15,7 @@ MESSAGE ("Source path: ${PROJECT_SOURCE_DIR}")
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MESSAGE ("Binary path: ${PROJECT_BINARY_DIR}")
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MESSAGE ("Lib path: ${PROJECT_LIB_DIR}")
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add_executable(blah2
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add_executable(blah2
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${PROJECT_SOURCE_DIR}/blah2.cpp
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${PROJECT_SOURCE_DIR}/capture/Capture.cpp
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${PROJECT_SOURCE_DIR}/capture/rspduo/RspDuo.cpp
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@ -36,6 +36,8 @@ add_library(rapidjson ${PROJECT_LIB_DIR}/rapidjson-1.1.0/)
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add_library(sdrplay /usr/local/include/sdrplay_api.h)
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add_library(asio ${PROJECT_LIB_DIR}/asio-1.26.0/asio.hpp)
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add_library(httplib ${PROJECT_LIB_DIR}/cpp-httplib-0.12.2/httplib.h)
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add_library(catch2 ${PROJECT_LIB_DIR}/catch2/catch_amalgamated.cpp)
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target_include_directories(catch2 PUBLIC ${PROJECT_LIB_DIR}/catch2)
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include_directories("${PROJECT_LIB_DIR}/rapidjson-1.1.0/")
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set_target_properties(rapidjson PROPERTIES LINKER_LANGUAGE CXX)
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@ -71,3 +73,10 @@ include_directories("${PROJECT_SOURCE_DIR}/process/detection/")
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include_directories("${PROJECT_SOURCE_DIR}/process/spectrum/")
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include_directories("${PROJECT_SOURCE_DIR}/data/")
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include_directories("${PROJECT_SOURCE_DIR}/data/meta/")
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add_executable(test_ambiguity
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${PROJECT_SOURCE_DIR}/data/IqData.cpp
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${PROJECT_SOURCE_DIR}/data/Map.cpp
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${PROJECT_SOURCE_DIR}/process/ambiguity/Ambiguity.cpp
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${PROJECT_SOURCE_DIR}/process/ambiguity/test_ambiguity.cpp)
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target_link_libraries(test_ambiguity catch2 fftw3 fftw3_threads)
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10795
lib/catch2/catch_amalgamated.cpp
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10795
lib/catch2/catch_amalgamated.cpp
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File diff suppressed because it is too large
Load diff
13143
lib/catch2/catch_amalgamated.hpp
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13143
lib/catch2/catch_amalgamated.hpp
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File diff suppressed because it is too large
Load diff
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@ -3,174 +3,163 @@
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#include <iostream>
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#include <deque>
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#include <vector>
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#include <numeric>
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#include <math.h>
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// constructor
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Ambiguity::Ambiguity(int32_t _delayMin, int32_t _delayMax, int32_t _dopplerMin, int32_t _dopplerMax, uint32_t _fs, uint32_t _n)
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Ambiguity::Ambiguity(int32_t delayMin, int32_t delayMax, int32_t dopplerMin, int32_t dopplerMax, uint32_t fs, uint32_t n)
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: delayMin_{delayMin}
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, delayMax_{delayMax}
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, dopplerMin_{dopplerMin}
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, dopplerMax_{dopplerMax}
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, fs_{fs}
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, nSamples_{n}
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, nDelayBins_{static_cast<uint16_t>(delayMax - delayMin + 1)} // If delayMin > delayMax = trouble, what's the exception policy?
