radar_signal.h

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// SPDX-License-Identifier: GPL-2.0-only
//
// Copyright (c) 2006-2008 Marc Brooker and Michael Inggs
// Copyright (c) 2008-present FERS Contributors (see AUTHORS.md).
//
// See the GNU GPLv2 LICENSE file in the FERS project root for more information.
 
/**
 * @file radar_signal.h
 * @brief Classes for handling radar waveforms and signals.
 */
 
#pragma once
 
#include <cstddef>
#include <cstdint>
#include <memory>
#include <optional>
#include <span>
#include <string>
#include <string_view>
#include <tuple>
#include <vector>
 
#include "core/config.h"
#include "core/sim_id.h"
 
namespace interp
{
    struct InterpPoint;
}
 
namespace fers_signal
{
    /// Sweep direction for a linear FMCW chirp.
    enum class FmcwChirpDirection : std::uint8_t
    {
        Up, ///< Instantaneous baseband frequency increases over the chirp.
        Down ///< Instantaneous baseband frequency decreases over the chirp.
    };
 
    /// Converts a chirp direction to the schema token.
    [[nodiscard]] std::string_view fmcwChirpDirectionToken(FmcwChirpDirection direction) noexcept;
 
    /// Parses a schema chirp direction token.
    [[nodiscard]] FmcwChirpDirection parseFmcwChirpDirection(std::string_view direction);
 
    /**
     * @class Signal
     * @brief Class for handling radar waveform signal data.
     */
    class Signal
    {
    public:
        virtual ~Signal() = default;
 
        Signal() = default;
 
        Signal(const Signal&) = delete;
 
        Signal& operator=(const Signal&) = delete;
 
        Signal(Signal&&) = default;
 
        Signal& operator=(Signal&&) = default;
 
        /**
         * @brief Clears the internal signal data.
         */
        void clear() noexcept;
 
        /**
         * @brief Loads complex radar waveform data.
         *
         * @param inData The input span of complex signal data.
         * @param samples The number of samples in the input data.
         * @param sampleRate The sample rate of the input data.
         */
        void load(std::span<const ComplexType> inData, unsigned samples, RealType sampleRate);
 
        /**
         * @brief Gets the sample rate of the signal.
         *
         * @return The sample rate of the signal.
         */
        [[nodiscard]] RealType getRate() const noexcept { return _rate; }
 
        /// Gets the number of native samples held by this signal.
        [[nodiscard]] unsigned getSampleCount() const noexcept { return _size; }
 
        /**
         * @brief Renders the signal data based on interpolation points.
         *
         * @param points A vector of interpolation points used to render the signal.
         * @param size Reference to store the size of the rendered data.
         * @param fracWinDelay Fractional window delay to apply during rendering.
         * @return A vector of rendered complex signal data.
         */
        virtual std::vector<ComplexType> render(const std::vector<interp::InterpPoint>& points, unsigned& size,
                                                double fracWinDelay) const;
 
        /// Renders a bounded absolute-time slice on the requested output grid.
        [[nodiscard]] virtual std::vector<ComplexType> renderSlice(const std::vector<interp::InterpPoint>& points,
                                                                   RealType outputStartTime, RealType outputSampleRate,
                                                                   std::size_t sampleCount,
                                                                   RealType fracWinDelay) const;
 
        /// Returns true when this signal belongs to the FMCW waveform family.
        [[nodiscard]] virtual bool isFmcwFamily() const noexcept { return false; }
 
    private:
        std::vector<ComplexType> _data; ///< The complex signal data.
        unsigned _size{0}; ///< The size of the signal data.
        RealType _rate{0}; ///< The sample rate of the signal.
 
        /**
         * @brief Calculates weights and delays for rendering.
         *
         * @param iter Iterator pointing to the current interpolation point.
         * @param next Iterator pointing to the next interpolation point.
         * @param sampleTime Current sample time.
         * @param idelay Integer delay value.
         * @param fracWinDelay Fractional window delay to apply.
         * @return A tuple containing amplitude, phase, fractional delay, and sample unwrap index.
         */
        [[nodiscard]] std::tuple<double, double, double, int>
        calculateWeightsAndDelays(std::vector<interp::InterpPoint>::const_iterator iter,
                                  std::vector<interp::InterpPoint>::const_iterator next, double sampleTime,
                                  double idelay, double fracWinDelay) const noexcept;
 
