def test_001_float(self):
'''
uint8_t input data, no decimation, no filter
'''
self.dut = pdu_utils.pdu_fir_filter(1, [1.0])
self.connectUp()
i_data = [1, 0, 0, 0] * 5
i_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_float(1000.0))
in_pdu = pmt.cons(i_meta, pmt.init_f32vector(len(i_data), i_data))
e_data = [1, 0, 0, 0] * 5
e_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_float(1000.0))
e_pdu = pmt.cons(e_meta, pmt.init_f32vector(len(e_data), e_data))
self.tb.start()
time.sleep(.01)
self.emitter.emit(in_pdu)
time.sleep(.1)
self.tb.stop()
self.tb.wait()
#print("test_001:")
#print("pdu expected: " + repr(pmt.car(e_pdu)))
#print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
#print("data expected: " + repr(pmt.to_python(pmt.cdr(e_pdu))))
#print("data got: " + repr(pmt.to_python(pmt.cdr(self.debug.get_message(0)))))
#print
self.assertTrue(pmt.equal(self.debug.get_message(0), e_pdu))
def test_float(self):
self.down = pdu_utils.pdu_downsample(3, 0)
self.connectUp()
i_vec = pmt.init_f32vector(9, [0, 1, 2, 3.3, 4, 5, 6, 7, 8])
e_vec = pmt.init_f32vector(3, [0, 3.3, 6])
in_pdu = pmt.cons(pmt.make_dict(), i_vec)
e_pdu = pmt.cons(pmt.make_dict(), e_vec)
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
print("test float:")
print("pdu expected: " + repr(pmt.car(e_pdu)))
print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
print("data expected: " + repr(pmt.f32vector_elements(pmt.cdr(e_pdu))))
print("data got: " +
repr(pmt.f32vector_elements(pmt.cdr(self.debug.get_message(0)))))
print
self.assertTrue(pmt.equal(self.debug.get_message(0), e_pdu))
def test_005_fff_down(self):
self.dut = pdu_utils.pdu_pfb_resamp_fff([1], 1, 0.5)
self.connectUp()
in_data = [1, 1, 0, 0] * 4
in_pdu = pmt.cons(pmt.make_dict(), pmt.init_f32vector(len(in_data), in_data))
expected_data = [1, 0] * 4
expected_pdu = pmt.cons(pmt.make_dict(), pmt.init_f32vector(len(expected_data), expected_data))
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
self.assertEqual(1, self.debug.num_messages())
print("test_005_fff_down:")
print("pdu expected: " + repr(pmt.car(expected_pdu)))
print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
print("data expected: " + repr(pmt.to_python(pmt.cdr(expected_pdu))))
print("data got: " + repr(pmt.to_python(pmt.cdr(self.debug.get_message(0)))))
print
self.assertTrue(pmt.equal(self.debug.get_message(0), expected_pdu))
def test_sf_tag(self):
constA = [-3.0, -1.0, 1.0, 3]
constB = [12.0, -12.0, 6.0, -6]
src_data = (0, 1, 2, 3, 3, 2, 1, 0)
expected_result = [-3, -1, 1, 3, -6, 6, -12, 12]
first_tag = gr.tag_t()
first_tag.key = pmt.intern("set_symbol_table")
first_tag.value = pmt.init_f32vector(len(constA), constA)
first_tag.offset = 0
second_tag = gr.tag_t()
second_tag.key = pmt.intern("set_symbol_table")
second_tag.value = pmt.init_f32vector(len(constB), constB)
second_tag.offset = 4
src = blocks.vector_source_s(src_data, False, 1,
[first_tag, second_tag])
op = digital.chunks_to_symbols_sf(constB)
dst = blocks.vector_sink_f()
self.tb.connect(src, op)
self.tb.connect(op, dst)
self.tb.run()
actual_result = dst.data()
self.assertEqual(expected_result, actual_result)
def test_float(self):
self.emitter = pdu_utils.message_emitter()
self.down = pdu_utils.pdu_downsample(3, 0)
self.debug = blocks.message_debug()
self.tb.msg_connect((self.emitter, 'msg'), (self.down, 'pdu_in'))
self.tb.msg_connect((self.down, 'pdu_out'), (self.debug, 'store'))
i_vec = pmt.init_f32vector(9, [0, 1, 2, 3.3, 4, 5, 6, 7, 8])
e_vec = pmt.init_f32vector(3, [0, 3.3, 6])
in_pdu = pmt.cons(pmt.make_dict(), i_vec)
e_pdu = pmt.cons(pmt.make_dict(), e_vec)
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
print "test float:"
print "pdu expected: " + repr(pmt.car(e_pdu))
print "pdu got: " + repr(pmt.car(self.debug.get_message(0)))
print "data expected: " + repr(pmt.f32vector_elements(pmt.cdr(e_pdu)))
print "data got: " + repr(
pmt.f32vector_elements(pmt.cdr(self.debug.get_message(0))))
print
self.assertTrue(pmt.equal(self.debug.get_message(0), e_pdu))
def test_sf_tag(self):
constA = [-3.0, -1.0, 1.0, 3]
constB = [12.0, -12.0, 6.0, -6]
src_data = (0, 1, 2, 3, 3, 2, 1, 0)
expected_result = (-3, -1, 1, 3,
