finalizer.cpp

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// SPDX-License-Identifier: GPL-2.0-only
//
// Copyright (c) 2025-present FERS Contributors (see AUTHORS.md).
//
// See the GNU GPLv2 LICENSE file in the FERS project root for more information.
 
#include "finalizer.h"
 
#include <algorithm>
#include <chrono>
#include <cmath>
#include <cstdint>
#include <format>
#include <optional>
#include <span>
#include <stdexcept>
#include <utility>
#include <vector>
 
#include "core/logging.h"
#include "core/output_metadata.h"
#include "core/parameters.h"
#include "core/rendering_job.h"
#include "core/sim_threading.h"
#include "processing/finalizer_pipeline.h"
#include "processing/signal_processor.h"
#include "radar/receiver.h"
#include "radar/transmitter.h"
#include "signal/radar_signal.h"
#include "timing/timing.h"
 
namespace processing
{
    namespace
    {
        /// Converts a cached streaming source to reusable FMCW waveform metadata.
        core::FmcwMetadata buildFmcwMetadata(const core::ActiveStreamingSource& source)
        {
            if (source.kind == core::StreamingWaveformKind::FmcwTriangle)
            {
                return core::FmcwMetadata{
                    .waveform_shape = "triangle",
                    .chirp_bandwidth = source.triangle != nullptr ? source.triangle->getChirpBandwidth() : 0.0,
                    .chirp_duration = source.chirp_duration,
                    .chirp_rate = source.chirp_rate,
                    .start_frequency_offset = source.start_freq_off,
                    .triangle_period = source.triangle_period,
                    .triangle_count = source.triangle_count.has_value()
                        ? std::optional<std::uint64_t>(static_cast<std::uint64_t>(*source.triangle_count))
                        : std::nullopt};
            }
 
            return core::FmcwMetadata{
                .waveform_shape = "linear",
                .chirp_bandwidth = source.fmcw != nullptr ? source.fmcw->getChirpBandwidth() : 0.0,
                .chirp_duration = source.chirp_duration,
                .chirp_period = source.chirp_period,
                .chirp_rate = source.chirp_rate,
                .chirp_rate_signed = source.signed_chirp_rate,
                .chirp_direction = source.fmcw != nullptr
                    ? std::string(fers_signal::fmcwChirpDirectionToken(source.fmcw->getDirection()))
                    : std::string("up"),
                .start_frequency_offset = source.start_freq_off,
                .chirp_count = source.chirp_count.has_value()
                    ? std::optional<std::uint64_t>(static_cast<std::uint64_t>(*source.chirp_count))
                    : std::nullopt};
        }
 
        core::SfcwMetadata buildSfcwMetadata(const core::ActiveStreamingSource& source)
        {
            if (source.sfcw == nullptr)
            {
                return {};
            }
            const RealType effective_bandwidth = source.sfcw->effectiveBandwidth();
            const RealType step_size = std::abs(source.sfcw->getStepSize());
            return core::SfcwMetadata{
                .carrier_frequency = source.carrier_freq,
                .start_frequency_offset = source.sfcw->getStartFrequencyOffset(),
                .step_size = source.sfcw->getStepSize(),
                .step_count = static_cast<std::uint64_t>(source.sfcw->getStepCount()),
                .dwell_time = source.sfcw->getDwellTime(),
                .step_period = source.sfcw->getStepPeriod(),
                .sweep_count = source.sfcw->getSweepCount().has_value()
                    ? std::optional<std::uint64_t>(static_cast<std::uint64_t>(*source.sfcw->getSweepCount()))
                    : std::nullopt,
                .first_frequency = source.sfcw->firstFrequency(source.carrier_freq),
                .last_frequency = source.sfcw->lastFrequency(source.carrier_freq),
                .frequency_span = source.sfcw->frequencySpan(),
                .effective_bandwidth = effective_bandwidth,
                .range_resolution = effective_bandwidth > 0.0 ? params::c() / (2.0 * effective_bandwidth) : 0.0,
                .unambiguous_range = step_size > 0.0 ? params::c() / (2.0 * step_size) : 0.0};
        }
 
        /// Builds one FMCW source schedule segment from an active source cache.
        core::FmcwSourceSegmentMetadata buildFmcwSourceSegment(const core::ActiveStreamingSource& source)
        {
            const RealType active_start = std::max(params::startTime(), source.segment_start);
            const RealType active_end = std::min(params::endTime(), source.segment_end);
            core::FmcwSourceSegmentMetadata segment{.start_time = source.segment_start, .end_time = source.segment_end};
            if (source.kind == core::StreamingWaveformKind::FmcwTriangle)
            {
                segment.first_triangle_start_time = core::firstFmcwTriangleStart(source, active_start, active_end);
                segment.emitted_triangle_count = core::countFmcwTriangleStarts(source, active_start, active_end);
            }
            else
            {
                segment.first_chirp_start_time = core::firstFmcwChirpStart(source, active_start, active_end);
                segment.emitted_chirp_count = core::countFmcwChirpStarts(source, active_start, active_end);
            }
            return segment;
        }
 
