def test_001_t(self):
# set up message
msg1 = pmt.list3(pmt.string_to_symbol('id'),
pmt.string_to_symbol('int'), pmt.from_long(42))
msg2 = pmt.list3(pmt.string_to_symbol('value'),
pmt.string_to_symbol('float'), pmt.from_float(3.1416))
#msg3 = pmt.list3(pmt.string_to_symbol('text'),pmt.string_to_symbol('string'),pmt.string_to_symbol('some text'))
msg = pmt.list2(msg1, msg2)
# set up sql connection
host = '127.0.0.1'
port = 0 # default
user = '******'
password = '******'
database = 'my_db'
table = 'my_table'
# set up flowgraph
if 0: # Enable and disable here
msg_src = blocks.message_strobe(msg, 100)
sql_connector = sql.msg_to_table(user, password, database, table,
host, port)
self.tb.msg_connect(msg_src, 'strobe', sql_connector, 'Msg in')
# run flowgraph
self.tb.start()
sleep(0.2)
self.tb.stop()
self.tb.wait()
def test_001_t (self):
# set up message
msg1 = pmt.list3(pmt.string_to_symbol('id'),pmt.string_to_symbol('int'),pmt.from_long(42))
msg2 = pmt.list3(pmt.string_to_symbol('value'),pmt.string_to_symbol('float'),pmt.from_float(3.1416))
#msg3 = pmt.list3(pmt.string_to_symbol('text'),pmt.string_to_symbol('string'),pmt.string_to_symbol('some text'))
msg = pmt.list2(msg1,msg2)
# set up sql connection
host = '127.0.0.1'
port = 0 # default
user = '******'
password = '******'
database = 'my_db'
table = 'my_table'
# set up flowgraph
if 0: # Enable and disable here
msg_src = blocks.message_strobe(msg,100)
sql_connector = sql.msg_to_table(user,password,database,table,host,port)
self.tb.msg_connect(msg_src,'strobe',sql_connector,'Msg in')
# run flowgraph
self.tb.start()
sleep(0.2)
self.tb.stop()
self.tb.wait()
def test_001_t (self):
# set up fg
num_mean = 1
center_freq = 1
antenna_gain_tx = 1
antenna_gain_rx = 1
usrp_gain_rx = 1
amplitude = 1
corr_factor = 1
exponent = 1
Range = (10, 20, 30)
power = (15, 30, 45)
pmt_range = pmt.list2(pmt.string_to_symbol('range'),pmt.init_f32vector(len(Range),Range))
pmt_power = pmt.list2(pmt.string_to_symbol('power'),pmt.init_f32vector(len(power),power))
pmt_misc = pmt.list2(pmt.string_to_symbol('misc'),pmt.init_f32vector(3,(1,2,3)))
pmt_in = pmt.list3(pmt_misc,pmt_range,pmt_power)
src = blocks.message_strobe(pmt_in, 300)
est = radar.estimator_rcs(num_mean, center_freq, antenna_gain_tx, antenna_gain_rx, usrp_gain_rx, amplitude, corr_factor, exponent)
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()
# check data
msg = snk.get_message(0)
wavel = 3e8/center_freq
d_antenna_gain_abs_rx = 10**(antenna_gain_rx/10)
d_antenna_gain_abs_tx = 10**(antenna_gain_tx/10)
power_rx = power[0]**exponent / 10**(usrp_gain_rx/10);
power_tx = amplitude
rcs_ref = (4*math.pi)**(3)/(d_antenna_gain_abs_rx*d_antenna_gain_abs_tx*wavel**2)*Range[0]**4*power_rx/power_tx*corr_factor
self.assertAlmostEqual( rcs_ref, pmt.f32vector_ref(pmt.nth(1,(pmt.nth(0,msg))),0), 4 ) # check rcs value
def test_001_t (self):
# set up fg
Range = (10, 20, 30)
power = (15, 30, 45)
block_time = 100
pmt_range = pmt.list2(pmt.string_to_symbol('range'),pmt.init_f32vector(len(Range),Range))
pmt_power = pmt.list2(pmt.string_to_symbol('power'),pmt.init_f32vector(len(power),power))
pmt_misc = pmt.list2(pmt.string_to_symbol('misc'),pmt.init_f32vector(3,(1,2,3)))
pmt_in = pmt.list3(pmt_misc,pmt_range,pmt_power)
src = blocks.message_strobe(pmt_in, 100)
test = radar.trigger_command("echo test_command",("Range","power"),(5, 10),(35, 50), block_time)
self.tb.msg_connect(src,"strobe",test,"Msg in")
self.tb.start()
sleep(0.5)
self.tb.stop()
self.tb.wait()
def test_001_t (self):