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, dopplerMiddle_{(dopplerMin_ + dopplerMax_) / 2.0}
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{
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// input
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delayMin = _delayMin;
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delayMax = _delayMax;
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dopplerMin = _dopplerMin;
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dopplerMax = _dopplerMax;
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fs = _fs;
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n = _n;
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// delay calculations
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std::deque<int> delay;
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nDelayBins = delayMax - delayMin + 1;
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for (int i = 0; i < nDelayBins; i++)
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{
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delay.push_back(delayMin + i);
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}
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// doppler calculations
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std::deque<double> doppler;
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double resolutionDoppler = (double)1 / ((double)n / (double)fs);
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dopplerMiddle = (dopplerMin + dopplerMax) / 2;
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doppler.push_back(dopplerMiddle);
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double resolutionDoppler = 1.0 / (static_cast<double>(n) / static_cast<double>(fs));
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doppler_res_ = resolutionDoppler;
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doppler.push_back(dopplerMiddle_);
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int i = 1;
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while (dopplerMiddle + (i * resolutionDoppler) <= dopplerMax)
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while (dopplerMiddle_ + (i * resolutionDoppler) <= dopplerMax)
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{
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doppler.push_back(dopplerMiddle + (i * resolutionDoppler));
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doppler.push_front(dopplerMiddle - (i * resolutionDoppler));
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doppler.push_back(dopplerMiddle_ + (i * resolutionDoppler));
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doppler.push_front(dopplerMiddle_ - (i * resolutionDoppler));
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i++;
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}
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nDopplerBins = doppler.size();
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nDopplerBins_ = doppler.size();
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// batches constants
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nCorr = (int)(n / nDopplerBins);
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cpi = ((double)nCorr * (double)nDopplerBins) / fs;
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nCorr_ = n / nDopplerBins_;
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cpi_ = (static_cast<double>(nCorr_) * nDopplerBins_) / fs;
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// update doppler bins to true cpi time
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resolutionDoppler = 1 / cpi;
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doppler.clear();
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doppler.push_back(dopplerMiddle);
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resolutionDoppler = 1.0 / cpi_;
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// create ambiguity map
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map_ = std::make_unique<Map<Complex>>(nDopplerBins_, nDelayBins_);
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// delay calculations
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map_->delay.resize(nDelayBins_);
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std::iota(map_->delay.begin(), map_->delay.end(), delayMin_);
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map_->doppler.push_front(dopplerMiddle_);
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i = 1;
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while (doppler.size() < nDopplerBins)
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while (map_->doppler.size() < nDopplerBins_)
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{
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doppler.push_back(dopplerMiddle + (i * resolutionDoppler));
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doppler.push_front(dopplerMiddle - (i * resolutionDoppler));
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map_->doppler.push_back(dopplerMiddle_ + (i * resolutionDoppler));
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map_->doppler.push_front(dopplerMiddle_ - (i * resolutionDoppler));
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i++;
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}
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// other setup
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nfft = (2 * nCorr) - 1;
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dataCorr = new std::complex<double>[2 * nDelayBins + 1];
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nfft_ = (2 * nCorr_) - 1;
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dataCorr_.resize(2 * nDelayBins_ + 1);
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// compute FFTW plans in constructor
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dataXi = new std::complex<double>[nfft];
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dataYi = new std::complex<double>[nfft];
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dataZi = new std::complex<double>[nfft];
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dataDoppler = new std::complex<double>[nfft];
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fftXi = fftw_plan_dft_1d(nfft, reinterpret_cast<fftw_complex *>(dataXi),
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reinterpret_cast<fftw_complex *>(dataXi), FFTW_FORWARD, FFTW_ESTIMATE);
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fftYi = fftw_plan_dft_1d(nfft, reinterpret_cast<fftw_complex *>(dataYi),
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reinterpret_cast<fftw_complex *>(dataYi), FFTW_FORWARD, FFTW_ESTIMATE);
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fftZi = fftw_plan_dft_1d(nfft, reinterpret_cast<fftw_complex *>(dataZi),
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reinterpret_cast<fftw_complex *>(dataZi), FFTW_BACKWARD, FFTW_ESTIMATE);
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fftDoppler = fftw_plan_dft_1d(nDopplerBins, reinterpret_cast<fftw_complex *>(dataDoppler),
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reinterpret_cast<fftw_complex *>(dataDoppler), FFTW_FORWARD, FFTW_ESTIMATE);
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dataXi_.resize(nfft_);
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dataYi_.resize(nfft_);
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dataZi_.resize(nfft_);
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dataDoppler_.resize(nfft_);
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fftXi_ = fftw_plan_dft_1d(nfft_, reinterpret_cast<fftw_complex *>(dataXi_.data()),
