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support ray tracing in the lib
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@rookiepeng
rookiepeng committed Jan 4, 2024
1 parent 1667f94 commit 0156392
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Showing 3 changed files with 114 additions and 20 deletions.
19 changes: 13 additions & 6 deletions src/includes/radarsim.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,8 @@
*
* ____ _ ____ _ __ __
* | _ \ __ _ __| | __ _ _ __/ ___|(_)_ __ ___ \ \/ /
* | |_) / _` |/ _` |/ _` | '__\___ \| | '_ ` _ \ \ /
* | _ < (_| | (_| | (_| | | ___) | | | | | | |/ \
* | |_) / _` |/ _` |/ _` | '__\___ \| | '_ ` _ \ \ /
* | _ < (_| | (_| | (_| | | ___) | | | | | | |/ \
* |_| \_\__,_|\__,_|\__,_|_| |____/|_|_| |_| |_/_/\_\
*
*/
Expand Down Expand Up @@ -106,7 +106,7 @@ __declspec(dllexport) void Add_Txchannel(

/**
* @brief Get the number of Tx channels
*
*
* @param ptr_tx_c Pointer to the Transmitter
* @return int Number of Tx channels
*/
Expand Down Expand Up @@ -165,7 +165,7 @@ __declspec(dllexport) void Add_Rxchannel(float *location, float *polar,

/**
* @brief Get the number of Rx channels
*
*
* @param ptr_rx_c Pointer to the Receiver
* @return int Number of Rx channels
*/
Expand Down Expand Up @@ -241,8 +241,15 @@ __declspec(dllexport) t_Targets *Init_Targets();
* @param phs Target's phase (rad)
* @param ptr_targets_c Pointer to the target list
*/
__declspec(dllexport) void Add_Target(float *loc, float *speed, float rcs,
float phs, t_Targets *ptr_targets_c);
__declspec(dllexport) void Add_Point_Target(float *loc, float *speed, float rcs,
float phs,
t_Targets *ptr_targets_c);

__declspec(dllexport) void Add_Mesh_Target(
float *points, int *cells, int cell_size, float *origin, float *loc,
float *speed, float *rotation, float *rotation_rate, float ep_real,
float ep_imag, float mu_real, float mu_imag, bool is_ground,
t_Targets *ptr_targets_c);

/**
* @brief Free the memory of target list
Expand Down
113 changes: 100 additions & 13 deletions src/radarsim.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,9 @@
#include "point.hpp"
#include "radar.hpp"
#include "receiver.hpp"
#include "scene.hpp"
#include "simulator.hpp"
#include "snapshot.hpp"
#include "transmitter.hpp"

/*********************************************
Expand Down Expand Up @@ -371,6 +373,7 @@ void Free_Radar(t_Radar *ptr_radar_c) {
*********************************************/
struct s_Targets {
PointList<float> *_ptr_points;
TargetList<float> *_ptr_targets;
};

/**
Expand All @@ -383,6 +386,7 @@ t_Targets *Init_Targets() {
ptr_targets_c = (t_Targets *)malloc(sizeof(t_Targets));

ptr_targets_c->_ptr_points = new PointList<float>();
ptr_targets_c->_ptr_targets = new TargetList<float>();
return ptr_targets_c;
}

Expand All @@ -395,13 +399,41 @@ t_Targets *Init_Targets() {
* @param phs Target's phase (rad)
* @param ptr_targets_c Pointer to the target list
*/
void Add_Target(float *loc, float *speed, float rcs, float phs,
t_Targets *ptr_targets_c) {
void Add_Point_Target(float *loc, float *speed, float rcs, float phs,
t_Targets *ptr_targets_c) {
ptr_targets_c->_ptr_points->Add_Point(
Point<float>(zpv::Vec3<float>(loc[0], loc[1], loc[2]),
zpv::Vec3<float>(speed[0], speed[1], speed[2]), rcs, phs));
}

void Add_Mesh_Target(float *points, int *cells, int cell_size, float *origin,
float *loc, float *speed, float *rotation,
float *rotation_rate, float ep_real, float ep_imag,
float mu_real, float mu_imag, bool is_ground,
t_Targets *ptr_targets_c) {
std::vector<zpv::Vec3<float>> loc_vt;
loc_vt.push_back(zpv::Vec3<float>(loc[0], loc[1], loc[2]));