-6, 6, -12, 12)
first_tag = gr.tag_t()
first_tag.key = pmt.intern("set_symbol_table")
first_tag.value = pmt.init_f32vector(len(constA), constA)
first_tag.offset = 0
second_tag = gr.tag_t()
second_tag.key = pmt.intern("set_symbol_table")
second_tag.value = pmt.init_f32vector(len(constB), constB)
second_tag.offset = 4
src = blocks.vector_source_s(src_data, False, 1, [first_tag, second_tag])
op = digital.chunks_to_symbols_sf(constB)
dst = blocks.vector_sink_f()
self.tb.connect(src, op)
self.tb.connect(op, dst)
self.tb.run()
actual_result = dst.data()
self.assertEqual(expected_result, actual_result)
def test_006_precision(self):
emitter = pdu_utils.message_emitter()
writer = csv_writer('/tmp/file.csv', False, '', 'float', precision=4)
# generate pdu
metadata = pmt.PMT_NIL
data = pmt.init_f32vector(2, [1.111111] * 2)
sent = pmt.cons(metadata, data)
expected = pmt.cons(pmt.PMT_NIL, pmt.init_f32vector(2, [1.1111] * 2))
# run
tb = gr.top_block()
tb.msg_connect((emitter, 'msg'), (writer, 'in'))
tb.start()
emitter.emit(expected)
time.sleep(.5)
tb.stop()
tb.wait()
# read in csv
self.assertTrue(
self.check_file('/tmp/file.csv',
expected,
data_type='float',
has_header=False))
def test_006_f32(self):
'''
float input data, complicated input, decimation, and filtering
'''
taps = [
-0.1, -0.2, -0.3, 0., 0.8, 1.4, 0.7, -1.9, -4.5, -3.8, 2.9, 14.4,
25.5, 30.1, 30.1, 25.5, 14.4, 2.9, -3.8, -4.5, -1.9, 0.7, 1.4, 0.8,
0., -0.3, -0.2, -0.1
]
print(len(taps))
self.dut = pdu_utils.pdu_fir_filter(4, taps)
self.connectUp()
i_data = [
0., 0.25, 0.48, 0.68, 0.84, 0.95, 1., 0.98, 0.91, 0.78, 0.6, 0.38,
0.14, -0.11, -0.35, -0.57, -0.76, -0.89, -0.98, -1., -0.96, -0.86,
-0.71, -0.51, -0.28, -0.03, 0.22, 0.45, 0.66, 0.82, 0.94, 0.99,
0.99, 0.92, 0.8, 0.62, 0.41, 0.17, -0.08, -0.32, -0.54, -0.73,
-0.88, -0.97, -1., -0.97, -0.88, -0.73, -0.54, -0.31, -0.07, 0.18,
0.42, 0.63, 0.8, 0.93, 0.99, 0.99, 0.93, 0.82, 0.65, 0.44, 0.21,
-0.04, -0.29, -0.52, -0.71, -0.86, -0.96, -1., -0.98, -0.89
]
i_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_double(40e3))
i_meta = pmt.dict_add(i_meta, pmt.intern("start_time"),
pmt.from_double(65.4321))
in_pdu = pmt.cons(i_meta, pmt.init_f32vector(len(i_data), i_data))
e_data = [
8.344998, 95.737, 121.949005, 33.454994, -85.351006, -126.05898,
-50.684998, 71.381004, 127.386, 66.26399, -55.451004, -126.658005,
-81.652, 38.550003, 123.046005, 94.08399, -19.649996, -123.254005
]
e_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_double(10e3))
e_meta = pmt.dict_add(e_meta, pmt.intern("start_time"),
pmt.from_double(65.432050))
e_pdu = pmt.cons(e_meta, pmt.init_f32vector(len(e_data), e_data))
self.tb.start()
time.sleep(.01)
self.emitter.emit(in_pdu)
time.sleep(.1)
self.tb.stop()
self.tb.wait()
#print("test_005:")
#print("pdu expected: " + repr(pmt.car(e_pdu)))
#print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
#print("data expected: " + repr(pmt.to_python(pmt.cdr(e_pdu))))
#print("data got: " + repr(pmt.to_python(pmt.cdr(self.debug.get_message(0)))))
#print
self.assertTrue(pmt.equal(pmt.car(self.debug.get_message(0)), e_meta))
v_diff = np.abs(
pmt.f32vector_elements(pmt.cdr(self.debug.get_message(0))) -
np.array(e_data)) / e_data
print("Maximum error is", np.max(v_diff))
self.assertTrue(np.max(v_diff) < 0.0001)
def occ_handler_method(self, msg):
occvec = []
for i in range(0, self.num_split):
occvec.append(pmt.to_double(pmt.vector_ref(msg, i)))
pmt_to_send = pmt.make_dict()
curtime = strftime("%Y-%m-%d %H:%M:%S", gmtime())
attributes = pmt.make_dict()
attributes = pmt.dict_add(attributes,
pmt.string_to_symbol("center_freq"),
pmt.from_double(self.center_freq))
attributes = pmt.dict_add(attributes, pmt.string_to_symbol("occ"),
pmt.init_f32vector(self.num_split, occvec))
attributes = pmt.dict_add(attributes,
pmt.string_to_symbol("bandwidth"),
pmt.from_double(self.bw))
attributes = pmt.dict_add(attributes, pmt.string_to_symbol("timetag"),
pmt.intern(curtime))
attributes = pmt.dict_add(
attributes, pmt.string_to_symbol("noise_floor"),
pmt.init_f32vector(self.num_split, self.noise_floor))
attributes = pmt.dict_add(attributes, pmt.string_to_symbol("nodeid"),
pmt.from_long(self.nodeid))
