Add spectrum processing and API

CMakeLists.txt

@@ -24,6 +24,7 @@ add_executable(blah2
   ${PROJECT_SOURCE_DIR}/process/detection/CfarDetector1D.cpp
   ${PROJECT_SOURCE_DIR}/process/detection/Centroid.cpp
   ${PROJECT_SOURCE_DIR}/process/detection/Interpolate.cpp
+  ${PROJECT_SOURCE_DIR}/process/spectrum/SpectrumAnalyser.cpp
   ${PROJECT_SOURCE_DIR}/data/IqData.cpp
   ${PROJECT_SOURCE_DIR}/data/Map.cpp
   ${PROJECT_SOURCE_DIR}/data/Detection.cpp
@@ -67,5 +68,6 @@ include_directories("${PROJECT_SOURCE_DIR}/capture/rspduo/")
 include_directories("${PROJECT_SOURCE_DIR}/process/ambiguity/")
 include_directories("${PROJECT_SOURCE_DIR}/process/clutter/")
 include_directories("${PROJECT_SOURCE_DIR}/process/detection/")
+include_directories("${PROJECT_SOURCE_DIR}/process/spectrum/")
 include_directories("${PROJECT_SOURCE_DIR}/data/")
 include_directories("${PROJECT_SOURCE_DIR}/data/meta/")

api/server.js

@@ -12,6 +12,7 @@ var map = '';
 var detection = '';
 var timestamp = '';
 var timing = '';
+var iqdata = '';
 var data = '';
 var capture = false;
 
@@ -40,6 +41,9 @@ app.get('/api/timestamp', (req, res) => {
 app.get('/api/timing', (req, res) => {
   res.send(timing);
 });
+app.get('/api/iqdata', (req, res) => {
+  res.send(iqdata);
+});
 app.get('/stash/map', (req, res) => {
   res.send(data_map.get_data_map());
 });
@@ -123,3 +127,20 @@ const server_timing = net.createServer((socket)=>{
   })
 });
 server_timing.listen(4001);
+
+// tcp listener iqdata metadata
+const server_iqdata = net.createServer((socket)=>{
+  socket.write("Hello From Server!")
+  socket.on("data",(msg)=>{
+    data = data + msg.toString();
+    if (data.slice(-1) === "}")
+    {
+      iqdata = data;
+      data = '';
+    }
+  });
+  socket.on("close",()=>{
+      console.log("Connection closed.");
+  })
+});
+server_iqdata.listen(4002);

config/config.yml

@@ -36,6 +36,7 @@ network:
     detection: 3002
     timestamp: 4000
     timing: 4001
+    iqdata: 4002
 
 save:
   iq: true

config/radar4.yml

@@ -36,6 +36,7 @@ network:
     detection: 3002
     timestamp: 4000
     timing: 4001
+    iqdata: 4002
 
 save:
   iq: true

html/controller/index.html

@@ -107,7 +107,7 @@
         <li class="py-1"><a class="text-reset text-decoration-none" href="/display/maxhold">Max-hold delay Doppler map</a></li>
         <li class="py-1"><a class="text-reset text-decoration-none" href="/display/detection/delay">Detections in delay over time</a></li>
         <li class="py-1"><a class="text-reset text-decoration-none" href="/display/detection/doppler">Detections in Doppler over time</a></li>
-        <li class="py-1"><a class="text-reset text-decoration-none" href="/display/detection/delay-Doppler">Detections in delay-Doppler over time</a></li>
+        <li class="py-1"><a class="text-reset text-decoration-none" href="/display/detection/delay-doppler">Detections in delay-Doppler over time</a></li>
       </ul>
     </div>
 