std::vector<zpv::Vec3<float>> spd_vt;
spd_vt.push_back(zpv::Vec3<float>(speed[0], speed[1], speed[2]));

std::vector<zpv::Vec3<float>> rot_vt;
rot_vt.push_back(zpv::Vec3<float>(rotation[0], rotation[1], rotation[2]));

std::vector<zpv::Vec3<float>> rrt_vt;
rrt_vt.push_back(
zpv::Vec3<float>(rotation_rate[0], rotation_rate[1], rotation_rate[2]));

std::complex<float> ep = std::complex(ep_real, ep_imag);

std::complex<float> mu = std::complex(mu_real, mu_imag);

ptr_targets_c->_ptr_targets->Add_Target(
Target<float>(points, cells, cell_size,
zpv::Vec3<float>(origin[0], origin[1], origin[2]), loc_vt,
spd_vt, rot_vt, rrt_vt, ep, mu, is_ground));
}

/**
* @brief Free the memory of target list
*
Expand All @@ -411,6 +443,7 @@ void Free_Targets(t_Targets *ptr_targets_c) {
if (ptr_targets_c == NULL) {
return;
}
delete static_cast<TargetList<float> *>(ptr_targets_c->_ptr_targets);
delete static_cast<PointList<float> *>(ptr_targets_c->_ptr_points);
free(ptr_targets_c);
}
Expand All @@ -430,10 +463,33 @@ void Free_Targets(t_Targets *ptr_targets_c) {
*/
void Run_Simulator(t_Radar *ptr_radar_c, t_Targets *ptr_targets_c,
double *ptr_bb_real, double *ptr_bb_imag) {
Simulator<float> simc = Simulator<float>();
if (ptr_targets_c->_ptr_points->ptr_points_.size() > 0) {
Simulator<float> simc = Simulator<float>();

simc.Run(*ptr_radar_c->_ptr_radar, ptr_targets_c->_ptr_points->ptr_points_,
ptr_bb_real, ptr_bb_imag);
simc.Run(*ptr_radar_c->_ptr_radar, ptr_targets_c->_ptr_points->ptr_points_,
ptr_bb_real, ptr_bb_imag);
}

if (ptr_targets_c->_ptr_targets->ptr_targets_.size() > 0) {
Scene<double, float> scene_c;
for (int tg_idx = 0;
tg_idx < ptr_targets_c->_ptr_targets->ptr_targets_.size(); tg_idx++) {
scene_c.AddTarget(ptr_targets_c->_ptr_targets->ptr_targets_[tg_idx]);
}
scene_c.SetRadar(*ptr_radar_c->_ptr_radar);

SnapshotList<float> snap_list;
snap_list.Add_Snapshot(Snapshot<float>(0, 0, 0, 0, 0));

scene_c.RunSimulator(
0,
false,
snap_list.ptr_snapshots_,
0.2,
ptr_bb_real,
ptr_bb_imag
);
}
}

