simulation_state.cpp

Go to the documentation of this file.

// 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 "simulation_state.h"
 
#include <algorithm>
#include <cmath>
#include <cstdint>
 
#include "core/logging.h"
#include "signal/radar_signal.h"
 
namespace core
{
    namespace
    {
        /// Absorbs division roundoff when an expected chirp/triangle boundary lands just below an integer index.
        constexpr RealType kWaveformBoundaryIndexTolerance = 1.0e-12;
        /// Ignores sub-picosecond schedule leftovers caused by arithmetic at exact triangle boundaries.
        constexpr RealType kWaveformBoundaryTimeToleranceSeconds = 1.0e-12;
 
        /// Rounds a non-negative floating-point value up to an unsigned integer.
        std::uint64_t ceilToUint(const RealType value)
        {
            if (value <= 0.0)
            {
                return 0;
            }
 
            const RealType nearest = std::round(value);
            const RealType tolerance = kWaveformBoundaryIndexTolerance * std::max<RealType>(1.0, std::abs(nearest));
            if (std::abs(value - nearest) <= tolerance)
            {
                return static_cast<std::uint64_t>(nearest);
            }
            return static_cast<std::uint64_t>(std::ceil(value));
        }
 
        /// Returns the first FMCW chirp index that can contribute inside an interval.
        std::optional<std::uint64_t> firstFmcwChirpIndex(const ActiveStreamingSource& source,
                                                         const RealType active_start, const RealType active_end)
        {
            if (source.kind != StreamingWaveformKind::FmcwLinear || source.chirp_period <= 0.0)
            {
                return std::nullopt;
            }
 
            const RealType clipped_start = std::max(active_start, source.segment_start);
            const RealType clipped_end = std::min(active_end, source.segment_end);
            if (clipped_end <= clipped_start)
            {
                return std::nullopt;
            }
 
            const auto first_index = clipped_start <= source.segment_start
                ? std::uint64_t{0}
                : ceilToUint((clipped_start - source.segment_start) / source.chirp_period);
            if (source.chirp_count.has_value() && first_index >= *source.chirp_count)
            {
                return std::nullopt;
            }
 
            const RealType first_start =
                source.segment_start + static_cast<RealType>(first_index) * source.chirp_period;
            if (first_start >= clipped_end)
            {
                return std::nullopt;
            }
            return first_index;
        }
 
        /// Returns the first FMCW triangle index that can contribute inside an interval.
        std::optional<std::uint64_t> firstFmcwTriangleIndex(const ActiveStreamingSource& source,
                                                            const RealType active_start, const RealType active_end)
        {
            if (source.kind != StreamingWaveformKind::FmcwTriangle || source.triangle_period <= 0.0)
            {
                return std::nullopt;
            }
 
            const RealType clipped_start = std::max(active_start, source.segment_start);
            const RealType clipped_end = std::min(active_end, source.segment_end);
            if (clipped_end <= clipped_start)
            {
                return std::nullopt;
            }
 
            const auto first_index = clipped_start <= source.segment_start
                ? std::uint64_t{0}
                : ceilToUint((clipped_start - source.segment_start) / source.triangle_period);
            if (source.triangle_count.has_value() && first_index >= *source.triangle_count)
            {
                return std::nullopt;
            }
 
            const RealType first_start =
                source.segment_start + static_cast<RealType>(first_index) * source.triangle_period;
            if (first_start >= clipped_end)
            {
                return std::nullopt;
            }
            return first_index;
        }
 
        /// Reduces a phase to [0, 2*pi).
        RealType positiveModuloTwoPi(const RealType phase)
        {
            RealType reduced = std::fmod(phase, 2.0 * PI);
            if (reduced < 0.0)
            {
                reduced += 2.0 * PI;
            }
            return reduced;
        }
 
        /// Populates waveform-dependent fields in an active streaming source.
        void populateWaveformCache(ActiveStreamingSource& source, const fers_signal::RadarSignal* const signal,
                                   const RealType segment_start)
        {
            if (signal == nullptr)
            {
                return;
            }
 
            source.carrier_freq = signal->getCarrier();
            source.amplitude = std::sqrt(signal->getPower());
            if (const auto* const fmcw = signal->getFmcwChirpSignal(); fmcw != nullptr)
            {
                source.kind = StreamingWaveformKind::FmcwLinear;
                source.is_fmcw = true;
                source.fmcw = fmcw;
                source.chirp_duration = source.fmcw->getChirpDuration();
                source.chirp_period = source.fmcw->getChirpPeriod();
                source.chirp_rate = source.fmcw->getChirpRate();
                source.signed_chirp_rate = source.fmcw->getSignedChirpRate();
                source.start_freq_off = source.fmcw->getStartFrequencyOffset();
                source.two_pi_f0 = 2.0 * PI * source.start_freq_off;
                source.s_pi_alpha = PI * source.signed_chirp_rate;
                source.chirp_count = source.fmcw->getChirpCount();
                if (source.chirp_count.has_value())
                {
                    source.segment_end =
                        std::min(source.segment_end,
                                 segment_start + static_cast<RealType>(*source.chirp_count) * source.chirp_period);
                }
                return;
            }
 