# create input data
steps = 200
vec_time = np.linspace(0,20,steps);
vec_velocity = np.linspace(5,5,steps)
vec_range = np.linspace(100,1,steps)
vec_velocity_real = [0]*steps
vec_range_real = [0]*steps
for k in range(steps):
vec_velocity_real[k] = vec_velocity[k]
vec_range_real[k] = vec_range[k]
# random data on trajectory
mu = 0
sigma_vel = 0.5
sigma_rge = 7
for k in range(len(vec_velocity)):
vec_velocity[k] = vec_velocity[k] + random.gauss(mu,sigma_vel)
vec_range[k] = vec_range[k] + random.gauss(mu,sigma_rge)
# set up pmts with zero points
target_pmts = [0]*len(vec_velocity)
#zero_points = (5,12,17)
zero_points = ()
for k in range(len(vec_velocity)):
pmt_time = pmt.list2(pmt.string_to_symbol("rx_time"),pmt.make_tuple(pmt.from_long(int(vec_time[k])),pmt.from_double(vec_time[k]-int(vec_time[k]))))
if k in zero_points:
vec = [0]
pmt_velocity = pmt.list2(pmt.string_to_symbol("velocity"),pmt.init_f32vector(1,vec))
pmt_range = pmt.list2(pmt.string_to_symbol("range"),pmt.init_f32vector(1,vec))
else:
pmt_velocity = pmt.list2(pmt.string_to_symbol("velocity"),pmt.init_f32vector(1,(vec_velocity[k],)))
pmt_range = pmt.list2(pmt.string_to_symbol("range"),pmt.init_f32vector(1,(vec_range[k],)))
target_pmts[k] = pmt.list3(pmt_time,pmt_velocity,pmt_range)
# set up fg
test_duration = 1000 # ms, do not change!
num_particle = 300
std_range_meas = sigma_rge
std_velocity_meas = sigma_vel
std_accel_sys = 0.1
threshold_track = 0.001
threshold_lost = 4
tracking_filter = "particle"
#tracking_filter = "kalman"
# connect multiple strobes for different msgs
src = [0]*len(target_pmts)
for k in range(len(target_pmts)):
src[k] = blocks.message_strobe(target_pmts[k], test_duration-400+400/len(target_pmts)*k)
tracking = radar.tracking_singletarget(num_particle, std_range_meas, std_velocity_meas, std_accel_sys, threshold_track, threshold_lost, tracking_filter)
snk = blocks.message_debug()
for k in range(len(target_pmts)):
self.tb.msg_connect(src[k],"strobe",tracking,"Msg in")
self.tb.msg_connect(tracking,"Msg out",snk,"store")
self.tb.start()
sleep(test_duration/1000.0)
self.tb.stop()
self.tb.wait
()
# check data
# show_data = False # Toggle visibility of single messages # broken
msg_num = snk.num_messages()
vec_out_range = []
vec_out_velocity = []
for k in range(msg_num):
msg_part = snk.get_message(k)
tme = pmt.nth(0,msg_part) # not used
vel = pmt.nth(1,msg_part)
rgn = pmt.nth(2,msg_part)
vec_out_range.append(pmt.f32vector_elements(pmt.nth(1,rgn))[0])
vec_out_velocity.append(pmt.f32vector_elements(pmt.nth(1,vel))[0])
# if show_data:
# print "msg:", k
# print pmt.symbol_to_string(pmt.nth(0,vel)), pmt.f32vector_elements(pmt.nth(1,vel))[0]
# print pmt.symbol_to_string(pmt.nth(0,rgn)), pmt.f32vector_elements(pmt.nth(1,rgn))[0]
# print
# print "RANGE:"
# print vec_out_range
# print "VELOCITY:"
# print vec_out_velocity
# make plots
show_plots = False # Toggle visibility of plots
if show_plots:
time = range(len(vec_range))
time_out = range(len(vec_out_range))
plt.figure(1)
plt.subplot(211)
marker = '-o'
p1 = plt.plot(time,vec_velocity_real,marker,time,vec_velocity,marker,time_out,vec_out_velocity,marker)
plt.legend(p1,["IN velocity real", "IN velocity", "OUT velocity"])
plt.title("VELOCITY")
plt.xlabel('time')
plt.subplot(212)
marker = '-o'
p1 = plt.plot(time,vec_range_real,marker,time,vec_range,marker,time_out,vec_out_range,marker)
plt.legend(p1,["IN range real","IN range","OUT range"])
plt.title("RANGE")
plt.xlabel('time')
plt.show()
def test_001_t(self):
# create input data
steps = 200