/*********************************************
Expand All @@ -442,7 +498,8 @@ void Run_Simulator(t_Radar *ptr_radar_c, t_Targets *ptr_targets_c,
*
*********************************************/
// int main() {
// double f[] = {2.40750000e+10, 2.40760901e+10, 2.40771786e+10, 2.40782654e+10,
// double f[] =
// {2.40750000e+10, 2.40760901e+10, 2.40771786e+10, 2.40782654e+10,
// 2.40793506e+10, 2.40804341e+10, 2.40815161e+10, 2.40825964e+10,
// 2.40836750e+10, 2.40847521e+10, 2.40858275e+10, 2.40869012e+10,
// 2.40879734e+10, 2.40890439e+10, 2.40901127e+10, 2.40911800e+10,
Expand All @@ -467,7 +524,32 @@ void Run_Simulator(t_Radar *ptr_radar_c, t_Targets *ptr_targets_c,
// 2.41646790e+10, 2.41656254e+10, 2.41665702e+10, 2.41675134e+10,
// 2.41684550e+10, 2.41693949e+10, 2.41703331e+10, 2.41712698e+10,
// 2.41722048e+10, 2.41731381e+10, 2.41740699e+10, 2.41750000e+10};
// double t[] = {0, 8.08080808080808e-07, 1.61616161616162e-06, 2.42424242424242e-06, 3.23232323232323e-06, 4.04040404040404e-06, 4.84848484848485e-06, 5.65656565656566e-06, 6.46464646464647e-06, 7.27272727272727e-06, 8.08080808080808e-06, 8.88888888888889e-06, 9.69696969696970e-06, 1.05050505050505e-05, 1.13131313131313e-05, 1.21212121212121e-05, 1.29292929292929e-05, 1.37373737373737e-05, 1.45454545454545e-05, 1.53535353535354e-05, 1.61616161616162e-05, 1.69696969696970e-05, 1.77777777777778e-05, 1.85858585858586e-05, 1.93939393939394e-05, 2.02020202020202e-05, 2.10101010101010e-05, 2.18181818181818e-05, 2.26262626262626e-05, 2.34343434343434e-05, 2.42424242424242e-05, 2.50505050505051e-05, 2.58585858585859e-05, 2.66666666666667e-05, 2.74747474747475e-05, 2.82828282828283e-05, 2.90909090909091e-05, 2.98989898989899e-05, 3.07070707070707e-05, 3.15151515151515e-05, 3.23232323232323e-05, 3.31313131313131e-05, 3.39393939393939e-05, 3.47474747474748e-05, 3.55555555555556e-05, 3.63636363636364e-05, 3.71717171717172e-05, 3.79797979797980e-05, 3.87878787878788e-05, 3.95959595959596e-05, 4.04040404040404e-05, 4.12121212121212e-05, 4.20202020202020e-05, 4.28282828282828e-05, 4.36363636363636e-05, 4.44444444444444e-05, 4.52525252525253e-05, 4.60606060606061e-05, 4.68686868686869e-05, 4.76767676767677e-05, 4.84848484848485e-05, 4.92929292929293e-05, 5.01010101010101e-05, 5.09090909090909e-05, 5.17171717171717e-05, 5.25252525252525e-05, 5.33333333333333e-05, 5.41414141414141e-05, 5.49494949494950e-05, 5.57575757575758e-05, 5.65656565656566e-05, 5.73737373737374e-05, 5.81818181818182e-05, 5.89898989898990e-05, 5.97979797979798e-05, 6.06060606060606e-05, 6.14141414141414e-05, 6.22222222222222e-05, 6.30303030303030e-05, 6.38383838383838e-05, 6.46464646464647e-05, 6.54545454545455e-05, 6.62626262626263e-05, 6.70707070707071e-05, 6.78787878787879e-05, 6.86868686868687e-05, 6.94949494949495e-05, 7.03030303030303e-05, 7.11111111111111e-05, 7.19191919191919e-05, 7.27272727272727e-05, 7.35353535353536e-05, 7.43434343434344e-05, 7.51515151515152e-05, 7.59595959595960e-05, 7.67676767676768e-05, 7.75757575757576e-05, 7.83838383838384e-05, 7.91919191919192e-05, 8.00000000000000e-05};
// double t[] =
// {0, 8.08080808080808e-07, 1.61616161616162e-06, 2.42424242424242e-06, 3.23232323232323e-06,
// 4.04040404040404e-06, 4.84848484848485e-06, 5.65656565656566e-06, 6.46464646464647e-06,
// 7.27272727272727e-06, 8.08080808080808e-06, 8.88888888888889e-06, 9.69696969696970e-06,
// 1.05050505050505e-05, 1.13131313131313e-05, 1.21212121212121e-05, 1.29292929292929e-05,
// 1.37373737373737e-05, 1.45454545454545e-05, 1.53535353535354e-05, 1.61616161616162e-05,
// 1.69696969696970e-05, 1.77777777777778e-05, 1.85858585858586e-05, 1.93939393939394e-05,
// 2.02020202020202e-05, 2.10101010101010e-05, 2.18181818181818e-05, 2.26262626262626e-05,
// 2.34343434343434e-05, 2.42424242424242e-05, 2.50505050505051e-05, 2.58585858585859e-05,
// 2.66666666666667e-05, 2.74747474747475e-05, 2.82828282828283e-05, 2.90909090909091e-05,
// 2.98989898989899e-05, 3.07070707070707e-05, 3.15151515151515e-05, 3.23232323232323e-05,
// 3.31313131313131e-05, 3.39393939393939e-05, 3.47474747474748e-05, 3.55555555555556e-05,
// 3.63636363636364e-05, 3.71717171717172e-05, 3.79797979797980e-05, 3.87878787878788e-05,
// 3.95959595959596e-05, 4.04040404040404e-05, 4.12121212121212e-05, 4.20202020202020e-05,
// 4.28282828282828e-05, 4.36363636363636e-05, 4.44444444444444e-05, 4.52525252525253e-05,
// 4.60606060606061e-05, 4.68686868686869e-05, 4.76767676767677e-05, 4.84848484848485e-05,
// 4.92929292929293e-05, 5.01010101010101e-05, 5.09090909090909e-05, 5.17171717171717e-05,
// 5.25252525252525e-05, 5.33333333333333e-05, 5.41414141414141e-05, 5.49494949494950e-05,
// 5.57575757575758e-05, 5.65656565656566e-05, 5.73737373737374e-05, 5.81818181818182e-05,
// 5.89898989898990e-05, 5.97979797979798e-05, 6.06060606060606e-05, 6.14141414141414e-05,
// 6.22222222222222e-05, 6.30303030303030e-05, 6.38383838383838e-05, 6.46464646464647e-05,
// 6.54545454545455e-05, 6.62626262626263e-05, 6.70707070707071e-05, 6.78787878787879e-05,
// 6.86868686868687e-05, 6.94949494949495e-05, 7.03030303030303e-05, 7.11111111111111e-05,
// 7.19191919191919e-05, 7.27272727272727e-05, 7.35353535353536e-05, 7.43434343434344e-05,
// 7.51515151515152e-05, 7.59595959595960e-05, 7.67676767676768e-05, 7.75757575757576e-05,
// 7.83838383838384e-05, 7.91919191919192e-05, 8.00000000000000e-05};