        /// Finds the first source metadata entry for a transmitter/waveform pair.
        std::vector<core::FmcwSourceMetadata>::iterator findFmcwSource(std::vector<core::FmcwSourceMetadata>& sources,
                                                                       const SimId transmitter_id,
                                                                       const SimId waveform_id)
        {
            return std::ranges::find_if(
                sources, [&](const core::FmcwSourceMetadata& source)
                { return source.transmitter_id == transmitter_id && source.waveform_id == waveform_id; });
        }
 
        /// Builds explicit per-source FMCW metadata from active streaming transmitters.
        std::vector<core::FmcwSourceMetadata>
        buildFmcwSources(const std::vector<core::ActiveStreamingSource>& streaming_sources)
        {
            std::vector<core::FmcwSourceMetadata> fmcw_sources;
            for (const auto& streaming_source : streaming_sources)
            {
                if (!streaming_source.is_fmcw || streaming_source.transmitter == nullptr)
                {
                    continue;
                }
 
                const auto* signal = streaming_source.transmitter->getSignal();
                if (signal == nullptr)
                {
                    continue;
                }
 
                const auto transmitter_id = streaming_source.transmitter->getId();
                const auto waveform_id = signal->getId();
                auto existing = findFmcwSource(fmcw_sources, transmitter_id, waveform_id);
                if (existing == fmcw_sources.end())
                {
                    core::FmcwSourceMetadata source{.transmitter_id = transmitter_id,
                                                    .transmitter_name = streaming_source.transmitter->getName(),
                                                    .waveform_id = waveform_id,
                                                    .waveform_name = signal->getName(),
                                                    .carrier_frequency = signal->getCarrier(),
                                                    .waveform = buildFmcwMetadata(streaming_source)};
                    source.segments.push_back(buildFmcwSourceSegment(streaming_source));
                    fmcw_sources.push_back(std::move(source));
                    continue;
                }
 
                existing->segments.push_back(buildFmcwSourceSegment(streaming_source));
            }
            return fmcw_sources;
        }
 
        core::SfcwSourceSegmentMetadata buildSfcwSourceSegment(const core::ActiveStreamingSource& source)
        {
            const RealType active_start = std::max(params::startTime(), source.segment_start);
            const RealType active_end = std::min(params::endTime(), source.segment_end);
            return core::SfcwSourceSegmentMetadata{
                .start_time = source.segment_start,
                .end_time = source.segment_end,
                .first_step_start_time = core::firstSfcwStepStart(source, active_start, active_end),
                .emitted_step_count = core::countSfcwStepStarts(source, active_start, active_end)};
        }
 
        std::vector<core::SfcwSourceMetadata>::iterator findSfcwSource(std::vector<core::SfcwSourceMetadata>& sources,
                                                                       const SimId transmitter_id,
                                                                       const SimId waveform_id)
        {
            return std::ranges::find_if(
                sources, [&](const core::SfcwSourceMetadata& source)
                { return source.transmitter_id == transmitter_id && source.waveform_id == waveform_id; });
        }
 
        std::vector<core::SfcwSourceMetadata>
        buildSfcwSources(const std::vector<core::ActiveStreamingSource>& streaming_sources)
        {
            std::vector<core::SfcwSourceMetadata> sfcw_sources;
            for (const auto& streaming_source : streaming_sources)
            {
                if (!streaming_source.is_sfcw || streaming_source.transmitter == nullptr)
                {
                    continue;
                }
 
                const auto* signal = streaming_source.transmitter->getSignal();
                if (signal == nullptr)
                {
                    continue;
                }
 
                const auto transmitter_id = streaming_source.transmitter->getId();
                const auto waveform_id = signal->getId();
                auto existing = findSfcwSource(sfcw_sources, transmitter_id, waveform_id);
                if (existing == sfcw_sources.end())
                {
                    core::SfcwSourceMetadata source{.transmitter_id = transmitter_id,
                                                    .transmitter_name = streaming_source.transmitter->getName(),
                                                    .waveform_id = waveform_id,
                                                    .waveform_name = signal->getName(),
                                                    .waveform = buildSfcwMetadata(streaming_source)};
                    source.segments.push_back(buildSfcwSourceSegment(streaming_source));
                    sfcw_sources.push_back(std::move(source));
                    continue;
                }
 
                existing->segments.push_back(buildSfcwSourceSegment(streaming_source));
            }
            return sfcw_sources;
        }
 
        /// Adds scalar compatibility chirp metadata to receiver streaming segments for one FMCW source.
        void annotateStreamingSegmentsForSingleFmcwSource(core::OutputFileMetadata& metadata,
                                                          const core::ActiveStreamingSource& source)
        {
            for (auto& segment : metadata.streaming_segments)
            {
                const RealType active_start = std::max(segment.start_time, source.segment_start);
                const RealType active_end = std::min(segment.end_time, source.segment_end);
                if (source.kind == core::StreamingWaveformKind::FmcwTriangle)
                {
                    const auto first_triangle = core::firstFmcwTriangleStart(source, active_start, active_end);
                    const auto emitted = core::countFmcwTriangleStarts(source, active_start, active_end);
                    if (first_triangle.has_value() || emitted > 0)
                    {
                        segment.first_triangle_start_time = first_triangle;
                        segment.emitted_triangle_count = emitted;
                    }
                }
                else
                {
                    const auto first_chirp = core::firstFmcwChirpStart(source, active_start, active_end);
                    const auto emitted = core::countFmcwChirpStarts(source, active_start, active_end);
                    if (first_chirp.has_value() || emitted > 0)
                    {
                        segment.first_chirp_start_time = first_chirp;
                        segment.emitted_chirp_count = emitted;
                    }
                }
            }
        }
 
