def test_001_t (self):
# set up pmt
in_2 = (-1,2,-3,4,5,0)
in_3 = (1,2,3,4,5,0)
in_4 = (1,-2.1,3,-4.2,5.9,0)
pmt_1 = pmt.list2(pmt.string_to_symbol("rx_time"),pmt.from_long(0))
pmt_2 = pmt.list2(pmt.string_to_symbol("test"),pmt.init_f32vector(6,in_2))
pmt_3 = pmt.list2(pmt.string_to_symbol("velocity"),pmt.init_f32vector(6,in_3))
pmt_4 = pmt.list2(pmt.string_to_symbol("test2"),pmt.init_f32vector(6,in_4))
pmt_in = pmt.list4(pmt_1,pmt_2,pmt_3,pmt_4)
# set up fg
symbols = ("test", "test2")
const_add = (1, -2)
const_mult = (-5, 1)
strobe = blocks.message_strobe(pmt_in,400);
test = radar.msg_manipulator(symbols,const_add,const_mult)
debug = blocks.message_debug()
self.tb.msg_connect(strobe, "strobe", test, "Msg in")
self.tb.msg_connect(test, "Msg out", debug, "store")
self.tb.msg_connect(test, "Msg out", debug, "print")
# run fg
self.tb.start()
sleep(0.5)
self.tb.stop()
self.tb.wait()
# check data
msg = debug.get_message(0)
out_2 = pmt.f32vector_elements(pmt.nth(1,pmt.nth(1,msg)))
out_3 = pmt.f32vector_elements(pmt.nth(1,pmt.nth(2,msg)))
out_4 = pmt.f32vector_elements(pmt.nth(1,pmt.nth(3,msg)))
ref_2 = [0]*6
ref_3 = [0]*6
ref_4 = [0]*6
for k in range(6):
ref_2[k] = (in_2[k]+const_add[0])*const_mult[0]
ref_3[k] = in_3[k]
ref_4[k] = (in_4[k]+const_add[1])*const_mult[1]
for k in range(6): # do asserts
self.assertAlmostEqual(ref_2[k],out_2[k],3)
self.assertAlmostEqual(ref_3[k],out_3[k],3)
self.assertAlmostEqual(ref_4[k],out_4[k],3)
def test_001_t(self):
# set up fg
Range = (2, 4, 22, 23)
velocity = (3, 12, 19, 19)
power = (10, 10, 10, 1) # last value is thrown away with merging peaks
pmt_time = pmt.list2(
pmt.string_to_symbol('rx_time'),
pmt.make_tuple(pmt.from_long(-1), pmt.from_double(0)))
pmt_axisx = pmt.list2(pmt.string_to_symbol('axis_x'),
pmt.init_f32vector(len(Range), Range))
pmt_axisy = pmt.list2(pmt.string_to_symbol('axis_y'),
pmt.init_f32vector(len(velocity), velocity))
pmt_power = pmt.list2(pmt.string_to_symbol('power'),
pmt.init_f32vector(len(power), power))
pmt_in = pmt.list4(pmt_time, pmt_axisx, pmt_axisy, pmt_power)
src = blocks.message_strobe(pmt_in, 300)
est = radar.estimator_ofdm('range', 30, (0, 40, -40, 10), 'velocity',
20, (-5, 5))
snk = blocks.message_debug()
self.tb.msg_connect(src, "strobe", est, "Msg in")
self.tb.msg_connect(est, "Msg out", snk, "store")
self.tb.msg_connect(est, "Msg out", snk, "print")
self.tb.start()
sleep(0.5)
self.tb.stop()
self.tb.wait()
# get ref data
ref_range = (0 + 40 * 2 / 15.0, 0 + 40 * 4 / 15.0,
-40 + 50 * (22 - 15) / 15.0)
ref_velocity = (-5 + 10 * 3 / 20.0, -5 + 10 * 12 / 20.0,
-5 + 10 * 19 / 20.0)
# check data
msg = snk.get_message(0)
val_range = pmt.f32vector_elements(pmt.nth(1, pmt.nth(1, msg)))
val_velocity = pmt.f32vector_elements(pmt.nth(1, pmt.nth(2, msg)))
print val_range
self.assertFloatTuplesAlmostEqual(val_velocity, ref_velocity, 4)
self.assertFloatTuplesAlmostEqual(val_range, ref_range, 4)
def msg_handler(self, p):
self.counter = self.counter + 1
if self.counter == self.d_period:
self.counter = 0
#print "turning ", self.d_degrees_per_trigger, " degrees"
self.angle += self.d_degrees_per_trigger
if self.d_serial_port != "":
self.ttctrl.move_to(self.angle)
if self.angle > self.d_stop:
print "Stopping execution now"
#sys.exit(0)
ang_key = pmt.string_to_symbol("angle")
ang_value = pmt.init_f32vector(1, [self.angle])
ang_pack = pmt.list2(ang_key, ang_value)
#m = pmt.list1(ang_pack)
m = pmt.list4(pmt.nth(0, p), pmt.nth(1, p), pmt.nth(2, p), ang_pack)
#pmt.list_add(m, p)
self.message_port_pub(pmt.string_to_symbol("out"), m)
