fw simulator: WIP

6 files changed, 258 insertions, 18 deletions

diff --git a/controller/fw/tools/cwt_wavelet_header_gen.py b/controller/fw/tools/cwt_wavelet_header_gen.py
index e9713a7..8be785b 100644
--- a/controller/fw/tools/cwt_wavelet_header_gen.py
+++ b/controller/fw/tools/cwt_wavelet_header_gen.py
@@ -18,7 +18,7 @@ if __name__ == '__main__':
     print(f'const float {varname}[{args.n}] = {{')
 
     win = sig.ricker(args.n, args.w)
-    par = ' '.join(f'{f:>015.8g}f,' for f in win)
+    par = ' '.join(f'{f:>015.12e}f,' for f in win)
     print(textwrap.fill(par,
         initial_indent=' '*4, subsequent_indent=' '*4,
         width=120,
diff --git a/controller/fw/tools/dsss_demod_test.c b/controller/fw/tools/dsss_demod_test.c
index 7a4ca71..a1e269a 100644
--- a/controller/fw/tools/dsss_demod_test.c
+++ b/controller/fw/tools/dsss_demod_test.c
@@ -12,7 +12,7 @@
 
 #include "dsss_demod.h"
 
-void handle_dsss_received(uint8_t data[static TRANSMISSION_SYMBOLS]) {
+void handle_dsss_received(symbol_t data[static TRANSMISSION_SYMBOLS]) {
     printf("data sequence received: [ ");
     for (size_t i=0; i<TRANSMISSION_SYMBOLS; i++) {
         printf("%+3d", ((data[i]&1) ? 1 : -1) * (data[i]>>1));
diff --git a/controller/fw/tools/dsss_demod_test_runner.py b/controller/fw/tools/dsss_demod_test_runner.py
index 4e93d7b..e31a686 100644
--- a/controller/fw/tools/dsss_demod_test_runner.py
+++ b/controller/fw/tools/dsss_demod_test_runner.py
@@ -4,36 +4,204 @@ import os
 from os import path
 import subprocess
 import json
+from collections import namedtuple, defaultdict
+from tqdm import tqdm
+import uuid
+import multiprocessing
+import sqlite3 
+import time
+from urllib.parse import urlparse
+import functools
+import tempfile
+import itertools
 
 import numpy as np
 np.set_printoptions(linewidth=240)
 
