heatMapDemo.py

import serial
import numpy as np
import matplotlib.pyplot as plt
import time

# Change the configuration file name
configFileName = 'heatMapConfig.cfg'
CLIport = {}
Dataport = {}
byteBuffer = np.zeros(2**15,dtype = 'uint8')
byteBufferLength = 0;

# ------------------------------------------------------------------

# Function to configure the serial ports and send the data from
# the configuration file to the radar
def serialConfig(configFileName):
    
    global CLIport
    global Dataport
    # Open the serial ports for the configuration and the data ports
    
    # Raspberry pi
    #CLIport = serial.Serial('/dev/ttyACM0', 115200)
    #Dataport = serial.Serial('/dev/ttyACM1', 921600)
    
    # Windows
    CLIport = serial.Serial('COM8', 115200)
    Dataport = serial.Serial('COM9', 921600)

    # Read the configuration file and send it to the board
    config = [line.rstrip('\r\n') for line in open(configFileName)]
    for i in config:
        CLIport.write((i+'\n').encode())
        print(i)
        time.sleep(0.01)
        
    return CLIport, Dataport

# ------------------------------------------------------------------

# Function to parse the data inside the configuration file
def parseConfigFile(configFileName):
    configParameters = {} # Initialize an empty dictionary to store the configuration parameters
    
    # Read the configuration file and send it to the board
    config = [line.rstrip('\r\n') for line in open(configFileName)]
    for i in config:
        
        # Split the line
        splitWords = i.split(" ")
        
        # Hard code the number of antennas, change if other configuration is used
        numRxAnt = 4
        numTxAnt = 2
        
        # Get the information about the profile configuration
        if "profileCfg" in splitWords[0]:
            startFreq = int(float(splitWords[2]))
            idleTime = int(splitWords[3])
            rampEndTime = float(splitWords[5])
            freqSlopeConst = float(splitWords[8])
            numAdcSamples = int(splitWords[10])
            numAdcSamplesRoundTo2 = 1;
            
            while numAdcSamples > numAdcSamplesRoundTo2:
                numAdcSamplesRoundTo2 = numAdcSamplesRoundTo2 * 2;
                
            digOutSampleRate = int(splitWords[11]);
            
        # Get the information about the frame configuration    
        elif "frameCfg" in splitWords[0]:
            
            chirpStartIdx = int(splitWords[1]);
            chirpEndIdx = int(splitWords[2]);
            numLoops = int(splitWords[3]);
            numFrames = int(splitWords[4]);
            framePeriodicity = int(splitWords[5]);

            
    # Combine the read data to obtain the configuration parameters           
    numChirpsPerFrame = (chirpEndIdx - chirpStartIdx + 1) * numLoops
    configParameters["numDopplerBins"] = numChirpsPerFrame / numTxAnt
    configParameters["numRangeBins"] = numAdcSamplesRoundTo2
    configParameters["rangeResolutionMeters"] = (3e8 * digOutSampleRate * 1e3) / (2 * freqSlopeConst * 1e12 * numAdcSamples)
    configParameters["rangeIdxToMeters"] = (3e8 * digOutSampleRate * 1e3) / (2 * freqSlopeConst * 1e12 * configParameters["numRangeBins"])
    configParameters["dopplerResolutionMps"] = 3e8 / (2 * startFreq * 1e9 * (idleTime + rampEndTime) * 1e-6 * configParameters["numDopplerBins"] * numTxAnt)
    configParameters["maxRange"] = (300 * 0.9 * digOutSampleRate)/(2 * freqSlopeConst * 1e3)
    configParameters["maxVelocity"] = 3e8 / (4 * startFreq * 1e9 * (idleTime + rampEndTime) * 1e-6 * numTxAnt)
    
    return configParameters
   
# ------------------------------------------------------------------

# Funtion to read and parse the incoming data
def readAndParseData16xx(Dataport, configParameters):
    global byteBuffer, byteBufferLength