attributes = pmt.dict_add(attributes, pmt.string_to_symbol("latitude"),
pmt.from_double(self.latitude))
attributes = pmt.dict_add(attributes,
pmt.string_to_symbol("longitude"),
pmt.from_double(self.longitude))
command = pmt.make_dict()
command = pmt.dict_add(command, pmt.string_to_symbol("table"),
pmt.string_to_symbol("spectruminfo"))
command = pmt.dict_add(command, pmt.string_to_symbol("attributes"),
attributes)
pmt_to_send = pmt.dict_add(pmt_to_send, pmt.string_to_symbol("INSERT"),
command)
serialized_pmt = pmt.serialize_str(pmt_to_send)
#print pmt_to_send
UDP_IP = self.host
UDP_PORT = self.port
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.sendto(serialized_pmt, (UDP_IP, UDP_PORT))
def test_005_f32(self):
'''
float input data, no decimation, even number of taps
'''
self.dut = pdu_utils.pdu_fir_filter(1, [.2] * 6)
self.connectUp()
i_data = [
1,
] * 10
i_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_double(100.0))
i_meta = pmt.dict_add(i_meta, pmt.intern("start_time"),
pmt.from_double(9.9))
in_pdu = pmt.cons(i_meta, pmt.init_f32vector(len(i_data), i_data))
e_data = [
.6,
.8,
1,
] + [
1.2,
] * 5 + [1, .8, .6]
e_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_double(100.0))
e_meta = pmt.dict_add(e_meta, pmt.intern("start_time"),
pmt.from_double(9.895))
e_pdu = pmt.cons(e_meta, pmt.init_f32vector(len(e_data), e_data))
self.tb.start()
time.sleep(.01)
self.emitter.emit(in_pdu)
time.sleep(.1)
self.tb.stop()
self.tb.wait()
#print("test_005:")
#print("pdu expected: " + repr(pmt.car(e_pdu)))
#print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
#print("data expected: " + repr(pmt.to_python(pmt.cdr(e_pdu))))
#print("data got: " + repr(pmt.to_python(pmt.cdr(self.debug.get_message(0)))))
#print
self.assertTrue(pmt.equal(pmt.car(self.debug.get_message(0)), e_meta))
v_diff = np.abs(
pmt.f32vector_elements(pmt.cdr(self.debug.get_message(0))) -
np.array(e_data)) / e_data
print("Maximum error is", np.max(v_diff))
self.assertTrue(np.max(v_diff) < 0.0001)
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 handle_msg(self, msg_pmt):
msg = pmt.cdr(msg_pmt)
if not pmt.is_f32vector(msg):
print("[ERROR] Received invalid message type. Expected f32vector")
return
packet_short = pmt.f32vector_elements(msg)[8:8 + 1020]
packet_long = pmt.f32vector_elements(msg)[8:8 + 1996]
self.message_port_pub(
pmt.intern('short'),
pmt.cons(pmt.PMT_NIL,
pmt.init_f32vector(len(packet_short), packet_short)))
self.message_port_pub(
pmt.intern('long'),
pmt.cons(pmt.PMT_NIL,
pmt.init_f32vector(len(packet_long), packet_long)))
def test_001_basic_nrz_test(self):
emitter = pdu_utils.message_emitter()
preamble = pdu_utils.pdu_preamble([0, 1, 0, 1], [], 2, 3, True)
debug = blocks.message_debug()
self.tb.msg_connect((emitter, 'msg'), (preamble, 'pdu_in'))
self.tb.msg_connect((preamble, 'pdu_out'), (debug, 'store'))
input_data = pmt.init_u8vector(8, [1, 0, 1, 1, 0, 0, 1, 0])
input_dict = pmt.dict_add(pmt.make_dict(), pmt.intern("KEY"),
pmt.intern("VALUE"))
expected_data = pmt.init_f32vector((8 + 4 + 0) * 2 + 3 * 2, [
0, 0, 0, -1, -1, 1, 1, -1, -1, 1, 1, 1, 1, -1, -1, 1, 1, 1, 1, -1,
-1, -1, -1, 1, 1, -1, -1, 0, 0, 0
])
self.tb.start()
time.sleep(.001)
emitter.emit(pmt.intern("MALFORMED PDU"))
time.sleep(.001)
emitter.emit(pmt.cons(input_dict, input_data))
time.sleep(.01)
self.tb.stop()
self.tb.wait()
output_data = pmt.cdr(debug.get_message(0))
self.assertEquals(1, debug.num_messages())
self.assertTrue((pmt.f32vector_elements(expected_data) ==
pmt.f32vector_elements(output_data)))
def test_003_f32noise(self):
self.add.set_scale(4)
self.add.set_offset(3)
self.add.set_noise_level(0.1)
in_data = range(8)
expected_data = [
2.7966434955596924, 7.237407207489014, 11.077142715454102,
14.856366157531738, 18.887033462524414, 22.75377082824707,
26.903127670288086, 30.93477439880371
]
in_pdu = pmt.cons(pmt.make_dict(),
pmt.init_f32vector(len(in_data), in_data))
self.tb.start()
time.sleep(.001)
self.emitter.emit(pmt.intern("MALFORMED PDU"))
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
out_data = pmt.f32vector_elements(pmt.cdr(self.debug.get_message(0)))
self.assertComplexTuplesAlmostEqual(out_data, expected_data)
