examples/a121/algo/distance/processor.py

examples/a121/algo/distance/processor.py#

  1# Copyright (c) Acconeer AB, 2022-2026
  2# All rights reserved
  3
  4from __future__ import annotations
  5
  6import copy
  7
  8import numpy as np
  9
 10import pyqtgraph as pg
 11
 12import acconeer.exptool as et
 13from acconeer.exptool import a121
 14from acconeer.exptool.a121.algo.distance import (
 15    Processor,
 16    ProcessorConfig,
 17    ProcessorContext,
 18    ThresholdMethod,
 19    calculate_bg_noise_std,
 20)
 21
 22
 23def main():
 24    args = a121.ExampleArgumentParser().parse_args()
 25    et.utils.config_logging(args)
 26
 27    client = a121.Client.open(**a121.get_client_args(args))
 28
 29    # Define sensor configuration.
 30    sensor_config = a121.SensorConfig(
 31        subsweeps=[
 32            a121.SubsweepConfig(
 33                start_point=50,
 34                step_length=4,
 35                num_points=50,
 36                profile=a121.Profile.PROFILE_1,
 37                hwaas=32,
 38                phase_enhancement=True,
 39                iq_imbalance_compensation=True,
 40            )
 41        ],
 42        sweeps_per_frame=1,
 43    )
 44    session_config = a121.SessionConfig(sensor_config)
 45
 46    # Calibrate noise.
 47    noise_sensor_config = copy.deepcopy(sensor_config)
 48    for subsweep in noise_sensor_config.subsweeps:
 49        # Disable Tx when measuring background noise.
 50        subsweep.enable_tx = False
 51
 52    metadata = client.setup_session(noise_sensor_config)
 53    client.start_session()
 54    result = client.get_next()
 55    client.stop_session()
 56
 57    stds = [
 58        calculate_bg_noise_std(subframe, subsweep_config)
 59        for (subframe, subsweep_config) in zip(result.subframes, noise_sensor_config.subsweeps)
 60    ]
 61
 62    # Create processor for distance estimation.
 63    distance_context = ProcessorContext(
 64        bg_noise_std=stds,
 65    )
 66    distance_config = ProcessorConfig(
 67        threshold_method=ThresholdMethod.CFAR,
 68        threshold_sensitivity=0.8,
 69    )
 70    distance_processor = Processor(
 71        session_config=session_config,
 72        metadata=metadata,
 73        processor_config=distance_config,
 74        context=distance_context,
 75    )
 76
 77    pg_updater = PGUpdater()
 78    pg_process = et.PGProcess(pg_updater)
 79    pg_process.start()
 80
 81    metadata = client.setup_session(sensor_config)
 82    client.start_session()
 83
 84    interrupt_handler = et.utils.ExampleInterruptHandler()
 85
 86    while not interrupt_handler.got_signal:
 87        extended_result = client.get_next()
 88        processed_data = distance_processor.process(extended_result)
 89        try:
 90            pg_process.put_data(processed_data)
 91        except et.PGProccessDiedException:
 92            break
 93
 94    print("Disconnecting...")
 95    pg_process.close()
 96    client.close()
 97
 98
 99class PGUpdater:
100    def __init__(self):
101        self.history = [np.nan] * 100
102
103    def setup(self, win):
104        self.sweep_plot = win.addPlot(row=0, col=0)
105        self.sweep_plot.setMenuEnabled(False)
106        self.sweep_plot.showGrid(x=True, y=True)
107        self.sweep_plot.addLegend()
108        self.sweep_plot.setLabel("left", "Amplitude")
109        self.sweep_plot.setLabel("bottom", "Distance(m)")
110        self.sweep_plot.addItem(pg.PlotDataItem())
111
112        legends = ["Sweep", "Threshold"]
113        self.curves = {}
114        for i, legend in enumerate(legends):
115            pen = et.utils.pg_pen_cycler(i)
116            brush = et.utils.pg_brush_cycler(i)
117            symbol_kw = dict(symbol="o", symbolSize=1, symbolBrush=brush, symbolPen="k")
118            feat_kw = dict(pen=pen, **symbol_kw)
119            self.curves[legend] = self.sweep_plot.plot(**feat_kw, name=legend)
120
121        self.smooth_max = et.utils.SmoothMax()
122
123        self.dist_history_plot = win.addPlot(row=1, col=0)
124        self.dist_history_plot.setMenuEnabled(False)
125        self.dist_history_plot.showGrid(x=True, y=True)
126        self.dist_history_plot.addLegend()
127        self.dist_history_plot.setLabel("left", "Estimated distance (m)")
128        self.dist_history_plot.setLabel("bottom", "History (frame)")
129        self.dist_history_plot.addItem(pg.PlotDataItem())
130        self.dist_history_plot.setXRange(0, len(self.history))
131
132        pen = et.utils.pg_pen_cycler(0)
133        brush = et.utils.pg_brush_cycler(0)
134        symbol_kw = dict(symbol="o", symbolSize=5, symbolBrush=brush, symbolPen="k")
135        feat_kw = dict(pen=pen, **symbol_kw)
136        self.dist_history_curve = self.dist_history_plot.plot(**feat_kw)
137
138    def update(self, d):
139        sweep = d.extra_result.abs_sweep
140        threshold = d.extra_result.used_threshold
141        distances = d.extra_result.distances_m
142
143        self.history.pop(0)
144        if len(d.estimated_distances) != 0:
145            self.history.append(d.estimated_distances[0])
146        else:
147            self.history.append(np.nan)
148
149        self.curves["Sweep"].setData(distances, sweep)
150        self.curves["Threshold"].setData(distances, threshold)
151        self.sweep_plot.setYRange(
152            0,
153            self.smooth_max.update(np.amax(np.concatenate((sweep, threshold)))),
154        )
155
156        if not np.all(np.isnan(self.history)):
157            self.dist_history_curve.setData(self.history)
158
159
160if __name__ == "__main__":
161    main()

View this example on GitHub: acconeer/acconeer-python-exploration