        void annotateStreamingSegmentsForSingleSfcwSource(core::OutputFileMetadata& metadata,
                                                          const core::ActiveStreamingSource& source)
        {
            for (auto& segment : metadata.streaming_segments)
            {
                const RealType active_start = std::max(segment.start_time, source.segment_start);
                const RealType active_end = std::min(segment.end_time, source.segment_end);
                const auto first_step = core::firstSfcwStepStart(source, active_start, active_end);
                const auto emitted = core::countSfcwStepStarts(source, active_start, active_end);
                if (first_step.has_value() || emitted > 0)
                {
                    segment.first_sfcw_step_start_time = first_step;
                    segment.emitted_sfcw_step_count = emitted;
                }
            }
        }
 
        /// Half-open time interval in simulation seconds.
        using TimeSpan = std::pair<RealType, RealType>;
 
        /// Merges overlapping or adjacent time spans.
        void normalizeTimeSpans(std::vector<TimeSpan>& spans)
        {
            std::ranges::sort(spans, [](const TimeSpan& lhs, const TimeSpan& rhs) { return lhs.first < rhs.first; });
            std::vector<TimeSpan> merged;
            for (const auto& span : spans)
            {
                if (span.second <= span.first)
                {
                    continue;
                }
                if (merged.empty() || span.first > merged.back().second)
                {
                    merged.push_back(span);
                    continue;
                }
                merged.back().second = std::max(merged.back().second, span.second);
            }
            spans = std::move(merged);
        }
 
        /// Returns receiver active intervals clipped to simulation time.
        std::vector<TimeSpan> receiverActiveTimeSpans(const radar::Receiver* receiver)
        {
            std::vector<TimeSpan> spans;
            if (receiver->getSchedule().empty())
            {
                spans.emplace_back(params::startTime(), params::endTime());
                return spans;
            }
 
            for (const auto& period : receiver->getSchedule())
            {
                const RealType start = std::max(params::startTime(), period.start);
                const RealType end = std::min(params::endTime(), period.end);
                if (start < end)
                {
                    spans.emplace_back(start, end);
                }
            }
            return spans;
        }
 
        /// Adds LO-active intervals for one source intersected with a receiver-active interval.
        void appendDechirpSourceIntervals(const core::ActiveStreamingSource& source, const TimeSpan& receiver_span,
                                          std::vector<TimeSpan>& output)
        {
            const RealType clipped_start = std::max({receiver_span.first, source.segment_start, params::startTime()});
            const RealType clipped_end = std::min({receiver_span.second, source.segment_end, params::endTime()});
            if (clipped_start >= clipped_end)
            {
                return;
            }
 
            if (source.kind == core::StreamingWaveformKind::FmcwLinear)
            {
                if (source.chirp_period <= 0.0 || source.chirp_duration <= 0.0)
                {
                    return;
                }
                auto chirp_index = clipped_start <= source.segment_start
                    ? std::size_t{0}
                    : static_cast<std::size_t>(
                          std::floor((clipped_start - source.segment_start) / source.chirp_period));
                while (true)
                {
                    if (source.chirp_count.has_value() && chirp_index >= *source.chirp_count)
                    {
                        return;
                    }
                    const RealType chirp_start =
                        source.segment_start + static_cast<RealType>(chirp_index) * source.chirp_period;
                    if (chirp_start >= clipped_end)
                    {
                        return;
                    }
                    const RealType chirp_end = std::min(chirp_start + source.chirp_duration, source.segment_end);
                    const RealType active_start = std::max(chirp_start, clipped_start);
                    const RealType active_end = std::min(chirp_end, clipped_end);
                    if (active_start < active_end)
                    {
                        output.emplace_back(active_start, active_end);
                    }
                    ++chirp_index;
                }
            }
 
            output.emplace_back(clipped_start, clipped_end);
        }
 
        /// Returns exact LO-active time spans for a dechirped receiver.
        std::vector<TimeSpan> dechirpActiveTimeSpans(const radar::Receiver* receiver)
        {
            std::vector<TimeSpan> spans;
            const auto receiver_spans = receiverActiveTimeSpans(receiver);
            for (const auto& receiver_span : receiver_spans)
            {
                for (const auto& source : receiver->getDechirpSources())
                {
                    appendDechirpSourceIntervals(source, receiver_span, spans);
                }
            }
            normalizeTimeSpans(spans);
            return spans;
        }
 
        void appendStreamingSegment(core::OutputFileMetadata& metadata, const std::size_t total_samples,
                                    const RealType output_sample_rate, const RealType start_time,
                                    const RealType end_time)
        {
            const auto start_sample = static_cast<std::uint64_t>(std::min<RealType>(
                static_cast<RealType>(total_samples),
                std::max<RealType>(0.0, std::ceil((start_time - params::startTime()) * output_sample_rate))));
            const auto end_sample = static_cast<std::uint64_t>(std::min<RealType>(
                static_cast<RealType>(total_samples),
                std::max<RealType>(0.0, std::ceil((end_time - params::startTime()) * output_sample_rate))));
            if (start_sample < end_sample)
            {
                const core::StreamingSegmentMetadata segment{.start_time = start_time,
                                                             .end_time = end_time,
                                                             .sample_count = end_sample - start_sample,
                                                             .sample_start = start_sample,
                                                             .sample_end_exclusive = end_sample};
                metadata.streaming_segments.push_back(segment);
            }
        }
 
