Fixed dataset closing/saving, updated aps tracker and plotting

pyratk/acquisition/data_mgr.py

@@ -201,6 +201,7 @@ class DataManager(MuxBuffer):
                     name, data=self.source.ts_buffer,
                     compression=COMPRESSION,
                     compression_opts=COMPRESSION_OPTS)
+                print('(DataManager) Saved dataset successfully.')
             except Exception as e:
                 print("(DataManager) Error saving dataset: ", e)
 
@@ -494,6 +495,7 @@ class DataManager(MuxBuffer):
         """Close the selected object in the DAQ manager."""
         for source in self.source_list:
             source.close()
+        self.db.close()
 
     # === PROPERTIES ====================================================
 

pyratk/acquisition/mcdaq_win.py

@@ -140,6 +140,8 @@ class mcdaq_win(DAQ):
         if (event_type == EventType.ON_DATA_AVAILABLE
                 or event_type == EventType.ON_END_OF_INPUT_SCAN):
 
+            # print('(mcdaq_win) updated')
+
             # current_time = datetime.now()
             # print('\n')
             # print('delta-time =', current_time - self._last_time)

pyratk/datatypes/radar.py

@@ -12,6 +12,8 @@ from pyratk.datatypes.geometry import Point
 TransmitterTuple = namedtuple('Transmitter', ['location', 'pulses'])
 ReceiverTuple = namedtuple('Receiver', ['daq_index', 'location'])
 
+Pulse = namedtuple('Pulse', ['fc', 'bw', 'delay'])
+
 # Detection = namedtuple('Detection', ['location', 'power', 'velocity', 'doppler'])
 
 @dataclass

pyratk/radars/radar.py

@@ -83,7 +83,7 @@ class Receiver(object):
         self.fast_center_bin = np.ceil(self.fast_fft_size / 2)
         self.fast_bin_size = self.daq.sample_rate / self.fast_fft_size
         self.slow_center_bin = np.ceil(self.slow_fft_size / 2)
-        self.slow_bin_size = self.daq.sample_rate * self.transmitter.pulses[0].delay / self.slow_fft_size
+        self.slow_bin_size = (1 / self.transmitter.pulses[0].delay) / self.slow_fft_size
 
         self.fast_fft_data = np.ones(self.fast_fft_size)
         self.fft_mat = np.ones((self.fast_fft_size, self.slow_fft_size))

pyratk/trackers/aps_tracker.py

@@ -21,15 +21,14 @@ class ApsTracker(object):
         """
         Initialize tracker class.
         """
-        self.valid_constraints = {1: ['x', 'y', 'z'],
-                                  2: ['xy', 'xz', 'yz'],
-                                  3: []}
-
         # copy arguments into attributes
         self.daq = daq
         self.receiver_array = receiver_array
         self.detections = []
 
+        self.pulse = self.receiver_array[0].transmitter.pulses[0]
+        self.chirp_rate = self.pulse.bw / self.pulse.delay
+
         # Configure control signals
         self.connect_control_signals()
 
@@ -57,11 +56,11 @@ class ApsTracker(object):
         #var0=signal.resample_poly(var00,4,1)
         #var1=signal.resample_poly(var01,4,1)
         f=np.linspace(-50000,50000,num=var0.size-1)
-        r_d0=np.abs(f[np.argmax(var0)]*3e8/100e9*2/3/2)
-        r_d1=np.abs(f[np.argmax(var1)]*3e8/100e9*2/3/2)
+        r_d0=np.abs(f[np.argmax(var0)]*3e8/self.chirp_rate/2)
+        r_d1=np.abs(f[np.argmax(var1)]*3e8/self.chirp_rate/2)
         theta=np.arcsin((r_d0-r_d1)/0.3864)+0.5*np.pi
         R=0.5*(r_d0+r_d1)
-        
+
         # loc is cylindrical (R, theta, Z), but Z is ignored by plot
         #R = np.random.rand() * 15
         #theta = np.random.rand() * np.pi

pyratk/widgets/range_doppler_widget.py

@@ -15,21 +15,26 @@ from matplotlib import cm       # Used for colormaps
 
 
 class RangeDopplerWidget(pg.PlotWidget):
-    def __init__(self, receiver, xrange=[-50,50], yrange=[-15e3,0]):
+    def __init__(self, receiver, xrange=[-50,50], yrange=[-15e3,0], showMeters=False):
         super().__init__()
 
         # Copy arguments to member variables
         self.daq = receiver.daq
         self.source = self.daq.source
         self.receiver = receiver
+        self.pulse = self.receiver.transmitter.pulses[0]
+        self.showMeters = showMeters
         self.update_period = \
             self.source.sample_chunk_size / self.source.sample_rate
 
+        self.freq_to_vel = (3e8 / self.pulse.fc) / 2
+        self.freq_to_range = (self.pulse.delay / self.pulse.bw) * 3e8
+
         self.xrange = xrange
         self.yrange = yrange
 
         # TODO temp
-        self.downsample = 1
+        self.downsample = 1 # MUST EQUAL 1
 
         # FPS ticker data
         self.lastTime = time.time()
@@ -55,8 +60,12 @@ class RangeDopplerWidget(pg.PlotWidget):
 
         self.rescale()
 
-        self.setLabel('left', 'Frequency', units='Hz')
-        self.setLabel('bottom', 'Frequency', units='Hz')
+        if showMeters:
+            self.setLabel('left', 'Range', units='m')
+            self.setLabel('bottom', 'Velocity', units='m/s')
+        else:
+            self.setLabel('left', 'Frequency', units='Hz')
+            self.setLabel('bottom', 'Frequency', units='Hz')
         self.showGrid(x=True, y=True)
 
         left_axis=self.getAxis('left')
@@ -116,8 +125,12 @@ class RangeDopplerWidget(pg.PlotWidget):
         self.update_period = \
             self.source.sample_chunk_size / self.source.sample_rate
 
-        self.img.scale(self.receiver.slow_bin_size * self.downsample,
-                       self.receiver.fast_bin_size * self.downsample)
+        if self.showMeters:
+            self.img.scale(self.receiver.slow_bin_size * self.freq_to_vel,
+                           self.receiver.fast_bin_size * self.freq_to_range)
+        else:
+            self.img.scale(self.receiver.slow_bin_size,
+                           self.receiver.fast_bin_size)
 
         self.setRange(disableAutoRange=True, yRange=np.array(self.yrange))