+from dsss_demod_test_waveform_gen import load_noise_meas_params, load_noise_synth_params,\
+        mains_noise_measured, mains_noise_synthetic, modulate as dsss_modulate
+
+
+def build_test_binary(nbits, thf, decimation, symbols, cachedir):
+    build_id = str(uuid.uuid4())
+    builddir = path.join(cachedir, build_id)
+    os.mkdir(builddir)
+
+    cwd = path.join(path.dirname(__file__), '..')
+
+    env = os.environ.copy()
+    env['BUILDDIR'] = path.abspath(builddir)
+    env['DSSS_GOLD_CODE_NBITS'] = str(nbits)
+    env['DSSS_DECIMATION'] = str(decimation)
+    env['DSSS_THRESHOLD_FACTOR'] = str(thf)
+    env['DSSS_WAVELET_WIDTH'] = str(0.73 * decimation)
+    env['DSSS_WAVELET_LUT_SIZE'] = str(10 * decimation)
+    env['TRANSMISSION_SYMBOLS'] = str(symbols)
+
+    with open(path.join(builddir, 'make_stdout.txt'), 'w') as stdout,\
+         open(path.join(builddir, 'make_stderr.txt'), 'w') as stderr:
+        subprocess.run(['make', 'clean', os.path.abspath(path.join(builddir, 'tools/dsss_demod_test'))],
+                env=env, cwd=cwd, check=True, stdout=stdout, stderr=stderr)
+
+    return build_id
+
+@functools.lru_cache()
+def load_noise_gen(url):
+    schema, refpath = url.split('://')
+    if not path.isabs(refpath):
+        refpath = path.abspath(path.join(path.dirname(__file__), refpath))
+
+    if schema == 'meas':
+        return mains_noise_measured, load_noise_meas_params(refpath)
+    elif schema == 'synth':
+        return mains_noise_synthetic, load_noise_synth_params(refpath)
+    else:
+        raise ValueError('Invalid schema', schema)
+
+def sequence_matcher(test_data, decoded, max_shift=3):
+    match_result = []
+    for shift in range(-max_shift, max_shift):
+        failures = -shift if shift < 0 else 0 # we're skipping the first $shift symbols
+        a = test_data if shift > 0 else test_data[-shift:]
+        b = decoded if shift < 0 else decoded[shift:]
+        for i, (ref, found) in enumerate(itertools.zip_longest(a, b)):
+            if ref is None: # end of signal
+                break
+            if ref != found:
+                failures += 1
+        match_result.append(failures)
+    failures = min(match_result)
+    return failures/len(test_data)
+
+ResultParams = namedtuple('ResultParams', ['nbits', 'thf', 'decimation', 'symbols', 'seed', 'amplitude', 'background'])
+
+def run_test(seed, amplitude_spec, background, nbits, decimation, symbols, thfs, lookup_binary, cachedir):
+    noise_gen, noise_params = load_noise_gen(background)
+
+    test_data = np.random.RandomState(seed=seed).randint(0, 2 * (2**nbits), symbols)
+    
+    signal = np.repeat(dsss_modulate(test_data, nbits) * 2.0 - 1, decimation)
+    # We're re-using the seed here. This is not a problem.
+    noise = noise_gen(seed, len(signal), *noise_params)
+
+    amplitudes = amplitude_spec[0] * 10 ** np.linspace(0, amplitude_spec[1], amplitude_spec[2])
+    output = []
+    for amp in amplitudes:
+        with tempfile.NamedTemporaryFile(dir=cachedir) as f:
+            waveform = signal*amp + noise
+            f.write(waveform.astype('float').tobytes())
+            f.flush()
+        
+            for thf in thfs:
+                cmdline = [lookup_binary(nbits, thf, decimation, symbols), f.name]
+                proc = subprocess.Popen(cmdline, stdout=subprocess.PIPE, text=True)
+                stdout, _stderr = proc.communicate()
+                if proc.returncode != 0:
+                    raise SystemError(f'Subprocess signalled error: {proc.returncode=}')
+
+                lines = stdout.splitlines()
+                matched = [ l.partition('[')[2].partition(']')[0]
+                        for l in lines if l.strip().startswith('data sequence received:') ]
+                matched = [ [ int(elem) for elem in l.split(',') ] for l in matched ]
+
+                ser = min(sequence_matcher(test_data, match) for match in matched) if matched else None
+                rpars = ResultParams(nbits, thf, decimation, symbols, seed, amp, background)
+                output.append((rpars, ser))
+                print(f'ran {rpars} {ser=} {" ".join(cmdline)}')
+    return output
+
+def parallel_generator(db, table, columns, builder, param_list, desc, context={}, params_mapper=lambda *args: args):
+    with multiprocessing.Pool(multiprocessing.cpu_count()) as pool:
+        with db as conn:
+            jobs = []
+            for params in param_list:
+                found_res = conn.execute(
+                            f'SELECT result FROM {table} WHERE ({",".join(columns)}) = ({",".join("?"*len(columns))})',
+                        params_mapper(*params)).fetchone()
+
+                if found_res:
+                    yield params, json.loads(*found_res)
+
+                else:
+                    jobs.append((params, pool.apply_async(builder, params, context)))
+
+        pool.close()
+        print('Using', len(param_list) - len(jobs), 'cached jobs', flush=True)
+        with tqdm(total=len(jobs), desc=desc) as tq:
+            for params, res in jobs:
+                tq.update(1)
+                result = res.get()
+                with db as conn:
+                    conn.execute(f'INSERT INTO {table} VALUES ({"?,"*len(params)}?,?)',
+                            (*params_mapper(*params), json.dumps(result), timestamp()))
+                yield params, result
+        pool.join()
 
 if __name__ == '__main__':
     import argparse
     parser = argparse.ArgumentParser()
-    parser.add_argument(metavar='test_data_directory', dest='dir', help='Directory with test data .bin files')
-    default_binary = path.abspath(path.join(path.dirname(__file__), '../build/tools/dsss_demod_test'))
-    parser.add_argument(metavar='test_binary', dest='binary', nargs='?', default=default_binary)
-    parser.add_argument('-d', '--dump', help='Write raw measurements to JSON file')
+    parser.add_argument('-d', '--dump', help='Write results to JSON file')
+    parser.add_argument('-c', '--cachedir', default='dsss_test_cache', help='Directory to store build output and data in')
     args = parser.parse_args()
 
