mmwrt 0.0.11rc3

minimal raytracing code example for MIMO FMCW radar

mmWrt

minimal raytracing for MIMO FMCW radar systems.

Intended usage:

1. educational & experimental

simple install:

1. git clone
2. pip install .

for install for developpers:

1. git clone
2. pip install .[dev]

Release Notes and Roadmap

Released

v0.0.12: * move to the new artefacts (away from setup.py) - TODO: - define a chirp properties (chirp_slope, chirp_start_frequency, chirp_end_time) on chirp_idx - add a ADC start delay (and check that it does not end after ramp-end or warning) - planning for S-FMCW add a chirp ramp start delay (when the TX ramp starts vs chirp start) - renaming chirp_end_time to chirp_ramp_end_time - adding chirp_ramp_start_time=0 - adding check that chirp_ramp_start_time + chirp_ramp_end_time < chirp_period - adding adc_sampling_start_time=0 - add ditherring support - add pcl (x,y,z,v,A,noise) - FIXME: - Precision.ipynb (carry over from v0.0.11) - remove all default values in the radar transceiver and resceiver definitions

v0.0.11: * pre.1: WiP (adding interfer radars) - TODO: run all unit test pass : 100% (except performances) - renaming all variables to be explicit in .py adc_samples_per_chirp -> adc_sample_count max_adc_sample_rate -> adc_sample_rate_max max_adc_buffer_size -> adc_sample_count_max ~~ n_adc -> adc_sample_count ~~ ~~ number_adc_samples -> adc_sample_count ~~ chirps_count -> chirp_count t_inter_chirp -> chirp_period t_inter_frame -> frame_period total_number_frames -> frame_count frames_count -> frame_count target -> scatterer - FIXME: complex signal chain seems broken - range TDM - 2D with URA - 3D compute - FIXME: need to split the TX_Freq per transmitter radar - refactor rt_points, but kept the interface untouched (still returns a dict, adc values still a tensor with ) - removed warnings in pytest - add pcl from (x,y,z) - TODO: add test_interference - TODO: add test_rsp_interference_mitigation: zero, ramp, IFFT - TODO: add range DDM and disambiguation - run pytest --ignore=tests\test_nb.py --ignore=tests\test_docs.py - done 60 test 100% pass - uploaded on https://test.pypi.org/project/mmwrt/0.0.11rc1/

* pre.2
    - TODO
        - renaming:
            - ~~tx_frequencies -> lo_frequency~~
            - align pre.1 renaming convention with .ipynb
                - ~~Target -> Scatterer~~
                - fs -> adc_sample_rate
                    - ~~Receiver(fs= -> Receiver(adc_sample_rate=~~
                - max_adc_buffer_size= -> adc_sample_count_max=
                - bw -> chirp_end_time = bw/chirp_slope0
                - ~~ n_adc= -> adc_sample_count= ~~
                - ~~slope= -> chirp_slope=~~
                - ~~chirps_count -> chirp_count~~
                - ~~target -> scatterer~
                - ~~t_inter_chirp -> chirp_period~~
                - TX_phase_offsets
        - TODO update all *.ipynb
            ~~ Angle_of_Arrival.ipynb ~~
            ~~Chirp_Solver.ipynb~~
            ~~ FMCW-Radar-100_Radar_Imaging.ipynb ~~
            ~~ FMCW-Radar-101_Intro.ipynb ~~
            ~~ FMCW-Radar-102_CFAR.ipynb ~~
            ~~ FMCW-Radar-103_AoA.ipynb ~~
            ~~ FMCW-Radar-104_Freq_est.ipynb ~~
            ~~ FMCW-Radar-105_Vibration.ipynb ~~
            ~~ FMCW-Radar-106_Phased_Arrays.ipynb ~~
            ~~ FMCW-Radar-107_Micro-Doppler.ipynb ~~
            ~~ FMCW-Radar-108_Antennas.ipynb ~~
            ~~ * FMCW-Radar-109_Radar_Cube.ipynb~~
            ~~ * FMCW-Radar-201_Maths.ipynb ~~
            ~~ * FMCW-Radar-202_CFAR_Pd.ipynb ~~
            ~~ * FMCW-Radar-203_SNR.ipynb~~
            ~~ * FMCW-Radar-205_mmWave_Atmospheric_Absorption.ipynb~~
            ~~ * FMCW-Radar-206_Reflections.ipynb ~~
            ~~ * Grouping.ipynb~~
            ~~ * High-Speed.ipynb~~
            ~~ * Intro_nb.ipynb ~~
            ~~ * MIMO_DDM.ipynb ~~
            ~~ * MIMO_TDM.ipynb ~~
            * Precision.ipynb
            ~~ * Resolution.ipynb ~~
            ~~ * Speed.ipynb~~
        - run pytest
        - if all ok -> release
    - FIXME:
        - ~~the last cell of FMCW-Radar-107_Micro-Doppler.ipynb has an error when checking the frequency of the uDop...~~
        ~~- MIMO_DDM: need to fix the 2D FFT on cell 1 to allow AoA on cell 2.~~
        - ~~FMCW Radar 103 - AoA / DOA_Bartlett broken (pyargus update? / incompatibility) - fixed~~
        - ~~ FMCW-Radar-109_Radar_Cube.ipynb many images not re-generated anymore ... ~~
        - ~~FMCW-Radar-201_Maths : fc_implicit is not defined !!! need to fix this !!! was renamed to f_c, fixed~~
        ~~ - MIMO_TDM.ipynb scaling issues on the AoA FFT~~
        - Precision.ipynb is totally broken: calls rsp.frequency_estimator which is an empty wrapper
            1. need to add pytests for frequency_estimator for fft, quinn2
            - > requires more work than v0.0.11 -> moving this to v0.012