        void appendScheduledStreamingSegments(core::OutputFileMetadata& metadata, const radar::Receiver* receiver,
                                              const std::size_t total_samples, const RealType output_sample_rate)
        {
            const auto& schedule = receiver->getSchedule();
            if (schedule.empty())
            {
                appendStreamingSegment(metadata, total_samples, output_sample_rate, params::startTime(),
                                       params::endTime());
                return;
            }
 
            for (const auto& period : schedule)
            {
                const RealType start = std::max(params::startTime(), period.start);
                const RealType end = std::min(params::endTime(), period.end);
                if (start < end)
                {
                    appendStreamingSegment(metadata, total_samples, output_sample_rate, start, end);
                }
            }
        }
 
        void appendStreamingSegments(core::OutputFileMetadata& metadata, const radar::Receiver* receiver,
                                     const std::size_t total_samples, const RealType output_sample_rate,
                                     const std::vector<TimeSpan>& dechirp_time_spans)
        {
            if (!receiver->isDechirpEnabled())
            {
                appendScheduledStreamingSegments(metadata, receiver, total_samples, output_sample_rate);
                return;
            }
 
            for (const auto& span : dechirp_time_spans)
            {
                appendStreamingSegment(metadata, total_samples, output_sample_rate, span.first, span.second);
            }
        }
 
        void annotateSingleFmcwSource(core::OutputFileMetadata& metadata,
                                      const std::vector<core::ActiveStreamingSource>& streaming_sources)
        {
            metadata.fmcw_sources = buildFmcwSources(streaming_sources);
            if (metadata.fmcw_sources.size() != 1)
            {
                return;
            }
 
            metadata.fmcw = metadata.fmcw_sources.front().waveform;
            for (const auto& streaming_source : streaming_sources)
            {
                if (streaming_source.is_fmcw && streaming_source.transmitter != nullptr &&
                    streaming_source.transmitter->getId() == metadata.fmcw_sources.front().transmitter_id)
                {
                    annotateStreamingSegmentsForSingleFmcwSource(metadata, streaming_source);
                }
            }
        }
 
        void annotateSingleSfcwSource(core::OutputFileMetadata& metadata,
                                      const std::vector<core::ActiveStreamingSource>& streaming_sources)
        {
            metadata.sfcw_sources = buildSfcwSources(streaming_sources);
            if (metadata.sfcw_sources.size() != 1)
            {
                return;
            }
 
            metadata.sfcw = metadata.sfcw_sources.front().waveform;
            for (const auto& streaming_source : streaming_sources)
            {
                if (streaming_source.is_sfcw && streaming_source.transmitter != nullptr &&
                    streaming_source.transmitter->getId() == metadata.sfcw_sources.front().transmitter_id)
                {
                    annotateStreamingSegmentsForSingleSfcwSource(metadata, streaming_source);
                }
            }
        }
 
        void populateFmcwIfMetadata(core::OutputFileMetadata& metadata, const radar::Receiver* receiver)
        {
            const auto& if_request = receiver->getFmcwIfChainRequest();
            const auto& if_plan = receiver->getFmcwIfResamplerPlan();
            metadata.fmcw_if_legacy_full_rate = !if_request.sample_rate_hz.has_value();
            metadata.fmcw_if_decimation_enabled = if_plan.has_value();
            if (if_request.sample_rate_hz.has_value())
            {
                metadata.fmcw_if_requested_sample_rate = if_request.sample_rate_hz;
            }
            if (!if_plan.has_value())
            {
                return;
            }
 
            metadata.fmcw_if_sample_rate = if_plan->actual_output_sample_rate_hz;
            metadata.fmcw_if_input_sample_rate = if_plan->input_sample_rate_hz;
            metadata.fmcw_if_resample_numerator = static_cast<unsigned>(if_plan->overall_ratio.numerator);
            metadata.fmcw_if_resample_denominator = static_cast<unsigned>(if_plan->overall_ratio.denominator);
            metadata.fmcw_if_decimation_factor = if_plan->actual_output_sample_rate_hz > 0.0
                ? if_plan->input_sample_rate_hz / if_plan->actual_output_sample_rate_hz
                : 0.0;
            metadata.fmcw_if_filter_bandwidth = if_plan->filter_bandwidth_hz;
            metadata.fmcw_if_filter_transition_width = if_plan->filter_transition_width_hz;
            metadata.fmcw_if_filter_stopband = if_plan->stopband_attenuation_db;
            metadata.fmcw_if_filter_group_delay_seconds = if_plan->group_delay_seconds;
            metadata.fmcw_if_compensated_integer_delay_samples = if_plan->warmup_discard_samples;
            metadata.fmcw_if_compensated_fractional_delay_samples = if_plan->fractional_output_delay_samples;
            metadata.fmcw_if_warmup_discard_samples = if_plan->warmup_discard_samples;
            metadata.fmcw_if_phase_refinement = static_cast<unsigned>(if_plan->phase_refinement);
            metadata.fmcw_if_timing_error_seconds = if_plan->estimated_timing_error_seconds;
            metadata.fmcw_if_phase_error_radians = if_plan->estimated_phase_error_radians;
            metadata.fmcw_if_noise_variance =
                params::boltzmannK() * receiver->getNoiseTemperature() * if_plan->actual_output_sample_rate_hz;
            metadata.fmcw_if_group_delay_compensated = if_plan->group_delay_compensated;
        }
 