-    bin_files = [ path.join(args.dir, d) for d in os.listdir(args.dir) if d.lower().endswith('.bin') ]
+    DecoderParams = namedtuple('DecoderParams', ['nbits', 'thf', 'decimation', 'symbols'])
+    dec_paramses = [ DecoderParams(nbits=nbits, thf=thf, decimation=decimation, symbols=20)
+            for nbits in [5, 6]
+            for thf in [4.5, 4.0, 5.0]
+            for decimation in [10, 5, 22] ]
+#    dec_paramses = [ DecoderParams(nbits=nbits, thf=thf, decimation=decimation, symbols=100)
+#            for nbits in [5, 6, 7, 8]
+#            for thf in [1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0, 5.5, 6.0, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0]
+#            for decimation in [1, 2, 3, 4, 5, 6, 9, 10, 11, 12, 16, 22, 30, 40, 50] ]
+
+    build_cache_dir = path.join(args.cachedir, 'builds')
+    data_cache_dir = path.join(args.cachedir, 'data')
+    os.makedirs(build_cache_dir, exist_ok=True)
+    os.makedirs(data_cache_dir, exist_ok=True)
+
+    build_db = sqlite3.connect(path.join(args.cachedir, 'build_db.sqlite3'))
+    build_db.execute('CREATE TABLE IF NOT EXISTS builds (nbits, thf, decimation, symbols, result, timestamp)')
+    timestamp = lambda: int(time.time()*1000)
+
+    builds = dict(parallel_generator(build_db, table='builds', columns=['nbits', 'thf', 'decimation', 'symbols'],
+            builder=build_test_binary, param_list=dec_paramses, desc='Building decoders',
+            context=dict(cachedir=build_cache_dir)))
+    print('Done building decoders.')
+
+    GeneratorParams = namedtuple('GeneratorParams', ['seed', 'amplitude_spec', 'background'])
+    gen_params = [ GeneratorParams(rep, (5e-3, 1, 5), background)
+            #GeneratorParams(rep, (0.05e-3, 3.5, 50), background)
+            for rep in range(30)
+            for background in ['meas://fmeas_export_ocxo_2day.bin', 'synth://grid_freq_psd_spl_108pt.json'] ]
+
+    data_db = sqlite3.connect(path.join(args.cachedir, 'data_db.sqlite3'))
+    data_db.execute('CREATE TABLE IF NOT EXISTS waveforms'
+                    '(seed, amplitude_spec, background, nbits, decimation, symbols, thresholds, result, timestamp)')
+
+    dec_param_groups = defaultdict(lambda: [])
+    for nbits, thf, decimation, symbols in dec_paramses:
+        dec_param_groups[(nbits, decimation, symbols)].append(thf)
+    waveform_params = [ (*gp, *dp, thfs) for gp in gen_params for dp, thfs in dec_param_groups.items() ]
+    print(f'Generated {len(waveform_params)} parameter sets')
 
-    savedata = {}
-    for p in bin_files:
-        output = subprocess.check_output([args.binary, p], stderr=subprocess.DEVNULL)
-        measurements = np.array([ float(value) for _offset, value in [ line.split() for line in output.splitlines() ] ])
-        savedata[p] = list(measurements)
+    def lookup_binary(*params):
+        return path.join(build_cache_dir, builds[tuple(params)], 'tools/dsss_demod_test')
 
-        # Cut off first and last sample for mean and RMS calculations as these show boundary effects.
-        measurements = measurements[1:-1]
-        mean = np.mean(measurements)
-        rms = np.sqrt(np.mean(np.square(measurements - mean)))
+    def params_mapper(seed, amplitude_spec, background, nbits, decimation, symbols, thresholds):
+        amplitude_spec = ','.join(str(x) for x in amplitude_spec)
+        thresholds = ','.join(str(x) for x in thresholds)
+        return seed, amplitude_spec, background, nbits, decimation, symbols, thresholds
 
-        print(f'{path.basename(p):<60}:    mean={mean:<8.4f}Hz rms={rms*1000:.3f}mHz')
+    results = []
+    for _params, chunk in parallel_generator(data_db, 'waveforms',
+            ['seed', 'amplitude_spec', 'background', 'nbits', 'decimation', 'symbols', 'thresholds'],
+            params_mapper=params_mapper,
+            builder=run_test,
+            param_list=waveform_params, desc='Generating waveforms',
+            context=dict(cachedir=data_cache_dir, lookup_binary=lookup_binary)):
+        results += chunk
 
     if args.dump:
         with open(args.dump, 'w') as f:
-            json.dump(savedata, f)
+            json.dump(results, f)
 