*v0.0.10:

* adding distance as a function of time in IF compute - allowing for simulation of target changing bin ranges through single chirp
* 0.0.10-pre.6: fixes #3 (numpy deprecating complex_ replacing with complex128)
* -pre.7: 

v0.0.9:

* adding ULA, URA for TDM MIMO
* adding 3D points for TDM MIMO (x,y,z)

v0.0.8:

* adding TDM MIMO
* adding DDM MIMO (including Doppler desambiguation)

v0.0.7

* adding AoA
* adding sparse array initial example (feature dedicated to Amine L.)

v0.0.6:

* added micro-doppler
* added non-regression on .ipynb in docs/ folder

v0.0.5:

* moved dependancies from requirements to setup.py
* added extras [dev] for developpers (and documentation and read the docs)
* moved version checking from setup.py to test_basic.py
* added readthedocs.yaml

v0.0.4:

* adding frequency estimator
* added speed processing
* added support for radar equation (RCS, distance, ...)
* antenna gains in azimumth, elevation and freq

v0.0.3: first release

* point targets only
* 1D compute of baseband if signal for scene
* 1D FFT, CFAR, peak grouping and target position error compute
* single reflections

NEXT ()

* 2D (AoA)
* 2D FFT: range+velocity, range+AoA
* 2D peak grouping (by velocity sign)
* 3D position error compute
* 3D targets (at least spheres)
* medium attenuation
* 3D point clouds (i.e. over multiple CTI)
* multiple single reflections

Not planned yet but considered:

• reads and loads .bin from DCA1000
  • record BB signals in .bin
  • 3D targets and scene rendering with imaging side by side radar
  • Swerling's scattering

Example Code

Check on Google Colab the code:

Or Read the Docs on

On dependencies

• jupyterlab-myst: used for displaying admonition in jupyter notebook (and thus documentation on read the docs)

LOGS

• 4, refactor for interfers

Release process

0. Ensure all the new .ipynb are added in docs/Hands-on.md

1. run pyroma (should be 10/10)

pyroma .

2. run flake8 runs with darglint settings for docstrings to numpy standard set in the .flake8 file should yield 0 warnings or errors

flake8

3. run pytest should yield 100% pass

pytest

for intermediate releases, excluding some tests can be done with

pytest --ignore=tests\test_docs.py --ignore=tests\test_nb.py

4. run coverage

coverage run -m pytest

5. run coverage report (should be 100%)

coverage report

6. run tox

tox

7.run sphinx-api updates the *.rst in docs/ folder

sphinx-apidoc -f -o docs mmWrt

8. run sphinx-build (updates the read_the_docs folder)

sphinx-build -b html docs build/html

9. release the Release-Candidate to pypi-test check that init.py is "0.0.X-pre.Y" for RC numbering

python setup.py bdist_wheel

twine upload -r testpypi dist*

10. check on Google Colab (Google Colab requires py3.8 as off 2023-Jan-15)

if testing release-candidate need to add --pre -U or will install latest stable version.

!python -m pip install -i https://test.pypi.org/simple/ --pre -U mmWrt
from mmWrt import __version__
print(__version__)

11. merge dev branch with main

git checkout main git merge dev_branch_name

12. update the version to final update init.py to remove the suffix -pre.Y "0.0.X-pre.Y"

13. release on pypi (assumes your pypirc is local to the project)

twine upload -r pypi --config-file=..pypirc dist*

14. check on colab that pypi package works:

!python -m pip install mmWrt from mmWrt import version print(version)

15. check updates on read_the_docs

push to git to trigger readthedocs build: git push navigate to https://readthedocs.org/projects/mmwrt/builds/ ensure build is successful

16. (optional) add tag for release

git tag -a v0.0.X -m "version comment" git push origin v0.0.X

17. then check on google colab dev extras instals works

!python -m pip install mmWrt[dev]