        /**
         * @brief Performs convolution with a filter.
         *
         * @param i Index of the current sample.
         * @param filt Pointer to the filter coefficients.
         * @param filtLength Length of the filter.
         * @param amplitude Amplitude scaling factor.
         * @param iSampleUnwrap Unwrapped sample index for the convolution.
         * @return The result of the convolution for the given sample.
         */
        ComplexType performConvolution(int i, const double* filt, int filtLength, double amplitude,
                                       int iSampleUnwrap) const noexcept;
    };
 
    /**
     * @class RadarSignal
     * @brief Class representing a radar signal with associated properties.
     */
    class RadarSignal
    {
    public:
        /**
         * @brief Constructs a RadarSignal object.
         *
         * @param name The name of the radar signal.
         * @param power The power of the radar signal.
         * @param carrierfreq The carrier frequency of the radar signal.
         * @param length The length of the radar signal.
         * @param signal A unique pointer to the `Signal` object containing the waveform data.
         * @throws std::runtime_error if the signal is null.
         */
        RadarSignal(std::string name, RealType power, RealType carrierfreq, RealType length,
                    std::unique_ptr<Signal> signal, const SimId id = 0);
 
        ~RadarSignal() = default;
 
        RadarSignal(const RadarSignal&) noexcept = delete;
 
        RadarSignal& operator=(const RadarSignal&) noexcept = delete;
 
        RadarSignal(RadarSignal&&) noexcept = delete;
 
        RadarSignal& operator=(RadarSignal&&) noexcept = delete;
 
        /**
         * @brief Sets the filename associated with this signal.
         * @param filename The source filename.
         */
        void setFilename(const std::string& filename) noexcept { _filename = filename; }
 
        /**
         * @brief Gets the filename associated with this signal.
         * @return The source filename, if one was set.
         */
        [[nodiscard]] const std::optional<std::string>& getFilename() const noexcept { return _filename; }
 
        /**
         * @brief Gets the power of the radar signal.
         *
         * @return The power of the radar signal.
         */
        [[nodiscard]] RealType getPower() const noexcept { return _power; }
 
        /**
         * @brief Gets the carrier frequency of the radar signal.
         *
         * @return The carrier frequency of the radar signal.
         */
        [[nodiscard]] RealType getCarrier() const noexcept { return _carrierfreq; }
 
        /**
         * @brief Gets the name of the radar signal.
         *
         * @return The name of the radar signal.
         */
        [[nodiscard]] const std::string& getName() const noexcept { return _name; }
 
        /**
         * @brief Gets the unique ID of the radar signal.
         *
         * @return The radar signal SimId.
         */
        [[nodiscard]] SimId getId() const noexcept { return _id; }
 
        /**
         * @brief Gets the sample rate of the radar signal.
         *
         * @return The sample rate of the radar signal.
         */
        [[nodiscard]] RealType getRate() const noexcept { return _signal->getRate(); }
 
        /// Gets the number of native samples in the underlying signal.
        [[nodiscard]] unsigned getSampleCount() const noexcept { return _signal->getSampleCount(); }
 
        /**
         * @brief Gets the length of the radar signal.
         *
         * @return The length of the radar signal.
         */
        [[nodiscard]] RealType getLength() const noexcept { return _length; }
 
        /**
         * @brief Gets the underlying signal object.
         * @return A const pointer to the Signal object.
         */
        [[nodiscard]] const Signal* getSignal() const noexcept { return _signal.get(); }
 
        /// Returns true when this signal is a continuous-wave signal.
        [[nodiscard]] bool isCw() const noexcept;
 
        /// Returns true when this signal is an FMCW linear chirp signal.
        [[nodiscard]] bool isFmcwChirp() const noexcept;
 
        /// Returns true when this signal is an FMCW triangular modulation signal.
        [[nodiscard]] bool isFmcwTriangle() const noexcept;
 
        /// Returns true when this signal belongs to the FMCW waveform family.
        [[nodiscard]] bool isFmcwFamily() const noexcept;
 
        /// Gets the FMCW chirp implementation, if this signal owns one.
        [[nodiscard]] const class FmcwChirpSignal* getFmcwChirpSignal() const noexcept;
 
        /// Gets the FMCW triangle implementation, if this signal owns one.
        [[nodiscard]] const class FmcwTriangleSignal* getFmcwTriangleSignal() const noexcept;
 
        /**
         * @brief Renders the radar signal.
         *
         * @param points A vector of interpolation points.
         * @param size Reference to store the size of the rendered data.
         * @param fracWinDelay Fractional window delay to apply during rendering.
         * @return A vector of rendered complex radar signal data.
         */
        std::vector<ComplexType> render(const std::vector<interp::InterpPoint>& points, unsigned& size,
                                        RealType fracWinDelay) const;
 