        void populateDechirpReferenceMetadata(core::OutputFileMetadata& metadata, const radar::Receiver* receiver)
        {
            const auto& reference = receiver->getDechirpReference();
            metadata.fmcw_dechirp_reference_source = std::string(radar::dechirpReferenceSourceToken(reference.source));
            if (reference.source == radar::Receiver::DechirpReferenceSource::Attached ||
                reference.source == radar::Receiver::DechirpReferenceSource::Transmitter)
            {
                metadata.fmcw_dechirp_reference_transmitter_id = reference.transmitter_id;
                metadata.fmcw_dechirp_reference_transmitter_name = reference.transmitter_name;
            }
            else if (reference.source == radar::Receiver::DechirpReferenceSource::Custom)
            {
                metadata.fmcw_dechirp_reference_waveform_id = reference.waveform_id;
                metadata.fmcw_dechirp_reference_waveform_name = reference.waveform_name;
                if (!receiver->getDechirpSources().empty())
                {
                    metadata.fmcw_dechirp_reference_waveform = buildFmcwMetadata(receiver->getDechirpSources().front());
                }
            }
        }
 
        /// Builds output metadata for a streaming receiver result file.
        core::OutputFileMetadata
        buildStreamingMetadata(const radar::Receiver* receiver, const std::string& hdf5_filename,
                               const std::size_t total_samples,
                               const std::vector<core::ActiveStreamingSource>& streaming_sources,
                               const RealType output_sample_rate, const std::vector<TimeSpan>& dechirp_time_spans = {})
        {
            core::OutputFileMetadata metadata{
                .receiver_id = receiver->getId(),
                .receiver_name = receiver->getName(),
                .mode = receiver->getMode() == radar::OperationMode::FMCW_MODE
                    ? "fmcw"
                    : (receiver->getMode() == radar::OperationMode::SFCW_MODE ? "sfcw" : "cw"),
                .path = hdf5_filename,
                .sampling_rate = output_sample_rate,
                .total_samples = static_cast<std::uint64_t>(total_samples),
                .sample_start = 0,
                .sample_end_exclusive = static_cast<std::uint64_t>(total_samples)};
 
            appendStreamingSegments(metadata, receiver, total_samples, output_sample_rate, dechirp_time_spans);
            annotateSingleFmcwSource(metadata, streaming_sources);
            annotateSingleSfcwSource(metadata, streaming_sources);
 
            metadata.fmcw_dechirp_mode = std::string(radar::dechirpModeToken(receiver->getDechirpMode()));
            if (receiver->isDechirpEnabled())
            {
                populateFmcwIfMetadata(metadata, receiver);
                populateDechirpReferenceMetadata(metadata, receiver);
            }
 
            return metadata;
        }
 
        /// Converts a receiver mode to the stable sink descriptor token.
        [[nodiscard]] std::string receiverModeToken(const radar::Receiver* receiver)
        {
            switch (receiver->getMode())
            {
            case radar::OperationMode::PULSED_MODE:
                return "pulsed";
            case radar::OperationMode::FMCW_MODE:
                return "fmcw";
            case radar::OperationMode::SFCW_MODE:
                return "sfcw";
            case radar::OperationMode::CW_MODE:
                return "cw";
            }
            return "unknown";
        }
 
        [[nodiscard]] std::string coordinateFrameToken(const params::CoordinateFrame frame)
        {
            switch (frame)
            {
            case params::CoordinateFrame::ENU:
                return "ENU";
            case params::CoordinateFrame::UTM:
                return "UTM";
            case params::CoordinateFrame::ECEF:
                return "ECEF";
            }
            return "ENU";
        }
 
        [[nodiscard]] core::ReceiverStreamDescriptor::CoordinateContext buildCoordinateContext()
        {
            return core::ReceiverStreamDescriptor::CoordinateContext{
                .frame = coordinateFrameToken(params::coordinateFrame()),
                .origin_latitude = params::originLatitude(),
                .origin_longitude = params::originLongitude(),
                .origin_altitude = params::originAltitude(),
                .utm_zone = params::utmZone(),
                .utm_north_hemisphere = params::utmNorthHemisphere()};
        }
 
        [[nodiscard]] core::ReceiverStreamDescriptor::PlatformState
        buildInitialPlatformState(const radar::Receiver* receiver)
        {
            core::ReceiverStreamDescriptor::PlatformState state;
            const auto* platform = receiver->getPlatform();
            if (platform == nullptr)
            {
                return state;
            }
 
            const RealType t0 = params::startTime();
            state.platform_id = platform->getId();
            state.platform_name = platform->getName();
            try
            {
                const auto position = platform->getPosition(t0);
                state.position_x = position.x;
                state.position_y = position.y;
                state.position_z = position.z;
            }
            catch (...)
            {
            }
            try
            {
                const auto velocity = platform->getMotionPath()->getVelocity(t0);
                state.velocity_x = velocity.x;
                state.velocity_y = velocity.y;
                state.velocity_z = velocity.z;
            }
            catch (...)
            {
            }
            try
            {
                const auto rotation = platform->getRotation(t0);
                state.azimuth = rotation.azimuth;
                state.elevation = rotation.elevation;
            }
            catch (...)
            {
            }
            return state;
        }
 