def test_003_f32noise(self):
self.add.set_scale(4)
self.add.set_offset(3)
self.add.set_noise_level(0.1)
self.add.set_seed(123)
in_data = range(8)
expected_data = [
3.1571753, 7.1703644, 10.828911, 14.942777, 18.78148, 23.152708,
27.041052, 31.17532
]
in_pdu = pmt.cons(pmt.make_dict(),
pmt.init_f32vector(len(in_data), in_data))
self.tb.start()
time.sleep(.001)
self.emitter.emit(pmt.intern("MALFORMED PDU"))
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
out_data = pmt.f32vector_elements(pmt.cdr(self.debug.get_message(0)))
self.assertComplexTuplesAlmostEqual(out_data, expected_data, 3)
def test_001_simplelog(self):
in_data_c32 = [4.1 - 2.4j, 0. - 0.j, 1. + 1.j, 1e-9 - 1e-9j]
in_pdu_c32 = pmt.cons(
pmt.make_dict(), pmt.init_c32vector(len(in_data_c32), in_data_c32))
in_data_f32 = [4.1, -2.4, 0., -0., 1., 1., 1e-9, -1e-9]
in_pdu_f32 = pmt.cons(
pmt.make_dict(), pmt.init_f32vector(len(in_data_f32), in_data_f32))
in_data_u8 = [1, 2, 3, 4, 5, 6, 7, 8]
in_pdu_u8 = pmt.cons(pmt.make_dict(),
pmt.init_u8vector(len(in_data_u8), in_data_u8))
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu_c32)
time.sleep(.001)
self.emitter.emit(in_pdu_f32)
time.sleep(.001)
self.emitter.emit(in_pdu_u8)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
#TODO check contents of PDUs
os.remove(QA_LOG_DIR + 'raw-c32_0000.fc32')
os.remove(QA_LOG_DIR + 'raw-f32_0001.f32')
os.remove(QA_LOG_DIR + 'raw-u8_0002.u8')
def test_simple(self):
self.emitter = pdu_utils.message_emitter()
self.ctm2 = pdu_utils.pdu_complex_to_mag2()
self.debug = blocks.message_debug()
self.tb.msg_connect((self.emitter, 'msg'), (self.ctm2, 'cpdus'))
self.tb.msg_connect((self.ctm2, 'fpdus'), (self.debug, 'store'))
# gnuradio uses single-precision floats by default
i_vec = pmt.init_c32vector(3, [3 + 4j, 1 + 0j, 0 + 1j])
e_vec = pmt.init_f32vector(3, [25, 1, 1])
in_pdu = pmt.cons(pmt.make_dict(), i_vec)
e_pdu = pmt.cons(pmt.make_dict(), e_vec)
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
print("test ctm2:")
print("pdu expected: " + repr(pmt.car(e_pdu)))
print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
print("data expected: " + repr(pmt.to_python(pmt.cdr(e_pdu))))
print("data got: " +
repr(pmt.to_python(pmt.cdr(self.debug.get_message(0)))))
print()
self.assertTrue(pmt.equal(self.debug.get_message(0), e_pdu))
def test_006_basic_nrz(self):
self.dut = pdu_utils.pdu_preamble([], [], 1, 0, True)
self.connectUp()
input_data = pmt.init_u8vector(8, [1, 0, 1, 1, 0, 0, 1, 0])
input_dict = pmt.dict_add(pmt.make_dict(), pmt.intern("KEY"),
pmt.intern("VALUE"))
input_pdu = pmt.cons(input_dict, input_data)
expected_data = [1, -1, 1, 1, -1, -1, 1, -1]
expected_dict = pmt.dict_add(pmt.make_dict(), pmt.intern("KEY"),
pmt.intern("VALUE"))
expected_pdu = pmt.cons(
expected_dict, pmt.init_f32vector(len(expected_data),
expected_data))
self.tb.start()
time.sleep(.001)
self.emitter.emit(input_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
self.assertEqual(1, self.debug.num_messages())
print("test_006_basic_nrz:")
print("pdu expected: " + repr(pmt.car(expected_pdu)))
print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
print("data expected: " + repr(pmt.to_python(pmt.cdr(expected_pdu))))
print("data got: " +
repr(pmt.to_python(pmt.cdr(self.debug.get_message(0)))))
print
self.assertTrue(pmt.equal(self.debug.get_message(0), expected_pdu))
def test_from_pam(self):
self.emitter = pdu_utils.message_emitter()
#self.flip = pdu_utils.pdu_binary_tools(pdu_utils.pdu_binary_tools.FROM_PAM)
self.flip = pdu_utils.pdu_binary_tools(2)
self.debug = blocks.message_debug()
self.tb.msg_connect((self.emitter, 'msg'), (self.flip, 'pdu_in'))
self.tb.msg_connect((self.flip, 'pdu_out'), (self.debug, 'store'))
i_vec = pmt.init_f32vector(6, [1, -1, -1, 1, -1, 1])
e_vec = pmt.init_u8vector(6, [1, 0, 0, 1, 0, 1])
in_pdu = pmt.cons(pmt.make_dict(), i_vec)
e_pdu = pmt.cons(pmt.make_dict(), e_vec)
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
print("test from_pam:")
print("pdu expected: " + repr(pmt.car(e_pdu)))
print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
print("data expected: " + repr(pmt.u8vector_elements(pmt.cdr(e_pdu))))