    # Constants
    OBJ_STRUCT_SIZE_BYTES = 12
    BYTE_VEC_ACC_MAX_SIZE = 2**15
    MMWDEMO_UART_MSG_DETECTED_POINTS = 1
    MMWDEMO_UART_MSG_RANGE_PROFILE   = 2
    MMWDEMO_OUTPUT_MSG_AZIMUT_STATIC_HEAT_MAP = 4
    MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP = 5
    maxBufferSize = 2**15
    magicWord = [2, 1, 4, 3, 6, 5, 8, 7]
    
    # Initialize variables
    magicOK = 0 # Checks if magic number has been read
    dataOK = 0 # Checks if the data has been read correctly
    frameNumber = 0
    detObj = {}
    azimMapObject = {}
    
    readBuffer = Dataport.read(Dataport.in_waiting)
    byteVec = np.frombuffer(readBuffer, dtype = 'uint8')
    byteCount = len(byteVec)
    
    # Check that the buffer is not full, and then add the data to the buffer
    if (byteBufferLength + byteCount) < maxBufferSize:
        byteBuffer[byteBufferLength:byteBufferLength + byteCount] = byteVec[:byteCount]
        byteBufferLength = byteBufferLength + byteCount
        
    # Check that the buffer has some data
    if byteBufferLength > 16:
        
        # Check for all possible locations of the magic word
        possibleLocs = np.where(byteBuffer == magicWord[0])[0]

        # Confirm that is the beginning of the magic word and store the index in startIdx
        startIdx = []
        for loc in possibleLocs:
            check = byteBuffer[loc:loc+8]
            if np.all(check == magicWord):
                startIdx.append(loc)
               
        # Check that startIdx is not empty
        if startIdx:
            
            # Remove the data before the first start index
            if startIdx[0] > 0:
                byteBuffer[:byteBufferLength-startIdx[0]] = byteBuffer[startIdx[0]:byteBufferLength]
                byteBufferLength = byteBufferLength - startIdx[0]
                
            # Check that there have no errors with the byte buffer length
            if byteBufferLength < 0:
                byteBufferLength = 0
                
            # word array to convert 4 bytes to a 32 bit number
            word = [1, 2**8, 2**16, 2**24]
            
            # Read the total packet length
            totalPacketLen = np.matmul(byteBuffer[12:12+4],word)
            
            # Check that all the packet has been read
            if (byteBufferLength >= totalPacketLen) and (byteBufferLength != 0):
                magicOK = 1
    
    # If magicOK is equal to 1 then process the message
    if magicOK:
        # word array to convert 4 bytes to a 32 bit number
        word = [1, 2**8, 2**16, 2**24]
        
        # Initialize the pointer index
        idX = 0
        
        # Read the header
        magicNumber = byteBuffer[idX:idX+8]
        idX += 8
        version = format(np.matmul(byteBuffer[idX:idX+4],word),'x')
        idX += 4
        totalPacketLen = np.matmul(byteBuffer[idX:idX+4],word)
        idX += 4
        platform = format(np.matmul(byteBuffer[idX:idX+4],word),'x')
        idX += 4
        frameNumber = np.matmul(byteBuffer[idX:idX+4],word)
        idX += 4
        timeCpuCycles = np.matmul(byteBuffer[idX:idX+4],word)
        idX += 4
        numDetectedObj = np.matmul(byteBuffer[idX:idX+4],word)
        idX += 4
        numTLVs = np.matmul(byteBuffer[idX:idX+4],word)
        idX += 4
        subFrameNumber = np.matmul(byteBuffer[idX:idX+4],word)
        idX += 4
        
        # Read the TLV messages
        for tlvIdx in range(numTLVs):

            # word array to convert 4 bytes to a 32 bit number
            word = [1, 2**8, 2**16, 2**24]

            # Check the header of the TLV message
            tlv_type = np.matmul(byteBuffer[idX:idX+4],word)
            idX += 4
            tlv_length = np.matmul(byteBuffer[idX:idX+4],word)
            idX += 4
            