        [[nodiscard]] const core::ActiveStreamingSource*
        findFmcwContextSource(const radar::Receiver* receiver,
                              const std::span<const core::ActiveStreamingSource> streaming_sources)
        {
            if (receiver->isDechirpEnabled() && !receiver->getDechirpSources().empty())
            {
                return &receiver->getDechirpSources().front();
            }
            const auto found = std::ranges::find_if(streaming_sources, [](const core::ActiveStreamingSource& source)
                                                    { return source.is_fmcw; });
            return found == streaming_sources.end() ? nullptr : &*found;
        }
 
        [[nodiscard]] const radar::Transmitter* attachedTransmitter(const radar::Receiver* receiver)
        {
            return receiver == nullptr ? nullptr : dynamic_cast<const radar::Transmitter*>(receiver->getAttached());
        }
 
        void populateWaveformIdentity(core::ReceiverStreamDescriptor::PulsedContext& context,
                                      const fers_signal::RadarSignal* signal)
        {
            if (signal == nullptr)
            {
                return;
            }
            context.waveform_id = signal->getId();
            context.waveform_name = signal->getName();
            context.carrier_frequency = signal->getCarrier();
            context.power = signal->getPower();
            context.pulse_width = signal->getLength();
            context.native_sample_rate = signal->getRate();
            context.native_sample_count = signal->getSampleCount();
        }
 
        void populateWaveformIdentity(core::ReceiverStreamDescriptor::CwContext& context,
                                      const fers_signal::RadarSignal* signal)
        {
            if (signal == nullptr)
            {
                return;
            }
            context.waveform_id = signal->getId();
            context.waveform_name = signal->getName();
            context.carrier_frequency = signal->getCarrier();
            context.power = signal->getPower();
        }
 
        void populateWaveformIdentity(core::ReceiverStreamDescriptor::SfcwContext& context,
                                      const fers_signal::RadarSignal* signal)
        {
            if (signal == nullptr)
            {
                return;
            }
            context.waveform_id = signal->getId();
            context.waveform_name = signal->getName();
            context.carrier_frequency = signal->getCarrier();
            context.power = signal->getPower();
            const auto* sfcw = signal->getSteppedFrequencySignal();
            if (sfcw == nullptr)
            {
                return;
            }
            const RealType effective_bandwidth = sfcw->effectiveBandwidth();
            const RealType step_size = std::abs(sfcw->getStepSize());
            context.start_frequency_offset = sfcw->getStartFrequencyOffset();
            context.step_size = sfcw->getStepSize();
            context.step_count = static_cast<std::uint64_t>(sfcw->getStepCount());
            context.dwell_time = sfcw->getDwellTime();
            context.step_period = sfcw->getStepPeriod();
            context.sweep_period = sfcw->getSweepPeriod();
            context.sweep_count = sfcw->getSweepCount().has_value()
                ? std::optional<std::uint64_t>(static_cast<std::uint64_t>(*sfcw->getSweepCount()))
                : std::nullopt;
            context.first_frequency = sfcw->firstFrequency(signal->getCarrier());
            context.last_frequency = sfcw->lastFrequency(signal->getCarrier());
            context.frequency_span = sfcw->frequencySpan();
            context.effective_bandwidth = effective_bandwidth;
            context.range_resolution = effective_bandwidth > 0.0 ? params::c() / (2.0 * effective_bandwidth) : 0.0;
            context.unambiguous_range = step_size > 0.0 ? params::c() / (2.0 * step_size) : 0.0;
        }
 
        [[nodiscard]] core::ReceiverStreamDescriptor::PulsedContext buildPulsedContext(const radar::Receiver* receiver)
        {
            core::ReceiverStreamDescriptor::PulsedContext context;
            if (receiver == nullptr || receiver->getMode() != radar::OperationMode::PULSED_MODE)
            {
                return context;
            }
 
            context.present = true;
            context.window_length = receiver->getWindowLength();
            context.window_prf = receiver->getWindowPrf();
            context.window_skip = receiver->getWindowSkip();
            context.window_count = receiver->getWindowCount();
            if (const auto* transmitter = attachedTransmitter(receiver); transmitter != nullptr)
            {
                populateWaveformIdentity(context, transmitter->getSignal());
            }
            if (context.carrier_frequency == 0.0)
            {
                if (const auto timing = receiver->getTiming(); timing)
                {
                    context.carrier_frequency = timing->getFrequency();
                }
            }
            return context;
        }
 
        [[nodiscard]] core::ReceiverStreamDescriptor::CwContext buildCwContext(const radar::Receiver* receiver)
        {
            core::ReceiverStreamDescriptor::CwContext context;
            if (receiver == nullptr || receiver->getMode() != radar::OperationMode::CW_MODE)
            {
                return context;
            }
 
            context.present = true;
            if (const auto* transmitter = attachedTransmitter(receiver); transmitter != nullptr)
            {
                populateWaveformIdentity(context, transmitter->getSignal());
            }
            if (context.carrier_frequency == 0.0)
            {
                if (const auto timing = receiver->getTiming(); timing)
                {
                    context.carrier_frequency = timing->getFrequency();
                }
            }
            return context;
        }
 