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reinterpret_cast<fftw_complex *>(dataXi_.data()), FFTW_FORWARD, FFTW_ESTIMATE);
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fftYi_ = fftw_plan_dft_1d(nfft_, reinterpret_cast<fftw_complex *>(dataYi_.data()),
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reinterpret_cast<fftw_complex *>(dataYi_.data()), FFTW_FORWARD, FFTW_ESTIMATE);
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fftZi_ = fftw_plan_dft_1d(nfft_, reinterpret_cast<fftw_complex *>(dataZi_.data()),
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reinterpret_cast<fftw_complex *>(dataZi_.data()), FFTW_BACKWARD, FFTW_ESTIMATE);
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fftDoppler_ = fftw_plan_dft_1d(nDopplerBins_, reinterpret_cast<fftw_complex *>(dataDoppler_.data()),
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reinterpret_cast<fftw_complex *>(dataDoppler_.data()), FFTW_FORWARD, FFTW_ESTIMATE);
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// create ambiguity map
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map = new Map<std::complex<double>>(nDopplerBins, nDelayBins);
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// store map parameters
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for (int i = 0; i < nDelayBins; i++)
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{
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map->delay.push_back(delay[i]);
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}
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for (int i = 0; i < nDopplerBins; i++)
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{
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map->doppler.push_back(doppler[i]);
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}
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}
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Ambiguity::~Ambiguity()
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{
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fftw_destroy_plan(fftXi);
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fftw_destroy_plan(fftYi);
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fftw_destroy_plan(fftZi);
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fftw_destroy_plan(fftDoppler);
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fftw_destroy_plan(fftXi_);
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fftw_destroy_plan(fftYi_);
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fftw_destroy_plan(fftZi_);
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fftw_destroy_plan(fftDoppler_);
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}
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Map<std::complex<double>> *Ambiguity::process(IqData *x, IqData *y)
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{
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// shift reference if not 0 centered
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if (dopplerMiddle != 0)
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if (dopplerMiddle_ != 0)
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{
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std::complex<double> j = {0, 1};
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for (int i = 0; i < x->get_length(); i++)
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{
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x->push_back(x->pop_front() * std::exp(1.0 * j * 2.0 * M_PI * dopplerMiddle * ((double)i / fs)));
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x->push_back(x->pop_front() * std::exp(1.0 * j * 2.0 * M_PI * dopplerMiddle_ * ((double)i / fs_)));
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}
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}
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// range processing
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for (int i = 0; i < nDopplerBins; i++)
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for (int i = 0; i < nDopplerBins_; i++)
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{
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for (int j = 0; j < nCorr; j++)
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for (int j = 0; j < nCorr_; j++)
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{
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dataXi[j] = x->pop_front();
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dataYi[j] = y->pop_front();
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dataXi_[j] = x->pop_front();
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dataYi_[j] = y->pop_front();
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}
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for (int j = nCorr; j < nfft; j++)
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for (int j = nCorr_; j < nfft_; j++)
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{
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dataXi[j] = {0, 0};
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dataYi[j] = {0, 0};
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dataXi_[j] = {0, 0};
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dataYi_[j] = {0, 0};
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}
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fftw_execute(fftXi);
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fftw_execute(fftYi);
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fftw_execute(fftXi_);
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fftw_execute(fftYi_);
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// compute correlation
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for (int j = 0; j < nfft; j++)
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for (int j = 0; j < nfft_; j++)
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{
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dataZi[j] = (dataYi[j] * std::conj(dataXi[j])) / (double)nfft;
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dataZi_[j] = (dataYi_[j] * std::conj(dataXi_[j])) / (double)nfft_;
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}
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fftw_execute(fftZi);
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fftw_execute(fftZi_);
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// extract center of corr
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for (int j = 0; j < nDelayBins; j++)
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for (int j = 0; j < nDelayBins_; j++)
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{
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dataCorr[j] = dataZi[nfft - nDelayBins + j];
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dataCorr_[j] = dataZi_[nfft_ - nDelayBins_ + j];
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}
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for (int j = 0; j < nDelayBins + 1; j++)
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for (int j = 0; j < nDelayBins_ + 1; j++)
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{
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dataCorr[j + nDelayBins] = dataZi[j];
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dataCorr_[j + nDelayBins_] = dataZi_[j];
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}
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// cast from std::complex to std::vector
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corr.clear();
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for (int j = 0; j < nDelayBins; j++)
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corr_.clear();