            # Read the data depending on the TLV message
            if tlv_type == MMWDEMO_UART_MSG_DETECTED_POINTS:
                            
                # word array to convert 4 bytes to a 16 bit number
                word = [1, 2**8]
                tlv_numObj = np.matmul(byteBuffer[idX:idX+2],word)
                idX += 2
                tlv_xyzQFormat = 2**np.matmul(byteBuffer[idX:idX+2],word)
                idX += 2
                
                # Initialize the arrays
                rangeIdx = np.zeros(tlv_numObj,dtype = 'int16')
                dopplerIdx = np.zeros(tlv_numObj,dtype = 'int16')
                peakVal = np.zeros(tlv_numObj,dtype = 'int16')
                x = np.zeros(tlv_numObj,dtype = 'int16')
                y = np.zeros(tlv_numObj,dtype = 'int16')
                z = np.zeros(tlv_numObj,dtype = 'int16')
                
                for objectNum in range(tlv_numObj):
                    
                    # Read the data for each object
                    rangeIdx[objectNum] =  np.matmul(byteBuffer[idX:idX+2],word)
                    idX += 2
                    dopplerIdx[objectNum] = np.matmul(byteBuffer[idX:idX+2],word)
                    idX += 2
                    peakVal[objectNum] = np.matmul(byteBuffer[idX:idX+2],word)
                    idX += 2
                    x[objectNum] = np.matmul(byteBuffer[idX:idX+2],word)
                    idX += 2
                    y[objectNum] = np.matmul(byteBuffer[idX:idX+2],word)
                    idX += 2
                    z[objectNum] = np.matmul(byteBuffer[idX:idX+2],word)
                    idX += 2
                    
                # Make the necessary corrections and calculate the rest of the data
                rangeVal = rangeIdx * configParameters["rangeIdxToMeters"]
                dopplerIdx[dopplerIdx > (configParameters["numDopplerBins"]/2 - 1)] = dopplerIdx[dopplerIdx > (configParameters["numDopplerBins"]/2 - 1)] - 65535
                dopplerVal = dopplerIdx * configParameters["dopplerResolutionMps"]
                #x[x > 32767] = x[x > 32767] - 65536
                #y[y > 32767] = y[y > 32767] - 65536
                #z[z > 32767] = z[z > 32767] - 65536
                x = x / tlv_xyzQFormat
                y = y / tlv_xyzQFormat
                z = z / tlv_xyzQFormat
                
                # Store the data in the detObj dictionary
                detObj = {"numObj": tlv_numObj, "rangeIdx": rangeIdx, "range": rangeVal, "dopplerIdx": dopplerIdx, \
                          "doppler": dopplerVal, "peakVal": peakVal, "x": x, "y": y, "z": z}
                
                
                #print(detObj['range'].mean())
                
            elif tlv_type == MMWDEMO_UART_MSG_RANGE_PROFILE:
                idX += tlv_length

            elif tlv_type == MMWDEMO_OUTPUT_MSG_AZIMUT_STATIC_HEAT_MAP:

                numTxAzimAnt = 2
                numRxAnt = 4
                numBytes = numTxAzimAnt * numRxAnt * configParameters["numRangeBins"] * 4;

                q = byteBuffer[idX:idX + numBytes]
                #print(q)

                idX += numBytes
                qrows = numTxAzimAnt * numRxAnt
                qcols = configParameters["numRangeBins"] 
                NUM_ANGLE_BINS = 64

                real = q[::4] + q[1::4] * 256
                imaginary = q[2::4] + q[3::4] * 256

                real = real.astype(np.int16)
                imaginary = imaginary.astype(np.int16)

                q = real + 1j * imaginary

                q = np.reshape(q,(qrows,qcols),order="F")