        [[nodiscard]] core::ReceiverStreamDescriptor::SfcwContext
        buildSfcwContext(const radar::Receiver* receiver,
                         const std::span<const core::ActiveStreamingSource> streaming_sources)
        {
            core::ReceiverStreamDescriptor::SfcwContext context;
            if (receiver == nullptr || receiver->getMode() != radar::OperationMode::SFCW_MODE)
            {
                return context;
            }
 
            context.present = true;
            if (const auto* transmitter = attachedTransmitter(receiver); transmitter != nullptr)
            {
                populateWaveformIdentity(context, transmitter->getSignal());
            }
            if (context.waveform_id == 0)
            {
                const auto found = std::ranges::find_if(streaming_sources, [](const core::ActiveStreamingSource& source)
                                                        { return source.is_sfcw && source.transmitter != nullptr; });
                if (found != streaming_sources.end())
                {
                    populateWaveformIdentity(context, found->transmitter->getSignal());
                }
            }
            return context;
        }
 
        [[nodiscard]] core::ReceiverStreamDescriptor::FmcwContext
        buildFmcwContext(const radar::Receiver* receiver,
                         const std::span<const core::ActiveStreamingSource> streaming_sources)
        {
            core::ReceiverStreamDescriptor::FmcwContext context;
            if (receiver == nullptr || receiver->getMode() != radar::OperationMode::FMCW_MODE)
            {
                return context;
            }
 
            context.dechirp_mode = std::string(radar::dechirpModeToken(receiver->getDechirpMode()));
            const auto& reference = receiver->getDechirpReference();
            context.dechirp_reference_source = std::string(radar::dechirpReferenceSourceToken(reference.source));
            context.dechirp_reference_transmitter_id = reference.transmitter_id;
            context.dechirp_reference_transmitter_name = reference.transmitter_name;
            context.dechirp_reference_waveform_id = reference.waveform_id;
            context.dechirp_reference_waveform_name = reference.waveform_name;
 
            const auto* source = findFmcwContextSource(receiver, streaming_sources);
            if (source == nullptr)
            {
                return context;
            }
 
            const auto waveform = buildFmcwMetadata(*source);
            context.present = true;
            context.waveform_shape = waveform.waveform_shape;
            context.chirp_bandwidth = waveform.chirp_bandwidth;
            context.chirp_duration = waveform.chirp_duration;
            context.chirp_period = waveform.chirp_period;
            context.chirp_rate = waveform.chirp_rate;
            context.chirp_rate_signed = waveform.chirp_rate_signed;
            context.sweep_direction =
                source->kind == core::StreamingWaveformKind::FmcwTriangle ? "up_down" : waveform.chirp_direction;
            context.start_frequency_offset = waveform.start_frequency_offset;
            context.triangle_period = waveform.triangle_period;
            context.chirp_count = waveform.chirp_count;
            context.triangle_count = waveform.triangle_count;
            return context;
        }
    }
 
    core::OutputFileMetadata buildStreamingOutputMetadata(
        const radar::Receiver* receiver, const std::string& output_path, const std::size_t total_samples,
        const std::vector<core::ActiveStreamingSource>& streaming_sources, const RealType output_sample_rate)
    {
        const auto dechirp_time_spans =
            receiver->isDechirpEnabled() ? dechirpActiveTimeSpans(receiver) : std::vector<TimeSpan>{};
        return buildStreamingMetadata(receiver, output_path, total_samples, streaming_sources, output_sample_rate,
                                      dechirp_time_spans);
    }
 
    core::ReceiverStreamDescriptor
    buildReceiverStreamDescriptor(const radar::Receiver* receiver, const RealType sample_rate,
                                  const std::span<const core::ActiveStreamingSource> streaming_sources)
    {
        core::ReceiverStreamDescriptor descriptor{.receiver_id = receiver->getId(),
                                                  .receiver_name = receiver->getName(),
                                                  .mode = receiverModeToken(receiver),
                                                  .sample_rate = sample_rate,
                                                  .bandwidth = sample_rate > 0.0 ? sample_rate / 2.0 : 0.0,
                                                  .dechirped = receiver->isDechirpEnabled(),
                                                  .if_resampled = receiver->getFmcwIfResamplerPlan().has_value(),
                                                  .adc_bits = params::adcBits(),
                                                  .coordinate = buildCoordinateContext(),
                                                  .initial_platform_state = buildInitialPlatformState(receiver),
                                                  .pulsed = buildPulsedContext(receiver),
                                                  .cw = buildCwContext(receiver),
                                                  .fmcw = buildFmcwContext(receiver, streaming_sources),
                                                  .sfcw = buildSfcwContext(receiver, streaming_sources)};
        if (const auto timing = receiver->getTiming(); timing)
        {
            descriptor.reference_frequency = timing->getFrequency();
        }
        return descriptor;
    }
 