        /// Renders a bounded absolute-time slice on the requested output grid.
        [[nodiscard]] std::vector<ComplexType> renderSlice(const std::vector<interp::InterpPoint>& points,
                                                           RealType outputStartTime, RealType outputSampleRate,
                                                           std::size_t sampleCount, RealType fracWinDelay) const;
 
    private:
        std::string _name; ///< The name of the radar signal.
        SimId _id; ///< Unique ID for this radar signal.
        RealType _power; ///< The power of the radar signal.
        RealType _carrierfreq; ///< The carrier frequency of the radar signal.
        RealType _length; ///< The length of the radar signal.
        std::unique_ptr<Signal> _signal; ///< The `Signal` object containing the radar signal data.
        std::optional<std::string> _filename; ///< The original filename for file-based signals.
    };
 
    /// Continuous-wave signal implementation.
    class CwSignal final : public Signal
    {
    public:
        CwSignal() = default;
 
        ~CwSignal() override = default;
 
        CwSignal(const CwSignal&) noexcept = delete;
 
        CwSignal& operator=(const CwSignal&) noexcept = delete;
 
        CwSignal(CwSignal&&) noexcept = delete;
 
        CwSignal& operator=(CwSignal&&) noexcept = delete;
 
        /**
         * @brief Renders the signal data. For CW signals, this is a no-op.
         * @return An empty vector of complex signal data.
         */
        std::vector<ComplexType> render(const std::vector<interp::InterpPoint>& points, unsigned& size,
                                        RealType fracWinDelay) const override;
    };
 
    /// FMCW linear chirp signal implementation.
    class FmcwChirpSignal final : public Signal
    {
    public:
        /// Constructs an FMCW chirp signal with timing and sweep parameters.
        FmcwChirpSignal(RealType chirp_bandwidth, RealType chirp_duration, RealType chirp_period,
                        RealType start_frequency_offset = 0.0, std::optional<std::size_t> chirp_count = std::nullopt,
                        FmcwChirpDirection direction = FmcwChirpDirection::Up);
 
        ~FmcwChirpSignal() override = default;
 
        FmcwChirpSignal(const FmcwChirpSignal&) noexcept = delete;
 
        FmcwChirpSignal& operator=(const FmcwChirpSignal&) noexcept = delete;
 
        FmcwChirpSignal(FmcwChirpSignal&&) noexcept = delete;
 
        FmcwChirpSignal& operator=(FmcwChirpSignal&&) noexcept = delete;
 
        /// Gets the chirp bandwidth in hertz.
        [[nodiscard]] RealType getChirpBandwidth() const noexcept { return _chirp_bandwidth; }
 
        /// Gets the chirp duration in seconds.
        [[nodiscard]] RealType getChirpDuration() const noexcept { return _chirp_duration; }
 
        /// Gets the chirp period in seconds.
        [[nodiscard]] RealType getChirpPeriod() const noexcept { return _chirp_period; }
 
        /// Gets the start frequency offset relative to carrier in hertz.
        [[nodiscard]] RealType getStartFrequencyOffset() const noexcept { return _start_frequency_offset; }
 
        /// Gets the optional finite chirp count.
        [[nodiscard]] const std::optional<std::size_t>& getChirpCount() const noexcept { return _chirp_count; }
 
        /// Gets the chirp rate in hertz per second.
        [[nodiscard]] RealType getChirpRate() const noexcept { return _chirp_rate; }
 
        /// Gets the signed chirp rate in hertz per second.
        [[nodiscard]] RealType getSignedChirpRate() const noexcept
        {
            return isDownChirp() ? -_chirp_rate : _chirp_rate;
        }
 
        /// Gets the FMCW sweep direction.
        [[nodiscard]] FmcwChirpDirection getDirection() const noexcept { return _direction; }
 
        /// Returns true when this chirp sweeps downward.
        [[nodiscard]] bool isDownChirp() const noexcept { return _direction == FmcwChirpDirection::Down; }
 
        /// Returns false for linear chirps; triangles override this shape predicate.
        [[nodiscard]] bool isTriangle() const noexcept { return false; }
 
        /// Returns the active chirp index for a time since the segment start.
        [[nodiscard]] std::optional<std::size_t> activeChirpIndexAt(RealType time_since_segment_start) const noexcept;
 
        /// Returns true when the signal is inside an active chirp at the specified time.
        [[nodiscard]] bool isActiveAt(RealType time_since_segment_start) const noexcept
        {
            return activeChirpIndexAt(time_since_segment_start).has_value();
        }
 
        /// Computes baseband phase for a time inside a chirp.
        [[nodiscard]] RealType basebandPhaseForChirpTime(RealType chirp_time) const noexcept;
 