@@ -117,6 +117,7 @@
         <li class="py-1"><a class="text-reset text-decoration-none" href="/api/map">Map data</a></li>
         <li class="py-1"><a class="text-reset text-decoration-none" href="/api/detection">Detection data</a></li>
         <li class="py-1"><a class="text-reset text-decoration-none" href="/api/timing">Timing data</a></li>
+        <li class="py-1"><a class="text-reset text-decoration-none" href="/api/iqdata">IQ metadata</a></li>
         <li class="py-1"><a class="text-reset text-decoration-none" href="/api/timestamp">Latest timestamp</a></li>
       </ul>
     </div>

src/blah2.cpp

@@ -16,6 +16,7 @@
 #include <Centroid.h>
 #include <Interpolate.h>
 #include <Timing.h>
+#include <SpectrumAnalyser.h>
 #include <sys/types.h>
 #include <getopt.h>
 #include <string>
@@ -100,22 +101,25 @@ int main(int argc, char **argv)
   fftw_plan_with_nthreads(4);
 
   // setup socket
-  uint16_t port_map, port_detection, port_timestamp, port_timing;
+  uint16_t port_map, port_detection, port_timestamp, port_timing, port_iqdata;
   std::string ip;
   tree["network"]["ports"]["map"] >> port_map;
   tree["network"]["ports"]["detection"] >> port_detection;
   tree["network"]["ports"]["timestamp"] >> port_timestamp;
   tree["network"]["ports"]["timing"] >> port_timing;
+  tree["network"]["ports"]["iqdata"] >> port_iqdata;
   tree["network"]["ip"] >> ip;
   asio::io_service io_service;
   asio::ip::tcp::socket socket_map(io_service);
   asio::ip::tcp::socket socket_detection(io_service);
   asio::ip::tcp::socket socket_timestamp(io_service);
   asio::ip::tcp::socket socket_timing(io_service);
+  asio::ip::tcp::socket socket_iqdata(io_service);
   asio::ip::tcp::endpoint endpoint_map;
   asio::ip::tcp::endpoint endpoint_detection;
   asio::ip::tcp::endpoint endpoint_timestamp;
   asio::ip::tcp::endpoint endpoint_timing;
+  asio::ip::tcp::endpoint endpoint_iqdata;
   endpoint_map = asio::ip::tcp::endpoint(
     asio::ip::address::from_string(ip), port_map);
   endpoint_detection = asio::ip::tcp::endpoint(
@@ -124,10 +128,13 @@ int main(int argc, char **argv)
     asio::ip::address::from_string(ip), port_timestamp);
   endpoint_timing = asio::ip::tcp::endpoint(
     asio::ip::address::from_string(ip), port_timing);
+  endpoint_iqdata = asio::ip::tcp::endpoint(
+    asio::ip::address::from_string(ip), port_iqdata);
   socket_map.connect(endpoint_map);
   socket_detection.connect(endpoint_detection);
   socket_timestamp.connect(endpoint_timestamp);
   socket_timing.connect(endpoint_timing);
+  socket_iqdata.connect(endpoint_iqdata);
   asio::error_code err;
   std::string subdata;
   uint32_t MTU = 1024;
@@ -165,6 +172,10 @@ int main(int argc, char **argv)
   tree["process"]["detection"]["nCentroid"] >> nCentroid;
   Centroid *centroid = new Centroid(nCentroid, nCentroid, 1/tCpi);
 
+  // setup process spectrum analyser
+  double spectrumBandwidth = 2000;
+  SpectrumAnalyser *spectrumAnalyser = new SpectrumAnalyser(nSamples, spectrumBandwidth);
+
   // setup output data
   bool saveMap;
   tree["save"]["map"] >> saveMap;
@@ -189,6 +200,9 @@ int main(int argc, char **argv)
   std::vector<double> timing_time;
   std::string jsonTiming;
 
+  // setup output signal
+  std::string jsonIqData;
+
   // run process
   std::thread t2([&]{
       while (true)
@@ -212,6 +226,9 @@ int main(int argc, char **argv)
           timing_name.push_back("extract_buffer");
           timing_time.push_back(delta_t1);
 