// double freq_offset[256];
// for (int idx = 0; idx < 256; idx++) {
Expand All @@ -487,9 +569,9 @@ void Run_Simulator(t_Radar *ptr_radar_c, t_Targets *ptr_targets_c,

// float location[] = {0, 0, 0};
// float polar[] = {0, 0, 1};
// float phi[] = {-90, 90};
// float phi[] = {-90.0/180.0*kPI, 90.0/180.0*kPI};
// float phi_ptn[] = {0, 0};
// float theta[] = {0, 180};
// float theta[] = {0, 180.0/180.0*kPI};
// float theta_ptn[] = {0, 0};
// float antenna_gain = 0;
// float mod_t[1];
Expand All @@ -505,7 +587,7 @@ void Run_Simulator(t_Radar *ptr_radar_c, t_Targets *ptr_targets_c,

// Add_Txchannel(location, polar, phi, phi_ptn, 2, theta, theta_ptn, 2,
// antenna_gain, mod_t, mod_var_real, mod_var_imag, 0,
// pulse_mod_real, pulse_mod_imag, 0, 1, tx_ptr);
// pulse_mod_real, pulse_mod_imag, 0, 1.0/180.0*kPI, tx_ptr);

// float fs = 2e6;
// float rf_gain = 20;
Expand All @@ -528,9 +610,14 @@ void Run_Simulator(t_Radar *ptr_radar_c, t_Targets *ptr_targets_c,

// t_Targets *targets_ptr = Init_Targets();

// float tg_loc[] = {200, 0, 0};
// float tg_speed[] = {0, 0, 0};
// Add_Target(tg_loc, tg_speed, 30, 0, targets_ptr);
// float points[] = {0,0,0,-0.0577,0,0.0816,-0.0577,0.0707,-0.0408,-0.0577,-0.0707,-0.0408};
// int cells[]={0,1,2,0,2,3,0,3,1};
// float tg_org[] = {0, 0, 0};
// float tg_loc[] = {50, 0, 0};
// float tg_speed[] = {-5, 0, 0};
// float tg_rot[] = {0, 0, 0};
// float tg_rrt[] = {0, 0, 0};
// Add_Mesh_Target(points, cells, 3, tg_org, tg_loc, tg_speed, tg_rot, tg_rrt, -1.0, 0.0, 1.0, 0.0, false, targets_ptr);

// double bb_real[256][160];
// double bb_imag[256][160];
Expand Down
2 changes: 1 addition & 1 deletion src/radarsimcpp
Submodule radarsimcpp updated from e3fdb6 to d6a043

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