print("data got: " +
repr(pmt.u8vector_elements(pmt.cdr(self.debug.get_message(0)))))
print()
self.assertTrue(pmt.equal(self.debug.get_message(0), e_pdu))
def test_004_unpack_LSB(self):
self.pack.set_mode(pdu_utils.MODE_UNPACK_BYTE)
self.pack.set_bit_order(pdu_utils.BIT_ORDER_LSB_FIRST)
in_data = [123, 209, 17, 35]
expected_data = [
1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0,
0, 0, 1, 1, 0, 0, 0, 1, 0, 0
]
in_pdu = pmt.cons(pmt.make_dict(),
pmt.init_u8vector(len(in_data), in_data))
expected_pdu = pmt.cons(
pmt.make_dict(),
pmt.init_u8vector(len(expected_data), expected_data))
self.tb.start()
time.sleep(.001)
self.emitter.emit(
pmt.cons(pmt.intern("NON U8 PDU"), pmt.init_f32vector(2,
[1.9, 2])))
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
self.assertTrue(pmt.equal(self.debug.get_message(0), expected_pdu))
def test_monte_carlo(self):
emitter = pdu_utils.message_emitter()
clock_rec = pdu_utils.pdu_clock_recovery(True)
msg_debug = blocks.message_debug()
# make connections
self.tb.msg_connect((emitter, 'msg'), (clock_rec, 'pdu_in'))
self.tb.msg_connect((clock_rec, 'pdu_out'), (msg_debug, 'store'))
# run
self.tb.start()
time.sleep(.05)
# generate and emit
for i in range(100):
n_symbols = 100
sps = 8
noise_power = 0.02 * i
original_bits = np.random.randint(0, 2, n_symbols)
original_samples = original_bits * 2 - 1
sample_rate = 1e6
symbol_rate = sample_rate / sps
data = np.repeat(original_samples, sps) + (
np.random.rand(n_symbols * sps) * np.sqrt(noise_power))
meta = pmt.make_dict()
meta = pmt.dict_add(meta, self.pmt_sample_rate,
pmt.from_double(1e6))
vector = pmt.init_f32vector(len(data), data)
emitter.emit(pmt.cons(meta, vector))
time.sleep(.05)
result = msg_debug.get_message(i)
result_meta = pmt.car(result)
result_vector = pmt.to_python(pmt.cdr(result))
n_errors = sum(original_bits[:len(result_vector)]
^ result_vector[:len(original_bits)])
result_rate = pmt.to_double(
pmt.dict_ref(result_meta, self.pmt_symbol_rate, pmt.PMT_NIL))
#print("result is ", result_rate)
#print("we expected ", symbol_rate)
#print("result vector is", result_vector)
#print("we expected ", original_bits)
#print("num errors", n_errors)
# assert some stuff
if n_errors != 0:
print("got bad data", i)
if (result_rate - symbol_rate) > 100:
print("got bad rate", i)
# shut down
self.tb.stop()
self.tb.wait()
self.assertTrue(True)
def test_003_change_f32(self):
self.upsample.set_n(1)
self.upsample.set_repeat(True)
in_data = [0, 1, 2, 4, 8, 16, 32]
expected_data2 = [0, 0, 1, 1, 2, 2, 4, 4, 8, 8, 16, 16, 32, 32]
expected_data3 = [
0, 0, 0, 1, 1, 1, 2, 2, 2, 4, 4, 4, 8, 8, 8, 16, 16, 16, 32, 32, 32
]
in_pdu = pmt.cons(pmt.make_dict(),
pmt.init_f32vector(len(in_data), in_data))
expected_pdu1 = pmt.cons(pmt.make_dict(),
pmt.init_f32vector(len(in_data), in_data))
expected_pdu2 = pmt.cons(
pmt.make_dict(),
pmt.init_f32vector(len(expected_data2), expected_data2))
expected_pdu3 = pmt.cons(
pmt.make_dict(),
pmt.init_f32vector(len(expected_data3), expected_data3))
expected_pdu4 = pmt.cons(
pmt.make_dict(),
pmt.init_f32vector(len(expected_data3), expected_data3))
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.001)
self.upsample.set_n(2)
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.001)
self.upsample.set_n(3)
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.001)
self.upsample.set_n(0)
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.05)
self.tb.stop()
self.tb.wait()
self.assertTrue(pmt.equal(self.debug.get_message(0), expected_pdu1))
self.assertTrue(pmt.equal(self.debug.get_message(1), expected_pdu2))
self.assertTrue(pmt.equal(self.debug.get_message(2), expected_pdu3))
self.assertTrue(pmt.equal(self.debug.get_message(3), expected_pdu4))
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 = (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 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 verify_vector_snr(self, constellation_order, nbits):
constellation, bits_rep = generate_gray_constellation(
constellation_order)
data = np.random.randint(0, 2,
constellation_order * nbits).astype(np.uint8)
symbols = map_to_constellation(data, constellation)
snr = np.arange(35, dtype=np.float) + 1.
