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Fix the ADC read function to not skip 50% of frames #55

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Fix the ADC read function to not skip 50% of frames #55

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41 changes: 31 additions & 10 deletions mmwave/dataloader/adc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,15 +42,15 @@ def __str__(self):
CONFIG_HEADER = '5aa5'
CONFIG_STATUS = '0000'
CONFIG_FOOTER = 'aaee'
ADC_PARAMS = {'chirps': 128, # 32
ADC_PARAMS = {'chirps':64, # 32
'rx': 4,
'tx': 3,
'samples': 128,
'samples': 512,
'IQ': 2,
'bytes': 2}
# STATIC
MAX_PACKET_SIZE = 4096
BYTES_IN_PACKET = 1456
BYTES_IN_PACKET = 1466-10
# DYNAMIC
BYTES_IN_FRAME = (ADC_PARAMS['chirps'] * ADC_PARAMS['rx'] * ADC_PARAMS['tx'] *
ADC_PARAMS['IQ'] * ADC_PARAMS['samples'] * ADC_PARAMS['bytes'])
Expand Down Expand Up @@ -87,6 +87,8 @@ class DCA1000:

def __init__(self, static_ip='192.168.33.30', adc_ip='192.168.33.180',
data_port=4098, config_port=4096):
print(f"Bytes in frame clipped {BYTES_IN_FRAME_CLIPPED}")
print(f"Bytes in frame {BYTES_IN_FRAME}")
# Save network data
# self.static_ip = static_ip
# self.adc_ip = adc_ip
Expand Down Expand Up @@ -120,8 +122,11 @@ def __init__(self, static_ip='192.168.33.30', adc_ip='192.168.33.180',

self.curr_buff = None
self.last_frame = None
self.next_frame_data=[]

self.lost_packets = None
self.previous_packet=0
self.already_have_beginning_of_frame=False

def configure(self):
"""Initializes and connects to the FPGA
Expand Down Expand Up @@ -172,13 +177,21 @@ def read(self, timeout=1):
# Frame buffer
ret_frame = np.zeros(UINT16_IN_FRAME, dtype=np.uint16)

# Wait for start of next frame
while True:
packet_num, byte_count, packet_data = self._read_data_packet()
if byte_count % BYTES_IN_FRAME_CLIPPED == 0:
packets_read = 1
ret_frame[0:UINT16_IN_PACKET] = packet_data
break
# instead of wait for next frame, get the already saved data from the previous dca.read
#If we already have the previous frame
if self.already_have_beginning_of_frame:
self.already_have_beginning_of_frame=False
packets_read=1
ret_frame[0:UINT16_IN_PACKET]=self.frame_first_packet
else:
# Wait for start of next frame
while True:
packet_num, byte_count, packet_data = self._read_data_packet()
if byte_count % BYTES_IN_FRAME_CLIPPED == 0:
print(byte_count)
packets_read = 1
ret_frame[0:UINT16_IN_PACKET] = packet_data
break

# Read in the rest of the frame
while True:
Expand All @@ -187,6 +200,8 @@ def read(self, timeout=1):

if byte_count % BYTES_IN_FRAME_CLIPPED == 0:
self.lost_packets = PACKETS_IN_FRAME_CLIPPED - packets_read
self.frame_first_packet=packet_data
self.already_have_beginning_of_frame=True
return ret_frame

curr_idx = ((packet_num - 1) % PACKETS_IN_FRAME_CLIPPED)
Expand Down Expand Up @@ -233,7 +248,13 @@ def _read_data_packet(self):
"""
data, addr = self.data_socket.recvfrom(MAX_PACKET_SIZE)
packet_num = struct.unpack('<1l', data[:4])[0]
# additional stuff
# if packet_num-self.previous_packet>1:
# print(f"skipped {packet_num-self.previous_packet-1} packets")

self.previous_packet=packet_num
byte_count = struct.unpack('>Q', b'\x00\x00' + data[4:10][::-1])[0]

packet_data = np.frombuffer(data[10:], dtype=np.uint16)
return packet_num, byte_count, packet_data

Expand Down