diff options
Diffstat (limited to 'controller/fw/tools')
| -rw-r--r-- | controller/fw/tools/cwt_wavelet_header_gen.py | 2 | ||||
| -rw-r--r-- | controller/fw/tools/dsss_demod_test.c | 2 | ||||
| -rw-r--r-- | controller/fw/tools/dsss_demod_test_runner.py | 200 | ||||
| -rw-r--r-- | controller/fw/tools/dsss_demod_test_waveform_gen.py | 71 | ||||
| -rw-r--r-- | controller/fw/tools/fmeas_export_ocxo_2day.bin | bin | 0 -> 4908532 bytes | |||
| -rw-r--r-- | controller/fw/tools/grid_freq_psd_spl_108pt.json | 1 |
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 Binary files differnew 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, 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