vec_time = np.linspace(0, 20, steps)
vec_velocity = np.linspace(5, 5, steps)
vec_range = np.linspace(100, 1, steps)
vec_velocity_real = [0] * steps
vec_range_real = [0] * steps
for k in range(steps):
vec_velocity_real[k] = vec_velocity[k]
vec_range_real[k] = vec_range[k]
# random data on trajectory
mu = 0
sigma_vel = 0.5
sigma_rge = 7
for k in range(len(vec_velocity)):
vec_velocity[k] = vec_velocity[k] + random.gauss(mu, sigma_vel)
vec_range[k] = vec_range[k] + random.gauss(mu, sigma_rge)
# set up pmts with zero points
target_pmts = [0] * len(vec_velocity)
#zero_points = (5,12,17)
zero_points = ()
for k in range(len(vec_velocity)):
pmt_time = pmt.list2(
pmt.string_to_symbol("rx_time"),
pmt.make_tuple(pmt.from_long(int(vec_time[k])),
pmt.from_double(vec_time[k] -
int(vec_time[k]))))
if k in zero_points:
vec = [0]
pmt_velocity = pmt.list2(pmt.string_to_symbol("velocity"),
pmt.init_f32vector(1, vec))
pmt_range = pmt.list2(pmt.string_to_symbol("range"),
pmt.init_f32vector(1, vec))
else:
pmt_velocity = pmt.list2(
pmt.string_to_symbol("velocity"),
pmt.init_f32vector(1, (vec_velocity[k], )))
pmt_range = pmt.list2(pmt.string_to_symbol("range"),
pmt.init_f32vector(1, (vec_range[k], )))
target_pmts[k] = pmt.list3(pmt_time, pmt_velocity, pmt_range)
# set up fg
test_duration = 1000 # ms, do not change!
num_particle = 300
std_range_meas = sigma_rge
std_velocity_meas = sigma_vel
std_accel_sys = 0.1
threshold_track = 0.001
threshold_lost = 4
tracking_filter = "particle"
#tracking_filter = "kalman"
# connect multiple strobes for different msgs
src = [0] * len(target_pmts)
for k in range(len(target_pmts)):
src[k] = blocks.message_strobe(
target_pmts[k],
test_duration - 400 + 400 / len(target_pmts) * k)
tracking = radar.tracking_singletarget(num_particle, std_range_meas,
std_velocity_meas,
std_accel_sys, threshold_track,
threshold_lost, tracking_filter)
snk = blocks.message_debug()
for k in range(len(target_pmts)):
self.tb.msg_connect(src[k], "strobe", tracking, "Msg in")
self.tb.msg_connect(tracking, "Msg out", snk, "store")
self.tb.start()
sleep(test_duration / 1000.0)
self.tb.stop()
self.tb.wait
()
# check data
# show_data = False # Toggle visibility of single messages # broken
msg_num = snk.num_messages()
vec_out_range = []
vec_out_velocity = []
for k in range(msg_num):
msg_part = snk.get_message(k)
tme = pmt.nth(0, msg_part) # not used
vel = pmt.nth(1, msg_part)
rgn = pmt.nth(2, msg_part)
vec_out_range.append(pmt.f32vector_elements(pmt.nth(1, rgn))[0])
vec_out_velocity.append(pmt.f32vector_elements(pmt.nth(1, vel))[0])
# if show_data:
# print "msg:", k
# print pmt.symbol_to_string(pmt.nth(0,vel)), pmt.f32vector_elements(pmt.nth(1,vel))[0]
# print pmt.symbol_to_string(pmt.nth(0,rgn)), pmt.f32vector_elements(pmt.nth(1,rgn))[0]
# print
# print "RANGE:"
# print vec_out_range
# print "VELOCITY:"
# print vec_out_velocity
# make plots
show_plots = False # Toggle visibility of plots
if show_plots:
time = range(len(vec_range))
time_out = range(len(vec_out_range))
plt.figure(1)
plt.subplot(211)
marker = '-o'
p1 = plt.plot(time, vec_velocity_real, marker, time, vec_velocity,
marker, time_out, vec_out_velocity, marker)
plt.legend(p1, ["IN velocity real", "IN velocity", "OUT velocity"])
plt.title("VELOCITY")
plt.xlabel('time')
plt.subplot(212)
marker = '-o'
p1 = plt.plot(time, vec_range_real, marker, time, vec_range,
marker, time_out, vec_out_range, marker)
plt.legend(p1, ["IN range real", "IN range", "OUT range"])
plt.title("RANGE")
plt.xlabel('time')
plt.show()