                Q = np.fft.fft(q,NUM_ANGLE_BINS,axis=0)
                QQ = np.fft.fftshift(abs(Q),axes=0);
                QQ = QQ.T

                QQ = QQ[:,1:]
                QQ = np.fliplr(QQ)

                theta = np.rad2deg(np.arcsin(np.array(range(-NUM_ANGLE_BINS//2+1,NUM_ANGLE_BINS//2))*(2/NUM_ANGLE_BINS)))
                rangeArray = np.array(range(configParameters["numRangeBins"]))*configParameters["rangeIdxToMeters"]

                posX = np.outer(rangeArray.T,np.sin(np.deg2rad(theta)))
                posY = np.outer(rangeArray.T,np.cos(np.deg2rad(theta)))

                # Store the data in the azimMapObject dictionary
                azimMapObject = {"posX": posX, "posY": posY, "range": rangeArray, "theta": theta, "heatMap": QQ}
                
                dataOK = 1


            elif tlv_type == MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP:
                numBytes = configParameters["numDopplerBins"] * configParameters["numRangeBins"] * 2
                rangeDoppler = byteBuffer[idX:idX + numBytes]

                rangeDoppler = rangeDoppler[::2] + rangeDoppler[1::2]*256

                rangeDoppler = np.reshape(rangeDoppler,(configParameters["numDopplerBins"],configParameters["numRangeBins"]))
                rangeDoppler = np.concatenate((byteBuffer[(byteBufferLength + 1)//2:],byteBuffer[:(byteBufferLength + 1)//2]))

                #range = math.dotMultiply(math.range(0, Params.dataPath[subFrameNum].numRangeBins - 1, true), Params.dataPath[subFrameNum].rangeIdxToMeters);
        
                # NOT FINISHED
                
        
        # Remove already processed data
        if idX > 0 and dataOK == 1:
            shiftSize = idX
            
                
            byteBuffer[:byteBufferLength - shiftSize] = byteBuffer[shiftSize:byteBufferLength]
            byteBufferLength = byteBufferLength - shiftSize
            
            # Check that there are no errors with the buffer length
            if byteBufferLength < 0:
                byteBufferLength = 0
                

    return dataOK, frameNumber, detObj, azimMapObject

# ------------------------------------------------------------------

# Funtion to update the data and display in the plot
def update():
     
    dataOk = 0
    global detObj
    global azimMapObject
    x = []
    y = []
      
    # Read and parse the received data
    dataOk, frameNumber, detObj, azimMapObject = readAndParseData16xx(Dataport, configParameters)

    if dataOk:
        plt.clf()

        ## 2D POSITION HEAT MAP
        plt.contourf(azimMapObject["posX"],azimMapObject["posY"],azimMapObject["heatMap"])

        ## ANGLE VS. RANGE HEATMAP
        #X,Y = np.meshgrid(azimMapObject["theta"], azimMapObject["range"])
        #ax.contourf(X,Y,azimMapObject["heatMap"])

        fig.canvas.draw()
        plt.pause(0.25)
    
    return dataOk


# -------------------------    MAIN   -----------------------------------------  

# Configurate the serial port
CLIport, Dataport = serialConfig(configFileName)

# Get the configuration parameters from the configuration file
configParameters = parseConfigFile(configFileName)

fig = plt.figure()

# Main loop 
detObj = {}  
azimMapObject = {}
frameData = {}    
currentIndex = 0
while True:
    try:
        # Update the data and check if the data is okay
        dataOk = update()
        
        if dataOk:
            # Store the current frame into frameData
            frameData[currentIndex] = detObj
            currentIndex += 1
        
        
    # Stop the program and close everything if Ctrl + c is pressed
    except KeyboardInterrupt:
        CLIport.write(('sensorStop\n').encode())
        CLIport.close()
        Dataport.close()
        break