snr_step = 2.5
tags = []
offsets = (0, 50, 400, 450, 800)
last_offset = 0
ref = np.array([], dtype=np.float32)
for offset in offsets:
valuevector = pmt.init_f32vector(snr.size, snr.tolist())
t = gr.tag_utils.python_to_tag(
(offset, pmt.string_to_symbol("snr"), valuevector))
tags.append(t)
syms = symbols[last_offset:offset]
# print(syms.size)
ref_ln_probs = calculate_symbol_log_probabilities(
syms, constellation, snr - snr_step)
refs = calculate_llrs(ref_ln_probs)
ref = np.concatenate((ref, refs))
last_offset = offset
snr += snr_step
syms = symbols[last_offset:]
ref_ln_probs = calculate_symbol_log_probabilities(
syms, constellation, snr - snr_step)
refs = calculate_llrs(ref_ln_probs)
ref = np.concatenate((ref, refs))
ref *= .5
# print(f'test: Order={constellation_order}, bits={nbits}/{data.size}, packed={is_packed}')
mapper = symbolmapping.symbol_demapper_cf(constellation_order, "GRAY",
"snr")
src = blocks.vector_source_c(symbols, False, 1, tags)
snk = blocks.vector_sink_f()
self.tb.connect(src, mapper, snk)
self.tb.run()
res = np.array(snk.data())
if constellation_order > 3:
self.assertFloatTuplesAlmostEqual(tuple(np.sign(res)),
tuple(np.sign(ref)))
else:
# for i in range(ref.size - 10):
# if not np.abs(ref[i + 10] - res[i + 10]) < 1e-5:
# print(i, ref[i], res[i], np.abs(ref[i] - res[i]) < 1e-5)
self.assertFloatTuplesAlmostEqual(tuple(res), tuple(ref), 5)
def test_001_f_32 (self):
self.source = blocks.vector_source_f(range(0,32*3), False, 1, [])
self.ts_pdu = pdu_utils.take_skip_to_pdu_f(32, 32)
self.debug = blocks.message_debug()
self.tb.connect((self.source, 0), (self.ts_pdu, 0))
self.tb.msg_connect((self.ts_pdu, 'pdu_out'), (self.debug, 'store'))
dic = pmt.dict_add(pmt.make_dict(), pmt.intern("pdu_num"), pmt.from_uint64(0))
vec = pmt.init_f32vector(32, range(0,32))
expected = pmt.cons(dic,vec)
self.tb.run ()
actual = self.debug.get_message(0)
self.assertEqualPDU(actual, expected)
def test_004_f32(self):
'''
float input data, no decimation, odd number of taps
'''
self.dut = pdu_utils.pdu_fir_filter(1, [.2] * 5)
self.connectUp()
i_data = [
1,
] * 10
i_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_double(1000.0))
in_pdu = pmt.cons(i_meta, pmt.init_f32vector(len(i_data), i_data))
e_data = [
.6,
.8,
] + [
1,
] * 6 + [.8, .6]
e_meta = pmt.dict_add(pmt.make_dict(), pmt.intern("sample_rate"),
pmt.from_double(1000.0))
e_pdu = pmt.cons(e_meta, pmt.init_f32vector(len(e_data), e_data))
self.tb.start()
time.sleep(.01)
self.emitter.emit(in_pdu)
time.sleep(.1)
self.tb.stop()
self.tb.wait()
#print("test_004:")
#print("pdu expected: " + repr(pmt.car(e_pdu)))
#print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
#print("data expected: " + repr(pmt.to_python(pmt.cdr(e_pdu))))
#print("data got: " + repr(pmt.to_python(pmt.cdr(self.debug.get_message(0)))))
#print
self.assertTrue(pmt.equal(self.debug.get_message(0), e_pdu))
def test_manchester_decode_nrz(self):
self.dut = pdu_utils.pdu_binary_tools(6) #MANCHESTER_DECODE
self.connectUp()
i_vec = pmt.init_f32vector(16, [1, -1, 1, -1, -1, 1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1])
e_vec = pmt.init_f32vector(8, [1, 1, -1, -1, 1, -1, 1, -1])
in_pdu = pmt.cons(pmt.make_dict(), i_vec)
e_pdu = pmt.cons(pmt.make_dict(), e_vec)
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_pdu)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
print("test manchester decode nrz:")
print("pdu expected: " + repr(pmt.car(e_pdu)))
print("pdu got: " + repr(pmt.car(self.debug.get_message(0))))
print("data expected: " + repr(pmt.f32vector_elements(pmt.cdr(e_pdu))))
print("data got: " + repr(pmt.f32vector_elements(pmt.cdr(self.debug.get_message(0)))))
self.assertTrue(pmt.equal(self.debug.get_message(0), e_pdu))
def test23_absolute_serialization_float_uvecs(self):
# f32_vector SERDES
in_vec = [0x01020304, 2.1, 3.1415, 1e-9]
# old serialization (f32 serialized as f64):
# in_str = b'\n\x08\x00\x00\x00\x04\x01\x00Ap 0@\x00\x00\x00@\x00\xcc\xcc\xc0\x00\x00\x00@\t!\xca\xc0\x00\x00\x00>\x11.\x0b\xe0\x00\x00\x00'
in_str = b'\n\x08\x00\x00\x00\x04\x01\x00K\x81\x01\x82@\x06ff@I\x0eV0\x89p_'