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for (int j = 0; j < nDelayBins_; j++)
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{
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corr.push_back(dataCorr[nDelayBins + delayMin + j - 1 + 1]);
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corr_.push_back(dataCorr_[nDelayBins_ + delayMin_ + j - 1 + 1]);
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}
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map->set_row(i, corr);
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map_->set_row(i, corr_);
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}
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// doppler processing
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for (int i = 0; i < nDelayBins; i++)
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for (int i = 0; i < nDelayBins_; i++)
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{
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delayProfile = map->get_col(i);
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for (int j = 0; j < nDopplerBins; j++)
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delayProfile_ = map_->get_col(i);
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for (int j = 0; j < nDopplerBins_; j++)
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{
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dataDoppler[j] = {delayProfile[j].real(), delayProfile[j].imag()};
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dataDoppler_[j] = {delayProfile_[j].real(), delayProfile_[j].imag()};
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}
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fftw_execute(fftDoppler);
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fftw_execute(fftDoppler_);
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corr.clear();
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for (int j = 0; j < nDopplerBins; j++)
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corr_.clear();
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for (int j = 0; j < nDopplerBins_; j++)
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{
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corr.push_back(dataDoppler[(j + int(nDopplerBins / 2) + 1) % nDopplerBins]);
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corr_.push_back(dataDoppler_[(j + int(nDopplerBins_ / 2) + 1) % nDopplerBins_]);
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}
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map->set_col(i, corr);
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map_->set_col(i, corr_);
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}
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return map;
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return map_.get();
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}
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@ -6,72 +6,21 @@
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/// @author 30hours
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/// @todo Ambiguity maps are still offset by 1 bin.
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#ifndef AMBIGUITY_H
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#define AMBIGUITY_H
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#pragma once
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#include <IqData.h>
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#include <Map.h>
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#include <stdint.h>
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#include <fftw3.h>
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#include <memory>
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class Ambiguity
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{
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private:
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/// @brief Minimum delay (bins).
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int32_t delayMin;
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/// @brief Maximum delay (bins).
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int32_t delayMax;
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/// @brief Minimum Doppler (Hz).
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int32_t dopplerMin;
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/// @brief Maximum Doppler (Hz).
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int32_t dopplerMax;
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/// @brief Sampling frequency (Hz).
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uint32_t fs;
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/// @brief Number of samples.
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uint32_t n;
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/// @brief Center of Doppler bins (Hz).
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double dopplerMiddle;
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/// @brief Number of delay bins.
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uint16_t nDelayBins;
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/// @brief Number of Doppler bins.
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uint16_t nDopplerBins;
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/// @brief Number of correlation samples per pulse.
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uint16_t nCorr;
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/// @brief True CPI time (s).
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double cpi;
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/// @brief FFTW plans for ambiguity processing.
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/// @{
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fftw_plan fftXi, fftYi, fftZi, fftDoppler;
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/// @}
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/// @brief FFTW storage for ambiguity processing.
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/// @{
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std::complex<double> *dataXi, *dataYi, *dataZi, *dataCorr, *dataDoppler;
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/// @}
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/// @brief Number of samples to perform FFT per pulse.
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uint32_t nfft;
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/// @brief Vector storage for ambiguity processing
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/// @{
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std::vector<std::complex<double>> corr, delayProfile;
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/// @}
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/// @brief Pointer to map to store result.
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Map<std::complex<double>> *map;
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public:
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using Complex = std::complex<double>;
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/// @brief Constructor.
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/// @param delayMin Minimum delay (bins).
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/// @param delayMax Maximum delay (bins).
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@ -90,7 +39,80 @@ public:
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/// @param x Reference samples.
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/// @param y Surveillance samples.
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/// @return Ambiguity map data of IQ samples.