    core::ReceiverSampleBlock buildReceiverSampleBlock(const radar::Receiver* receiver,
                                                       const RealType first_sample_time, const RealType sample_rate,
                                                       const std::span<const ComplexType> samples,
                                                       const std::uint64_t sample_start,
                                                       std::shared_ptr<const core::OutputFileMetadata> file_metadata)
    {
        return buildReceiverSampleBlock(receiver, first_sample_time, sample_rate, samples, sample_start,
                                        std::span<const core::ActiveStreamingSource>{}, std::move(file_metadata));
    }
 
    core::ReceiverSampleBlock
    buildReceiverSampleBlock(const radar::Receiver* receiver, const RealType first_sample_time,
                             const RealType sample_rate, const std::span<const ComplexType> samples,
                             const std::uint64_t sample_start,
                             const std::span<const core::ActiveStreamingSource> streaming_sources,
                             std::shared_ptr<const core::OutputFileMetadata> file_metadata)
    {
        return core::ReceiverSampleBlock{.stream =
                                             buildReceiverStreamDescriptor(receiver, sample_rate, streaming_sources),
                                         .first_sample_time = first_sample_time,
                                         .sample_rate = sample_rate,
                                         .samples = samples,
                                         .sample_start = sample_start,
                                         .valid_data = true,
                                         .calibrated_time = true,
                                         .reference_lock = true,
                                         .file_metadata = std::move(file_metadata)};
    }
 
    void runPulsedFinalizer(radar::Receiver* receiver, const std::vector<std::unique_ptr<radar::Target>>* targets,
                            const std::shared_ptr<core::ProgressReporter>& reporter, const std::string& output_dir,
                            const std::shared_ptr<core::OutputMetadataCollector>& metadata_collector,
                            core::ReceiverOutputSink* output_sink)
    {
        (void)output_dir;
        (void)metadata_collector;
        if (output_sink == nullptr)
        {
            throw std::invalid_argument("runPulsedFinalizer requires a receiver output sink");
        }
 
        const auto timing_model = receiver->getTiming()->clone();
        if (!timing_model)
        {
            LOG(logging::Level::FATAL, "Failed to clone timing model for receiver '{}'", receiver->getName());
            return;
        }
 
        const auto sink_stream_id =
            output_sink->registerStream(buildReceiverStreamDescriptor(receiver, params::rate()));
        bool sink_stream_open = false;
        std::uint64_t sink_sample_start = 0;
 
        unsigned chunk_index = 0;
 
        LOG(logging::Level::INFO, "Finalizer thread started for receiver '{}'. Routing to output sink.",
            receiver->getName());
 
        auto last_report_time = std::chrono::steady_clock::now();
        const auto report_interval = std::chrono::milliseconds(100);
        const RealType rate = params::rate() * params::oversampleRatio();
        const RealType dt = 1.0 / rate;
        core::ReceiverTrackerCache streaming_tracker_cache;
 
        while (true)
        {
            core::RenderingJob job;
            if (!receiver->waitAndDequeueFinalizerJob(job))
            {
                break; // Shutdown signal received
            }
 
            const auto window_samples = static_cast<unsigned>(std::ceil(job.duration * rate));
            std::vector pnoise(window_samples, 0.0);
 
            RealType actual_start = job.ideal_start_time;
            RealType frac_delay = 0.0;
 
            if (timing_model->isEnabled())
            {
                pipeline::advanceTimingModel(timing_model.get(), receiver, rate);
                std::ranges::generate(pnoise, [&] { return timing_model->getNextSample(); });
                std::tie(actual_start, frac_delay) = pipeline::calculateJitteredStart(
                    job.ideal_start_time, pnoise[0], timing_model->getFrequency(), rate);
            }
 
            std::vector<ComplexType> window_buffer(window_samples);
 
            pipeline::applyStreamingInterference(window_buffer, actual_start, dt, receiver,
                                                 job.active_streaming_sources, targets, streaming_tracker_cache);
 
            renderWindow(window_buffer, job.duration, actual_start, frac_delay, job.responses);
 
            if (timing_model->isEnabled())
            {
                pipeline::addPhaseNoiseToWindow(pnoise, window_buffer);
            }
 
            pipeline::applyDownsampling(window_buffer);
            applyThermalNoiseAtSampleRate(window_buffer,
                                          receiver->getNoiseTemperature(receiver->getRotation(actual_start)),
                                          receiver->getRngEngine(), params::rate());
            if (!sink_stream_open)
            {
                output_sink->openStream(sink_stream_id, actual_start);
                sink_stream_open = true;
            }
            const auto block =
                buildReceiverSampleBlock(receiver, actual_start, params::rate(), window_buffer, sink_sample_start);
            output_sink->submitBlock(block);
            sink_sample_start += static_cast<std::uint64_t>(window_buffer.size());
            ++chunk_index;
 
            if (reporter)
            {
                const auto now = std::chrono::steady_clock::now();
                if ((now - last_report_time) >= report_interval)
                {
                    reporter->report(std::format("Exporting {}: Chunk {}", receiver->getName(), chunk_index),
                                     static_cast<int>(chunk_index), 0);
                    last_report_time = now;
                }
            }
        }
 
        if (sink_stream_open)
        {
            output_sink->closeStream(sink_stream_id);
        }
 
        if (reporter)
        {
            reporter->report(std::format("Finished Exporting {}", receiver->getName()), 100, 100);
        }
        LOG(logging::Level::INFO, "Finalizer thread for receiver '{}' finished.", receiver->getName());
    }
 
}