out_str = pmt.serialize_str(pmt.init_f32vector(len(in_vec), in_vec))
self.assertEqual(out_str, in_str)
# old serialization (f32 serialized as f64):
# in_str = b'\n\x08\x00\x00\x00\x04\x01\x00?\xf0\x00\x00\x00\x00\x00\x00@\x00\x00\x00\x00\x00\x00\x00\xbf\xc0\x00\x00\x00\x00\x00\x00@\xfe$\x00\x00\x00\x00\x00'
in_str = b'\n\x08\x00\x00\x00\x04\x01\x00?\x80\x00\x00@\x00\x00\x00\xbe\x00\x00\x00G\xf1 \x00'
in_vec = [1., 2., -0.125, 123456.0]
out_vec = pmt.f32vector_elements(pmt.deserialize_str(in_str))
self.assertEqual(out_vec, in_vec)
# f64_vector SERDES
in_vec = [0x010203040506, 2.1, 1e-9]
in_str = b'\n\t\x00\x00\x00\x03\x01\x00Bp 0@P`\x00@\x00\xcc\xcc\xcc\xcc\xcc\xcd>\x11.\x0b\xe8&\xd6\x95'
out_str = pmt.serialize_str(pmt.init_f64vector(len(in_vec), in_vec))
self.assertEqual(out_str, in_str)
in_str = b'\n\t\x00\x00\x00\x04\x01\x00?\xf0\x00\x00\x00\x00\x00\x00@\x00\x00\x00\x00\x00\x00\x00\xbf\xc0\x00\x00\x00\x00\x00\x00A\x9do4T\x00\x00\x00'
in_vec = [1., 2., -0.125, 123456789.0]
out_vec = pmt.f64vector_elements(pmt.deserialize_str(in_str))
self.assertEqual(out_vec, in_vec)
# c32_vector SERDES
in_vec = [0x01020304 - 1j, 3.1415 + 99.99j]
# old serialization (c32 serialized as c64):
# in_str = b'\n\n\x00\x00\x00\x02\x01\x00Ap 0@\x00\x00\x00\xbf\xf0\x00\x00\x00\x00\x00\x00@\t!\xca\xc0\x00\x00\x00@X\xff\\ \x00\x00\x00'
in_str = b'\n\n\x00\x00\x00\x02\x01\x00\xbf\x80\x00\x00K\x81\x01\x82B\xc7\xfa\xe1@I\x0eV'
out_str = pmt.serialize_str(pmt.init_c32vector(len(in_vec), in_vec))
self.assertEqual(out_str, in_str)
# old serialization (c32 serialized as c64):
# in_str = b'\n\n\x00\x00\x00\x02\x01\x00?\xf0\x00\x00\x00\x00\x00\x00?\xf0\x00\x00\x00\x00\x00\x00?\xc0\x00\x00\x00\x00\x00\x00\xc1c\x12\xcf\xe0\x00\x00\x00'
in_str = b'\n\n\x00\x00\x00\x02\x01\x00?\x80\x00\x00?\x80\x00\x00\xcb\x18\x96\x7f>\x00\x00\x00'
in_vec = [1 + 1j, .125 - 9999999j]
out_vec = pmt.c32vector_elements(pmt.deserialize_str(in_str))
self.assertEqual(out_vec, in_vec)
# c64_vector SERDES
in_vec = [0xffffffff, .9j]
in_str = b'\n\x0b\x00\x00\x00\x02\x01\x00A\xef\xff\xff\xff\xe0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00?\xec\xcc\xcc\xcc\xcc\xcc\xcd'
out_str = pmt.serialize_str(pmt.init_c64vector(len(in_vec), in_vec))
self.assertEqual(out_str, in_str)
in_str = b'\n\x0b\x00\x00\x00\x02\x01\x00?\xf0\x00\x00\x00\x00\x00\x00?\xf0\x00\x00\x00\x00\x00\x00?\xc0\x00\x00\x00\x00\x00\x00\xc1c\x12\xcf\xe0\x00\x00\x00'
in_vec = [1 + 1j, .125 - 9999999j]
out_vec = pmt.c64vector_elements(pmt.deserialize_str(in_str))
self.assertEqual(out_vec, in_vec)
def test_003_pdu (self):
self.emd.set_key(pmt.intern("key2"))
self.emd.set_scale(3.333)
self.emd.set_offset(2)
in_msg = pmt.cons(self.base_dict, pmt.init_f32vector(3,[1.1,2.2,3.3]))
expected_msg = pmt.cons(pmt.intern("key2"), pmt.intern("value2"))
self.tb.start()
time.sleep(.001)
self.emitter.emit(in_msg)
time.sleep(.01)
self.tb.stop()
self.tb.wait()
self.assertTrue(pmt.equal(self.debug.get_message(0), expected_msg))
def test_001(self):
#Test the overflow buffer in pdu_to_tagged_stream
src_data = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0]
src = blocks.pdu_to_tagged_stream(blocks.float_t)
snk = blocks.vector_sink_f()
self.tb.connect(src, snk)
port = pmt.intern("pdus")
msg = pmt.cons( pmt.PMT_NIL, pmt.init_f32vector(10, src_data))
src.to_basic_block()._post(port, msg)
src.to_basic_block()._post(pmt.intern("system"),
pmt.cons(pmt.intern("done"), pmt.from_long(1)))
self.tb.start()
self.tb.wait()
self.assertEqual(src_data, list(snk.data()) )
def test_001(self):
#Test the overflow buffer in pdu_to_tagged_stream
src_data = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0]
src = blocks.pdu_to_tagged_stream(blocks.float_t)
snk = blocks.vector_sink_f()
self.tb.connect(src, snk)
port = pmt.intern("pdus")
msg = pmt.cons( pmt.PMT_NIL, pmt.init_f32vector(10, src_data))
src.to_basic_block()._post(port, msg)
self.tb.start()
#ideally, would wait until we get ten samples
time.sleep(0.2)
self.tb.stop()
self.assertEqual(src_data, list(snk.data()) )