diff --git a/controller/fw/tools/dsss_demod_test_waveform_gen.py b/controller/fw/tools/dsss_demod_test_waveform_gen.py
new file mode 100644
index 0000000..aa9ec93
--- /dev/null
+++ b/controller/fw/tools/dsss_demod_test_waveform_gen.py
@@ -0,0 +1,71 @@
+
+import functools
+
+import numpy as np
+import numbers
+import math
+from scipy import signal as sig
+import scipy.fftpack
+
+sampling_rate = 10 # sp/s
+
+# From https://github.com/mubeta06/python/blob/master/signal_processing/sp/gold.py
+preferred_pairs = {5:[[2],[1,2,3]], 6:[[5],[1,4,5]], 7:[[4],[4,5,6]],
+                        8:[[1,2,3,6,7],[1,2,7]], 9:[[5],[3,5,6]], 
+                        10:[[2,5,9],[3,4,6,8,9]], 11:[[9],[3,6,9]]}
+
+def gen_gold(seq1, seq2):
+    gold = [seq1, seq2]
+    for shift in range(len(seq1)):
+        gold.append(seq1 ^ np.roll(seq2, -shift))
+    return gold
+
+def gold(n):
+    n = int(n)
+    if not n in preferred_pairs:
+        raise KeyError('preferred pairs for %s bits unknown' % str(n))
+    t0, t1 = preferred_pairs[n]
+    (seq0, _st0), (seq1, _st1) = sig.max_len_seq(n, taps=t0), sig.max_len_seq(n, taps=t1)
+    return gen_gold(seq0, seq1)
+
+def modulate(data, nbits=5):
+    # 0, 1 -> -1, 1
+    mask = np.array(gold(nbits))*2 - 1
+    
+    sel = mask[data>>1]
+    data_lsb_centered = ((data&1)*2 - 1)
+
+    signal = (np.multiply(sel, np.tile(data_lsb_centered, (2**nbits-1, 1)).T).flatten() + 1) // 2
+    return np.hstack([ np.zeros(len(mask)), signal, np.zeros(len(mask)) ])
+
+def load_noise_meas_params(capture_file):
+    with open(capture_file, 'rb') as f:
+        meas_data = np.copy(np.frombuffer(f.read(), dtype='float32'))
+        meas_data -= np.mean(meas_data)
+        return (meas_data,)
+
+def mains_noise_measured(seed, n, meas_data):
+    last_valid = len(meas_data) - n
+    st = np.random.RandomState(seed)
+    start = st.randint(last_valid)
+    return meas_data[start:start+n]
+
+def load_noise_synth_params(specfile):
+    with open(specfile) as f:
+        d = json.load(f)
+        return (np.linspace(*d['x_spec']), # spl_x
+                d['x_spec'][2],            # spl_N
+                (d['t'], d['c'], d['k']))  # psd_spl
+
+def mains_noise_synthetic(seed, n, psd_spl, spl_N, spl_x):
+    st = np.random.RandomState(seed)
+    noise = st.normal(size=spl_N) * 2
+    spec = scipy.fftpack.fft(noise) **2
+
+    spec *= np.exp(scipy.interpolate.splev(spl_x, psd_spl))
+
+    spec **= 1/2
+    
+    renoise = scipy.fftpack.ifft(spec)
+    return renoise[10000:][:n]
+
diff --git a/controller/fw/tools/fmeas_export_ocxo_2day.bin b/controller/fw/tools/fmeas_export_ocxo_2day.bin
new file mode 100644
index 0000000..c0cd8a8
--- /dev/null
+++ b/controller/fw/tools/fmeas_export_ocxo_2day.bin
diff --git a/controller/fw/tools/grid_freq_psd_spl_108pt.json b/controller/fw/tools/grid_freq_psd_spl_108pt.json
new file mode 100644
index 0000000..5a0ff41
--- /dev/null
+++ b/controller/fw/tools/grid_freq_psd_spl_108pt.json
@@ -0,0 +1 @@
+{"x_spec": [3.2595692805152726e-05, 5.0, 613575], "t": [3.2595692805152726e-05, 3.2595692805152726e-05, 3.2595692805152726e-05, 3.2595692805152726e-05, 0.0001423024947075771, 0.00015800362803968106, 0.00017543716661470822, 0.00019479425764873777, 0.0002162871388378975, 0.00024015146540428407, 0.00026664889389955537, 0.00029606995109590574, 0.00032873721941990017, 0.0003650088738553592, 0.0004052826090950758, 0.00045000000000000004, 0.000499651343175437, 0.0005547810327489297, 0.0006159935292916862, 0.0006839599873288199, 0.0007594256141046668, 0.0008432178402871724, 0.0009362553921977272, 0.0010395583650374223, 0.0011542594075560205, 0.001281616140796111, 0.0014230249470757708, 0.001580036280396809, 0.0017543716661470824, 