+          // spectrum
+          spectrumAnalyser->process(x);
+
           // clutter filter
           if (!filter->process(x, y))
           {
@@ -240,6 +257,14 @@ int main(int argc, char **argv)
           timing_name.push_back("detector");
           timing_time.push_back(delta_t4);
 
+          // output IqData meta data
+          jsonIqData = x->to_json(t0/1000);
+          for (int i = 0; i < (jsonIqData.size() + MTU - 1) / MTU; i++)
+          {
+            subdata = jsonIqData.substr(i * MTU, MTU);
+            socket_iqdata.write_some(asio::buffer(subdata, subdata.size()), err);
+          }
+
           // output map data
           mapJson = map->to_json();
           mapJson = map->delay_bin_to_km(mapJson, fs);

src/data/IqData.cpp

@@ -2,6 +2,11 @@
 #include <iostream>
 #include <cstdlib>
 
+#include "rapidjson/document.h"
+#include "rapidjson/writer.h"
+#include "rapidjson/stringbuffer.h"
+#include "rapidjson/filewritestream.h"
+
 // constructor
 IqData::IqData(uint32_t _n)
 {
@@ -72,3 +77,48 @@ void IqData::clear()
     data->pop_front();
   }
 }
+
+void IqData::update_spectrum(std::vector<std::complex<double>> _spectrum)
+{
+  spectrum = _spectrum;
+}
+
+void IqData::update_frequency(std::vector<double> _frequency)
+{
+  frequency = _frequency;
+}
+
+std::string IqData::to_json(uint64_t timestamp)
+{
+  rapidjson::Document document;
+  document.SetObject();
+  rapidjson::Document::AllocatorType &allocator = document.GetAllocator();
+
+  // store frequency array
+  rapidjson::Value arrayFrequency(rapidjson::kArrayType);
+  for (int i = 0; i < frequency.size(); i++)
+  {
+    arrayFrequency.PushBack(frequency[i], allocator);
+  }
+
+  // store spectrum array
+  rapidjson::Value arraySpectrum(rapidjson::kArrayType);
+  for (int i = 0; i < spectrum.size(); i++)
+  {
+    arraySpectrum.PushBack(10 * std::log10(std::abs(spectrum[i])), allocator);
+  }
+
+  document.AddMember("timestamp", timestamp, allocator);
+  document.AddMember("min", min, allocator);
+  document.AddMember("max", max, allocator);
+  document.AddMember("mean", mean, allocator);
+  document.AddMember("frequency", arrayFrequency, allocator);
+  document.AddMember("spectrum", arraySpectrum, allocator);
+
+  rapidjson::StringBuffer strbuf;
+  rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
+  writer.SetMaxDecimalPlaces(2);
+  document.Accept(writer);
+
+  return strbuf.GetString();
+}

src/data/IqData.h

@@ -9,6 +9,7 @@
 
 #include <stdint.h>
 #include <deque>
+#include <vector>
 #include <complex>
 #include <mutex>
 
@@ -24,6 +25,21 @@ private:
   /// @brief Pointer to IQ data.
   std::deque<std::complex<double>> *data;
 
+  /// @brief Minimum value.
+  double min;
+
+  /// @brief Maximum value.
+  double max;
+
+  /// @brief Mean value.
+  double mean;
+
+  /// @brief Spectrum vector.
+  std::vector<std::complex<double>> spectrum;
+
+  /// @brief Frequency vector (Hz).
+  std::vector<double> frequency;
+
 public:
   /// @brief Constructor.
   /// @param n Number of samples.
@@ -66,6 +82,21 @@ public:
   /// @brief Clear samples from the queue.
   /// @return Void.
   void clear();
+
+  /// @brief Update the time differences and names.
+  /// @param spectrum Spectrum vector.
+  /// @return Void.
+  void update_spectrum(std::vector<std::complex<double>> spectrum);
+
+  /// @brief Update the time differences and names.
+  /// @param frequency Frequency vector.
+  /// @return Void.
+  void update_frequency(std::vector<double> frequency);
+
+  /// @brief Generate JSON of the signal and metadata.
+  /// @param timestamp Current time (POSIX ms).
+  /// @return JSON string.
+  std::string to_json(uint64_t timestamp);
 };
 