def handler(self, msg):
meta = pmt.car(msg)
data_i = pmt.cdr(msg)
# convert pmt -> int list (of bits) -- chop off front and back
# data = array.array('B', pmt.u8vector_elements(data_i))
data = array.array("f", pmt.f32vector_elements(data_i))
data = data[self.skip : -1]
nblocks = math.floor(len(data) / self.blocksize)
data = data[0 : int(nblocks * self.blocksize)]
# print "framealign: %d in, %d blocks, %d blocksize, %d out"%(len(pmt.f32vector_elements(data_i)), nblocks, self.blocksize, len(data));
# send output
# fout = pmt.init_u8vector(len(data), data.tolist());
fout = pmt.init_f32vector(len(data), data.tolist())
pdu = pmt.cons(meta, fout)
self.message_port_pub(pmt.intern("fpdus"), pdu)
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)
def handler(self, msg):
# get input
meta = pmt.car(msg);
samples = pmt.cdr(msg);
x = numpy.array(pmt.c32vector_elements(samples), dtype=numpy.complex64)
# upsample and normalize power
xi = signal.resample(x, len(x)* (self.N / self.T));
# compute the symbol timing
xt = numpy.real(xi*xi.conjugate()) * numpy.exp( (-1j*2.0*numpy.pi/self.N) * numpy.linspace(1,len(xi),len(xi)) );
s = numpy.sum(x);
tau = (-self.T/(2*numpy.pi)) * numpy.arctan2(numpy.imag(s), numpy.real(s));
# publish timing metric for debugging
tm = pmt.init_c32vector(xt.size, map(lambda i: complex(i), xt))
tm_cpdu = pmt.cons(meta,tm)
self.message_port_pub(pmt.intern("timing_metric"), tm_cpdu);
# extract symbols
offset = round(self.N*tau/self.T);
fo = (offset + self.N)%self.N;
sym = xi[fo:-1:self.N];
# normalize power to 1
sym = sym / numpy.mean(numpy.real(sym * sym.conjugate()));
# publish timing correct symbols (with frequency offset)
sm = pmt.init_c32vector(sym.size, map(lambda i: complex(i), sym))
sm_cpdu = pmt.cons(meta,sm)
self.message_port_pub(pmt.intern("sym_timed"), sm_cpdu);
# compute symbol frequency offset (linear phase offset within block)
x_n = numpy.power(sym[200:1000], self.O);
phase_ramp = numpy.unwrap(numpy.angle( x_n ));
f_off_O = numpy.mean(numpy.diff(phase_ramp));
goodstat = numpy.std(numpy.diff(phase_ramp));
f_off = f_off_O / self.O;
# check percentages
self.nburst = self.nburst + 1;
if(goodstat < 1.0):
self.nburst_ok = self.nburst_ok + 1;
else:
print "WARNING: feedforward synchronizer discarding burst, goodness metric %f < 1.0 (likely poor timing recovery occurred, the CFO phase ramp looks like garbage)"%(goodstat)
return
print "sync: "+str((goodstat, self.nburst, self.nburst_ok, self.nburst_ok*100.0 / self.nburst));
# export phase ramp
pr = pmt.init_f32vector(phase_ramp.size, map(lambda i: float(i), phase_ramp))
pr_fpdu = pmt.cons(meta,pr)
self.message_port_pub(pmt.intern("phase_ramp"), pr_fpdu);
# apply frequency offset correction
xc = numpy.multiply(sym, numpy.exp(-1j * f_off * numpy.linspace(1,sym.size,sym.size)));
# compute and correct static symbol phase offset
xcp = numpy.power(xc[400:1000], self.O);
# linear mean
theta = numpy.mean( numpy.angle( xcp ) ) / self.O + numpy.pi/4;
# weighted mean
# theta = numpy.sum(numpy.angle(xcp) * numpy.abs(xcp)) / numpy.sum(numpy.abs(xcp));
# theta = theta / self.O + numpy.pi/4;
xc = xc * numpy.exp(-1j*theta);
# show time, frequency and phase estimates
#print "tau = %f, f_off = %f, theta = %f"%(tau, f_off, theta);
# add our estimates to the metadata dictionary
meta = pmt.dict_add(meta, pmt.intern("tau"), pmt.from_double(tau));
meta = pmt.dict_add(meta, pmt.intern("f_off"), pmt.from_double(f_off));
meta = pmt.dict_add(meta, pmt.intern("theta"), pmt.from_double(theta));
# publish freq corrected symbols
xcm = pmt.init_c32vector(xc.size, map(lambda i: complex(i), xc))
xcm_cpdu = pmt.cons(meta,xcm)
self.message_port_pub(pmt.intern("cpdus"), xcm_cpdu);
def test03(self):
v = pmt.init_f32vector(3, [11, -22, 33])
s = pmt.serialize_str(v)
d = pmt.deserialize_str(s)
self.assertTrue(pmt.equal(v, d))
self.assertEqual(pmt.uniform_vector_itemsize(v), 4)
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 test03(self):
v = pmt.init_f32vector(3, [11, -22, 33])
s = pmt.serialize_str(v)
d = pmt.deserialize_str(s)
self.assertTrue(pmt.equal(v, d))