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Map<std::complex<double>> *process(IqData *x, IqData *y);
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};
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Map<Complex> *process(IqData *x, IqData *y);
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#endif
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double doppler_middle() const { return dopplerMiddle_; }
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uint16_t delay_bin_count() const { return nDelayBins_; }
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uint16_t doppler_bin_count() const { return nDopplerBins_; }
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uint16_t corr_samples_per_pulse() const { return nCorr_; }
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double cpi_length_seconds() const { return cpi_; }
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uint32_t fft_bin_count() const { return nfft_; }
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double doppler_res_;
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private:
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/// @brief Minimum delay (bins).
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int32_t delayMin_;
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/// @brief Maximum delay (bins).
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int32_t delayMax_;
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/// @brief Minimum Doppler (Hz).
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int32_t dopplerMin_;
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/// @brief Maximum Doppler (Hz).
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int32_t dopplerMax_;
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/// @brief Sampling frequency (Hz).
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uint32_t fs_;
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/// @brief Number of samples.
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uint32_t nSamples_;
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/// @brief Center of Doppler bins (Hz).
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double dopplerMiddle_;
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/// @brief Number of delay bins.
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uint16_t nDelayBins_;
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/// @brief Number of Doppler bins.
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uint16_t nDopplerBins_;
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/// @brief Number of correlation samples per pulse.
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uint16_t nCorr_;
|
||||
|
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/// @brief True CPI time (s).
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double cpi_;
|
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|
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/// @brief FFTW plans for ambiguity processing.
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||||
fftw_plan fftXi_;
|
||||
fftw_plan fftYi_;
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fftw_plan fftZi_;
|
||||
fftw_plan fftDoppler_;
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|
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/// @brief FFTW storage for ambiguity processing.
|
||||
/// @{
|
||||
std::vector<Complex> dataXi_;
|
||||
std::vector<Complex> dataYi_;
|
||||
std::vector<Complex> dataZi_;
|
||||
std::vector<Complex> dataCorr_;
|
||||
std::vector<Complex> dataDoppler_;
|
||||
/// @}
|
||||
|
||||
/// @brief Number of samples to perform FFT per pulse.
|
||||
uint32_t nfft_;
|
||||
|
||||
/// @brief Vector storage for ambiguity processing
|
||||
/// @{
|
||||
std::vector<Complex> corr_;
|
||||
std::vector<Complex> delayProfile_;
|
||||
/// @}
|
||||
|
||||
/// @brief Map to store result.
|
||||
std::unique_ptr<Map<Complex>> map_;
|
||||
|
||||
};
|
||||
123
src/process/ambiguity/test_ambiguity.cpp
Normal file
123
src/process/ambiguity/test_ambiguity.cpp
Normal file
|
|
@ -0,0 +1,123 @@
|
|||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch_amalgamated.hpp"
|
||||
|
||||
#include "Ambiguity.h"
|
||||
#include <random>
|
||||
|
||||
std::random_device g_rd;
|
||||
|
||||
using namespace Catch::literals;
|
||||
|
||||
// Have to use out ref parameter because there's no copy/move ctors
|
||||
void random_iq(IqData& iq_data) {
|
||||
std::mt19937 gen(g_rd());
|
||||
std::uniform_real_distribution<> dist(-100.0, 100.0);
|
||||
|
||||
for (uint32_t i = 0; i < iq_data.get_n(); ++i) {
|
||||
iq_data.push_back({dist(gen), dist(gen)});
|
||||
}
|
||||
}
|
||||
|
||||
void read_file(IqData& buffer1, IqData& buffer2, const std::string& file)
|
||||
{
|
||||
short i1, q1, i2, q2;
|
||||
auto file_replay = fopen(file.c_str(), "rb");
|
||||
if (!file_replay) {
|
||||
return;
|
||||
}
|
||||
|
||||
auto read_short = [](short& v, FILE* fid) {
|
||||
auto rv{fread(&v, 1, sizeof(short), fid)};
|
||||
return rv == sizeof(short);
|
||||
};
|
||||
|
||||
while (!feof(file_replay))
|
||||
{
|
||||
if (!read_short(i1, file_replay)) break;
|
||||
if (!read_short(q1, file_replay)) break;
|
||||
if (!read_short(i2, file_replay)) break;
|
||||
if (!read_short(q2, file_replay)) break;
|
||||
|
||||
buffer1.push_back({(double)i1, (double)q1});
|
||||
buffer2.push_back({(double)i2, (double)q2});
|
||||
|
||||
// Only read for the buffer length - this class is very poorly designed.