 #endif

src/process/spectrum/SpectrumAnalyser.cpp

@@ -0,0 +1,54 @@
+#include "SpectrumAnalyser.h"
+#include <complex>
+#include <iostream>
+#include <deque>
+#include <vector>
+#include <math.h>
+
+// constructor
+SpectrumAnalyser::SpectrumAnalyser(uint32_t _n, double _bandwidth)
+{
+  // input
+  n = _n;
+  bandwidth = _bandwidth;
+
+  // compute nfft
+  decimation = n/bandwidth;
+  nfft = n/decimation;
+
+  // compute FFTW plans in constructor
+  dataX = new std::complex<double>[nfft];
+  fftX = fftw_plan_dft_1d(nfft, reinterpret_cast<fftw_complex *>(dataX),
+                           reinterpret_cast<fftw_complex *>(dataX), FFTW_FORWARD, FFTW_ESTIMATE);
+}
+
+SpectrumAnalyser::~SpectrumAnalyser()
+{
+  fftw_destroy_plan(fftX);
+}
+
+void SpectrumAnalyser::process(IqData *x)
+{  
+  // decimate
+  int16_t iData = 0;
+  std::deque<std::complex<double>> data = x->get_data();
+  for (int i = 0; i < x->get_length(); i+=decimation)
+  {
+    dataX[iData] = data[i];
+    iData++;
+  }
+
+  fftw_execute(fftX);
+
+  // update spectrum
+  std::vector<std::complex<double>> spectrum;
+  for (int i = 0; i < nfft; i++)
+  {
+    spectrum.push_back(dataX[i]);
+  }
+  x->update_spectrum(spectrum);
+
+  // update frequency
+
+  return;
+}

src/process/spectrum/SpectrumAnalyser.h

@@ -0,0 +1,56 @@
+/// @file SpectrumAnalyser.h
+/// @class SpectrumAnalyser
+/// @brief A class to generate frequency spectrum plots.
+/// @details Simple decimate and FFT on CPI IQ data for frequency spectrum.
+/// @author 30hours
+/// @todo Potentially create k spectrum plots from sub-CPIs.
+
+#ifndef SPECTRUMANALYSER_H
+#define SPECTRUMANALYSER_H
+
+#include <IqData.h>
+#include <stdint.h>
+#include <fftw3.h>
+
+class SpectrumAnalyser
+{
+private:
+  /// @brief Number of samples on input.
+  uint32_t n;
+
+  /// @brief Minimum bandwidth of frequency bin (Hz).
+  double bandwidth;
+
+  /// @brief Decimation factor.
+  uint32_t decimation;
+
+  /// @brief FFTW plans for ambiguity processing.
+  fftw_plan fftX;
+
+  /// @brief FFTW storage for ambiguity processing.
+  std::complex<double> *dataX;
+
+  /// @brief Number of samples to perform FFT.
+  uint32_t nfft;
+
+  /// @brief Resolution of spectrum (Hz).
+  double resolution;
+
+public:
+  /// @brief Constructor.
+  /// @param n Number of samples on input.
+  /// @param bandwidth Minimum bandwidth of frequency bin (Hz).
+  /// @return The object.
+  SpectrumAnalyser(uint32_t n, double bandwidth);
+
+  /// @brief Destructor.
+  /// @return Void.
+  ~SpectrumAnalyser();
+
+  /// @brief Process spectrum data.
+  /// @param x Reference samples.
+  /// @return Void.
+  void process(IqData *x);
+};
+
+#endif