diff options
Diffstat (limited to 'gr-radar-mono/src/python/radar_mono.py')
| -rw-r--r-- | gr-radar-mono/src/python/radar_mono.py | 146 |
1 files changed, 85 insertions, 61 deletions
diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py index 7aeec1a778..701157cc52 100644 --- a/gr-radar-mono/src/python/radar_mono.py +++ b/gr-radar-mono/src/python/radar_mono.py @@ -22,6 +22,7 @@ from gnuradio import gr, usrp from gnuradio import eng_notation +from gr import gr_threading as _threading n2s = eng_notation.num_to_str @@ -63,11 +64,11 @@ FR_RADAR_FINCR = usrp.FR_USER_7 # 32-bit FTW increment per transmit clock # Transmitter object. Uses usrp_sink, but only for a handle to the # FPGA registers. #----------------------------------------------------------------------- -class radar_tx: - def __init__(self, subdev_spec=None, verbose=False, debug=False): - self._subdev_spec = subdev_spec - self._verbose = verbose - self._debug = debug +class radar_tx(object): + def __init__(self, options): + self._subdev_spec = options.tx_subdev_spec + self._verbose = options.verbose + self._debug = options.debug self._u = usrp.sink_s(fpga_filename='usrp_radar_mono.rbf') if self._subdev_spec == None: @@ -148,47 +149,26 @@ class radar_tx: #----------------------------------------------------------------------- # Receiver object. Uses usrp_source_c to receive echo records. #----------------------------------------------------------------------- -class radar_rx: - def __init__(self, gain=None, subdev_spec=None, msgq=None, length=None, - verbose=False, debug=False): - self._gain = gain - self._subdev_spec = subdev_spec - self._msgq = msgq - self._length = length - self._verbose = verbose - self._debug = debug - self._length_set = False - - self._fg = gr.flow_graph() - self._u = usrp.source_c(fpga_filename='usrp_radar_mono.rbf') - if self._subdev_spec == None: - self._subdev_spec = usrp.pick_rx_subdevice(self._u) - self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec)) - - if self._debug: - self._usrp_sink = gr.file_sink(gr.sizeof_gr_complex, "usrp.dat") - self._fg.connect(self._u, self._usrp_sink) - - self._subdev = usrp.selected_subdev(self._u, self._subdev_spec) - self.set_gain(gain) +class radar_rx(gr.top_block): + def __init__(self, options, callback): + gr.top_block.__init__(self, "radar_rx") - if self._verbose: - print "Using", self._subdev.name(), "for radar receiver." - print "Setting receiver gain to", self._gain - + self._subdev_spec = options.rx_subdev_spec + self._gain = options.gain + self._verbose = options.verbose + self._debug = options.debug + self._callback = callback + self._length_set = False + self._connected = False + self._msgq = gr.msg_queue() + self._watcher = _queue_watcher_thread(self._msgq, self._callback) + def set_echo_length(self, length): # Only call once if self._length_set is True: raise RuntimeError("Can only set echo length once.") self._length = length - self._vblen = gr.sizeof_gr_complex*self._length - self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length) - self._sink = gr.message_sink(self._vblen, self._msgq, True) - self._fg.connect(self._u, self._s2v, self._sink) self._length_set = True - if self._verbose: - print "Receiving echo vectors of length", self._length, \ - "(samples)", self._vblen, "(bytes)" def tune(self, frequency): if self._verbose: @@ -205,35 +185,61 @@ class radar_rx: self._gain = float(g[0]+g[1])/2 self._subdev.set_gain(self._gain) - def start(self): + def begin(self): + if not self._connected: + self._setup_connections() + if self._verbose: - print "Starting receiver flow graph." - self._fg.start() + print "Starting receiver..." + self.start() - def wait(self): + def end(self): if self._verbose: - print "Waiting for threads..." - self._fg.wait() + print "Stopping receiver..." + self.stop() + self.wait() + if self._verbose: + print "Receiver stopped." + + def _setup_usrp(self): + self._u = usrp.source_c(fpga_filename='usrp_radar_mono.rbf') + if self._subdev_spec == None: + self._subdev_spec = usrp.pick_rx_subdevice(self._u) + self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec)) + self._subdev = usrp.selected_subdev(self._u, self._subdev_spec) - def stop(self): if self._verbose: - print "Stopping receiver flow graph." - self._fg.stop() - self.wait() + print "Using", self._subdev.side_and_name(), "for radar receiver." + print "Setting receiver gain to", self._gain + self.set_gain(self._gain) + self._subdev.set_auto_tr(True) + self._subdev.set_atr_tx_delay(26) # TX CORDIC pipeline delay + self._subdev.set_atr_rx_delay(26) + + def _setup_connections(self): + if not self._length_set: + raise RuntimeError("Echo length not set.") + self._setup_usrp() + self._vblen = gr.sizeof_gr_complex*self._length + self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length) + self._sink = gr.message_sink(self._vblen, self._msgq, False) + self.connect(self._u, self._s2v, self._sink) + if self._verbose: - print "Receiver flow graph stopped." + print "Generating echo vectors of length", self._length, \ + "(samples)", self._vblen, "(bytes)" -class radar: - def __init__(self, msgq=None, tx_subdev_spec=None, rx_subdev_spec=None, - gain=None, verbose=False, debug=False): - self._msgq = msgq - self._verbose = verbose - self._debug = debug + self._connected = True + +class radar(object): + def __init__(self, options, callback): + + self._verbose = options.verbose + self._debug = options.debug self._mode = 0 - self._trans = radar_tx(subdev_spec=tx_subdev_spec, verbose=self._verbose, debug=self._debug) - self._rcvr = radar_rx(gain=gain, msgq=self._msgq, subdev_spec=rx_subdev_spec, - verbose=self._verbose, debug=self._debug) + self._trans = radar_tx(options) + self._rcvr = radar_rx(options, callback) self.set_reset(True) self.set_tx_board(self._trans.subdev_spec()) self.set_debug(self._debug) @@ -285,10 +291,28 @@ class radar: def start(self): self.set_reset(False) self._trans.start() - self._rcvr.start() + self._rcvr.begin() def stop(self): + self._rcvr.end() self._trans.stop() - self._rcvr.stop() self.set_reset(True) +#----------------------------------------------------------------------- +# Queue watcher. Dispatches received echos to callback. +#----------------------------------------------------------------------- +class _queue_watcher_thread(_threading.Thread): + def __init__(self, msgq, callback): + _threading.Thread.__init__(self) + self.setDaemon(1) + self._msgq = msgq + self._callback = callback + self._keep_running = True + self.start() + + def run(self): + while self._keep_running == True: + msg = self._msgq.delete_head() + if self._callback: + self._callback(msg.to_string()) + |