|
||||
if (buffer1.get_length() == buffer1.get_n()) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
fclose(file_replay);
|
||||
}
|
||||
|
||||
// Make sure the constructor is calculating the parameters correctly.
|
||||
TEST_CASE("Constructor", "[constructor]")
|
||||
{
|
||||
int32_t delay_min{-10};
|
||||
int32_t delay_max{300};
|
||||
int32_t doppler_min{-300};
|
||||
int32_t doppler_max{300};
|
||||
|
||||
uint32_t fs{2'000'000};
|
||||
float cpi_s{0.5};
|
||||
uint32_t n_samples = cpi_s * fs; // narrow on purpose
|
||||
|
||||
Ambiguity ambiguity(delay_min,delay_max,doppler_min,doppler_max,fs,n_samples);
|
||||
|
||||
CHECK_THAT(ambiguity.cpi_length_seconds(), Catch::Matchers::WithinAbs(cpi_s, 0.02));
|
||||
CHECK(ambiguity.doppler_middle() == 0);
|
||||
CHECK(ambiguity.corr_samples_per_pulse() == 3322);
|
||||
CHECK(ambiguity.delay_bin_count() == delay_max + std::abs(delay_min) + 1);
|
||||
CHECK(ambiguity.doppler_bin_count() == 301);
|
||||
CHECK(ambiguity.fft_bin_count() == 6643);
|
||||
}
|
||||
|
||||
// Make sure process produces an output
|
||||
TEST_CASE("Process_Simple", "[process]")
|
||||
{
|
||||
int32_t delay_min{-10};
|
||||
int32_t delay_max{300};
|
||||
int32_t doppler_min{-300};
|
||||
int32_t doppler_max{300};
|
||||
|
||||
uint32_t fs{2'000'000};
|
||||
float cpi_s{0.5};
|
||||
uint32_t n_samples = cpi_s * fs; // narrow on purpose
|
||||
|
||||
Ambiguity ambiguity(delay_min,delay_max,doppler_min,doppler_max,fs,n_samples);
|
||||
|
||||
IqData x{n_samples};
|
||||
IqData y{n_samples};
|
||||
|
||||
random_iq(x);
|
||||
random_iq(y);
|
||||
auto map{ambiguity.process(&x, &y)};
|
||||
map->set_metrics();
|
||||
CHECK(map->maxPower > 0.0);
|
||||
CHECK(map->noisePower > 0.0);
|
||||
}
|
||||
|
||||
// Sanity check that we're getting numbers close to the baseline ambiguity processing function.
|
||||
TEST_CASE("Process_File", "[process]")
|
||||
{
|
||||
int32_t delay_min{-10};
|
||||
int32_t delay_max{300};
|
||||
int32_t doppler_min{-300};
|
||||
int32_t doppler_max{300};
|
||||
|
||||
uint32_t fs{2'000'000};
|
||||
float cpi_s{0.5};
|
||||
uint32_t n_samples = cpi_s * fs; // narrow on purpose
|
||||
|
||||
Ambiguity ambiguity(delay_min,delay_max,doppler_min,doppler_max,fs,n_samples);
|
||||
IqData x{n_samples};
|
||||
IqData y{n_samples};
|
||||
|
||||
read_file(x, y, "20231214-230611.rspduo");
|
||||
REQUIRE(x.get_length() == x.get_n());
|
||||
|
||||
auto map{ambiguity.process(&x ,&y)};
|
||||
map->set_metrics();
|
||||
CHECK_THAT(map->maxPower, Catch::Matchers::WithinAbs(30.2816, 0.001));
|
||||
CHECK_THAT(map->noisePower, Catch::Matchers::WithinAbs(76.918, 0.001));
|
||||
}
|
||||
Loading…
Reference in a new issue