        /// Computes instantaneous baseband phase at a time since segment start.
        [[nodiscard]] std::optional<RealType>
        instantaneousBasebandPhase(RealType time_since_segment_start) const noexcept;
 
        /// Renders an FMCW waveform from interpolation points.
        std::vector<ComplexType> render(const std::vector<interp::InterpPoint>& points, unsigned& size,
                                        RealType fracWinDelay) const override;
 
        [[nodiscard]] bool isFmcwFamily() const noexcept override { return true; }
 
    private:
        RealType _chirp_bandwidth{}; ///< Chirp bandwidth in hertz.
        RealType _chirp_duration{}; ///< Active chirp duration in seconds.
        RealType _chirp_period{}; ///< Chirp repetition period in seconds.
        RealType _start_frequency_offset{}; ///< Start frequency offset relative to carrier in hertz.
        std::optional<std::size_t> _chirp_count; ///< Optional finite chirp count.
        RealType _chirp_rate{}; ///< Frequency sweep rate in hertz per second.
        FmcwChirpDirection _direction{FmcwChirpDirection::Up}; ///< Frequency sweep direction.
    };
 
    /// FMCW symmetric triangular modulation signal implementation.
    class FmcwTriangleSignal final : public Signal
    {
    public:
        /// Constructs an FMCW triangular modulation signal.
        FmcwTriangleSignal(RealType chirp_bandwidth, RealType chirp_duration, RealType start_frequency_offset = 0.0,
                           std::optional<std::size_t> triangle_count = std::nullopt);
 
        ~FmcwTriangleSignal() override = default;
 
        FmcwTriangleSignal(const FmcwTriangleSignal&) noexcept = delete;
 
        FmcwTriangleSignal& operator=(const FmcwTriangleSignal&) noexcept = delete;
 
        FmcwTriangleSignal(FmcwTriangleSignal&&) noexcept = delete;
 
        FmcwTriangleSignal& operator=(FmcwTriangleSignal&&) noexcept = delete;
 
        /// Gets the chirp bandwidth in hertz.
        [[nodiscard]] RealType getChirpBandwidth() const noexcept { return _chirp_bandwidth; }
 
        /// Gets the per-leg chirp duration in seconds.
        [[nodiscard]] RealType getChirpDuration() const noexcept { return _chirp_duration; }
 
        /// Gets the start frequency offset relative to carrier in hertz.
        [[nodiscard]] RealType getStartFrequencyOffset() const noexcept { return _start_frequency_offset; }
 
        /// Gets the optional finite triangle count.
        [[nodiscard]] const std::optional<std::size_t>& getTriangleCount() const noexcept { return _triangle_count; }
 
        /// Gets the chirp rate magnitude in hertz per second.
        [[nodiscard]] RealType getChirpRate() const noexcept { return _chirp_rate; }
 
        /// Gets the full up/down triangle period in seconds.
        [[nodiscard]] RealType getTrianglePeriod() const noexcept { return _triangle_period; }
 
        /// Gets the full, unreduced phase accumulated by one leg.
        [[nodiscard]] RealType getDeltaPhiUp() const noexcept { return _delta_phi_up; }
 
        /// Returns true for triangular FMCW waveforms.
        [[nodiscard]] bool isTriangle() const noexcept { return true; }
 
        /// Computes baseband phase at a time since the triangle train start.
        [[nodiscard]] RealType basebandPhaseForTriangleTime(RealType triangle_time) const noexcept;
 
        /// Computes instantaneous baseband phase at a time since segment start.
        [[nodiscard]] std::optional<RealType>
        instantaneousBasebandPhase(RealType time_since_segment_start) const noexcept;
 
        /// Renders an FMCW waveform from interpolation points.
        std::vector<ComplexType> render(const std::vector<interp::InterpPoint>& points, unsigned& size,
                                        RealType fracWinDelay) const override;
 
        [[nodiscard]] bool isFmcwFamily() const noexcept override { return true; }
 
    private:
        RealType _chirp_bandwidth{}; ///< Chirp bandwidth in hertz.
        RealType _chirp_duration{}; ///< Per-leg chirp duration in seconds.
        RealType _start_frequency_offset{}; ///< Start frequency offset relative to carrier in hertz.
        std::optional<std::size_t> _triangle_count; ///< Optional finite triangle count.
        RealType _chirp_rate{}; ///< Frequency sweep rate magnitude in hertz per second.
        RealType _triangle_period{}; ///< Full triangle period in seconds.
        RealType _delta_phi_up{}; ///< Full, unreduced phase accumulated by one leg.
    };
}