0.0019479425764873776, 0.002162871388378975, 0.0024015146540428403, 0.002666488938995554, 0.002960699510959057, 0.0032873721941990056, 0.0036500887385535925, 0.004052826090950754, 0.0045000000000000005, 0.00499651343175437, 0.005547810327489296, 0.006159935292916869, 0.0068395998732882, 0.007594256141046669, 0.008432178402871724, 0.009362553921977271, 0.010395583650374221, 0.011542594075560205, 0.012816161407961109, 0.014230249470757707, 0.01580036280396809, 0.017543716661470823, 0.01947942576487376, 0.02162871388378975, 0.024015146540428405, 0.026664889389955565, 0.02960699510959057, 0.03287372194199005, 0.036500887385535925, 0.04052826090950754, 0.045, 0.0499651343175437, 0.05547810327489296, 0.06159935292916863, 0.06839599873288206, 0.07594256141046668, 0.08432178402871732, 0.09362553921977272, 0.10395583650374222, 0.11542594075560206, 0.12816161407961107, 0.14230249470757705, 0.15800362803968088, 0.1754371666147082, 0.1947942576487376, 0.21628713883789774, 0.24015146540428406, 0.26664889389955565, 0.2960699510959057, 0.32873721941990053, 0.36500887385535924, 0.40528260909507535, 0.45, 0.499651343175437, 0.5547810327489296, 0.6159935292916868, 0.6839599873288206, 0.7594256141046669, 0.8432178402871732, 0.9362553921977271, 1.0395583650374223, 1.1542594075560206, 1.2816161407961109, 1.4230249470757708, 1.5800362803968104, 1.7543716661470823, 1.9479425764873777, 2.162871388378975, 2.4015146540428405, 2.6664889389955535, 2.960699510959057, 3.287372194199002, 3.6500887385535927, 4.052826090950758, 4.5, 5.0, 5.0, 5.0, 5.0], "c": [0.7720161468716866, -0.5547528253056444, 0.30706059086000753, 0.19422577014134906, -1.1954636661840032, 0.9215976941641111, -0.6668136393976918, -1.341269161156733, -0.16311330594842666, -1.7639636752234251, -1.238385544822954, -0.32649555618555554, -0.03086589610280171, -2.358195657381619, -0.5759152419849985, 0.1892225800004134, -1.8122889670546236, -0.8109120798216202, -0.5500991736738969, -4.680192969256771, -2.8007700704649876, 0.16866469558571784, -1.1040811840849307, -3.0243574268705546, -4.018139927365795, -4.100581028618109, -0.556354762846191, -7.414377514669229, 1.36396325920194, -6.002559557058508, -2.2113451390305365, -4.578944771104116, -4.372644849632638, -3.945339124673235, -4.778747958903158, -2.370174137632325, -5.7372466088109295, -4.707506574819875, -4.834404729330929, -5.005244244061701, -5.82644896783577, -4.717966026411524, -6.146374820241562, -4.972788381244952, -5.854957092953355, -5.702174935205885, -6.222035857079607, -6.2128389666872, -6.212821706753751, -6.253599689326325, -6.681685577659057, -6.372364384360678, -6.771223202540934, -6.856809137231159, -6.986412256164045, -7.190466178818742, -7.577896455149433, -7.515731696006047, -7.598155006351761, -7.824526916149126, -8.141496591776512, -8.36794927682997, -8.80307396767114, -8.828816533544659, -9.357524260470413, -9.658130054343863, -10.005768472049466, -10.499801262514108, -11.028689820560558, -11.413688641742898, -11.906162042727946, -12.232342460719975, -12.438432746733596, -13.088338100203112, -12.308710772618745, -11.685074853925329, -11.397838681243094, -12.265219694936695, -13.600359694898529, -14.031425961884718, -12.236885080485473, -13.527508426900974, -13.698402018452601, -13.397911198962568, -14.144410560196603, -13.905769594095293, -14.410874830544122, -14.531727635304264, -14.59275291853806, -14.35404826562502, -14.58670053318149, -14.432515268864977, -14.363428024828353, -14.429222027493264, -14.73947634127499, -14.717315405960353, -14.678539669792505, -14.825278423641382, -14.80936417940876, -14.943375264882789, -14.680885181815674, -14.54841244844906, -14.634365225950589, -14.609444790868906, 0.0, 0.0, 0.0, 0.0], "k": 3}
\ No newline at end of file