            if (const auto* const triangle = signal->getFmcwTriangleSignal(); triangle != nullptr)
            {
                source.kind = StreamingWaveformKind::FmcwTriangle;
                source.is_fmcw = true;
                source.triangle = triangle;
                source.chirp_duration = triangle->getChirpDuration();
                source.chirp_rate = triangle->getChirpRate();
                source.start_freq_off = triangle->getStartFrequencyOffset();
                source.triangle_period = triangle->getTrianglePeriod();
                source.chirp_period = source.triangle_period;
                source.two_pi_f0 = 2.0 * PI * source.start_freq_off;
                source.two_pi_f0_plus_B = 2.0 * PI * (source.start_freq_off + triangle->getChirpBandwidth());
                source.pi_alpha = PI * source.chirp_rate;
                source.neg_pi_alpha = -source.pi_alpha;
                source.mod_phi_up = positiveModuloTwoPi(triangle->getDeltaPhiUp());
                source.mod_phi_tri = positiveModuloTwoPi(2.0 * source.mod_phi_up);
                source.triangle_count = triangle->getTriangleCount();
 
                const RealType raw_end = source.segment_end;
                const RealType raw_duration = std::max<RealType>(0.0, raw_end - segment_start);
                if (!std::isfinite(raw_duration))
                {
                    if (source.triangle_count.has_value())
                    {
                        source.segment_end =
                            segment_start + static_cast<RealType>(*source.triangle_count) * source.triangle_period;
                    }
                    return;
                }
 
                const auto full_by_duration = static_cast<std::size_t>(
                    std::floor(raw_duration / source.triangle_period + kWaveformBoundaryIndexTolerance));
                std::size_t emitted_triangles = full_by_duration;
                if (source.triangle_count.has_value())
                {
                    emitted_triangles = std::min(emitted_triangles, *source.triangle_count);
                }
                source.segment_end = segment_start + static_cast<RealType>(emitted_triangles) * source.triangle_period;
                return;
            }
        }
    }
 
    ActiveStreamingSource makeActiveSource(const radar::Transmitter* const tx, const RealType segment_start,
                                           const RealType segment_end)
    {
        ActiveStreamingSource source{};
        source.transmitter = tx;
        source.segment_start = segment_start;
        source.segment_end = segment_end;
        if (tx == nullptr)
        {
            return source;
        }
 
        const auto* const signal = tx->getSignal();
        if (signal == nullptr)
        {
            return source;
        }
 
        const RealType raw_segment_end = segment_end;
        populateWaveformCache(source, signal, segment_start);
        if (source.kind == StreamingWaveformKind::FmcwTriangle &&
            source.segment_end + kWaveformBoundaryTimeToleranceSeconds < raw_segment_end)
        {
            const auto emitted_triangles = static_cast<std::uint64_t>(
                std::max<RealType>(0.0, (source.segment_end - segment_start) / source.triangle_period));
            LOG(logging::Level::WARNING,
                "FMCW triangle transmitter '{}' segment [{}, {}] emits {} complete triangles and drops {} s of "
                "leftover active time.",
                tx->getName(), segment_start, raw_segment_end, emitted_triangles, raw_segment_end - source.segment_end);
        }
        return source;
    }
 
    ActiveStreamingSource makeActiveSourceFromWaveform(const fers_signal::RadarSignal* const signal,
                                                       const RealType segment_start, const RealType segment_end)
    {
        ActiveStreamingSource source{};
        source.segment_start = segment_start;
        source.segment_end = segment_end;
        populateWaveformCache(source, signal, segment_start);
        return source;
    }
 
    std::optional<RealType> firstFmcwChirpStart(const ActiveStreamingSource& source, const RealType active_start,
                                                const RealType active_end)
    {
        const auto first_index = firstFmcwChirpIndex(source, active_start, active_end);
        if (!first_index.has_value())
        {
            return std::nullopt;
        }
        return source.segment_start + static_cast<RealType>(*first_index) * source.chirp_period;
    }
 
    std::uint64_t countFmcwChirpStarts(const ActiveStreamingSource& source, const RealType active_start,
                                       const RealType active_end)
    {
        const auto first_index = firstFmcwChirpIndex(source, active_start, active_end);
        if (!first_index.has_value())
        {
            return 0;
        }
 
        const RealType clipped_end = std::min(active_end, source.segment_end);
        const RealType first_start = source.segment_start + static_cast<RealType>(*first_index) * source.chirp_period;
        const auto starts_in_interval = ceilToUint((clipped_end - first_start) / source.chirp_period);
        if (!source.chirp_count.has_value())
        {
            return starts_in_interval;
        }
 
        const auto configured = static_cast<std::uint64_t>(*source.chirp_count);
        return std::min(starts_in_interval, configured - *first_index);
    }
 
    std::optional<RealType> firstFmcwTriangleStart(const ActiveStreamingSource& source, const RealType active_start,
                                                   const RealType active_end)
    {
        const auto first_index = firstFmcwTriangleIndex(source, active_start, active_end);
        if (!first_index.has_value())
        {
            return std::nullopt;
        }
        return source.segment_start + static_cast<RealType>(*first_index) * source.triangle_period;
    }
 
    std::uint64_t countFmcwTriangleStarts(const ActiveStreamingSource& source, const RealType active_start,
                                          const RealType active_end)
    {
        const auto first_index = firstFmcwTriangleIndex(source, active_start, active_end);
        if (!first_index.has_value())
        {
            return 0;
        }
 
        const RealType clipped_end = std::min(active_end, source.segment_end);
        const RealType first_start =
            source.segment_start + static_cast<RealType>(*first_index) * source.triangle_period;
        const auto starts_in_interval = ceilToUint((clipped_end - first_start) / source.triangle_period);
        if (!source.triangle_count.has_value())
        {
            return starts_in_interval;
        }
 
        const auto configured = static_cast<std::uint64_t>(*source.triangle_count);
        return std::min(starts_in_interval, configured - *first_index);
    }
}