clean up logging; change from theta in pi to just theta

spf/grbl_sdr_collect_v2.py

@@ -23,7 +23,7 @@
     setup_rxtx_and_phase_calibration,
     shutdown_radios,
 )
-from spf.wall_array_v2 import get_column_names_v2
+from spf.wall_array_v2 import v2_column_names
 
 faulthandler.enable()
 
@@ -47,7 +47,7 @@ def prepare_record_entry(ds: DataSnapshot, rx_pos: np.array, tx_pos: np.array):
             ds.timestamp,  # 1
             tx_pos,  # 2
             rx_pos,  # 2
-            ds.rx_theta_in_pis,  # 1
+            ds.rx_theta_in_pis * np.pi,  # 1
             ds.rx_spacing,  # 1
             ds.avg_phase_diff,  # 2
             ds.beam_sds,  # 65
@@ -194,7 +194,7 @@ def bounce_grbl(gm):
         yaml_config = yaml.safe_load(stream)
 
     # record matrix
-    column_names = get_column_names_v2(nthetas=yaml_config["n-thetas"])
+    column_names = v2_column_names(nthetas=yaml_config["n-thetas"])
     record_matrix = np.memmap(
         yaml_config["output-file"].replace("__DATE__", start_logging_at),
         dtype="float32",
@@ -252,7 +252,7 @@ def bounce_grbl(gm):
             # leave_tx_on=False,
             # using_tx_already_on=None,
         )
-        logging.info("RX online!")
+        logging.debug("RX online!")
         receiver_pplus.append(pplus_rx)
 
     # setup the emitter

spf/sdrpluto/sdr_controller.py

@@ -51,7 +51,7 @@ def get_pplus(rx_config=None, tx_config=None, uri=None):
         pplus_online[uri] = PPlus(rx_config=rx_config, tx_config=tx_config, uri=uri)
     else:
         pplus_online[uri].set_config(rx_config=rx_config, tx_config=tx_config)
-    logging.info(f"{uri}: get_pplus PlutoPlus")
+    logging.debug(f"{uri}: get_pplus PlutoPlus")
     return pplus_online[uri]
 
 
@@ -82,7 +82,7 @@ def __init__(self, rx_config=None, tx_config=None, uri=None):
             self.sdr.tx_enabled_channels = []
 
     def set_config(self, rx_config=None, tx_config=None):
-        logging.info(f"{self.uri} RX{str(rx_config)} TX{str(tx_config)})")
+        logging.debug(f"{self.uri}: set_config RX{str(rx_config)} TX{str(tx_config)})")
         # RX should be setup like this
         if rx_config is not None:
             assert self.rx_config is None
@@ -94,17 +94,17 @@ def set_config(self, rx_config=None, tx_config=None):
             self.tx_config = tx_config
 
     def close(self):
-        logging.info(f"{self.uri}: Start close PlutoPlus")
+        logging.debug(f"{self.uri}: Start close PlutoPlus")
         self.close_tx()
-        logging.info(f"{self.uri}: Done close PlutoPlus")
+        logging.debug(f"{self.uri}: Done close PlutoPlus")
 
     def __del__(self):
-        logging.info(f"{self.uri}: Start delete PlutoPlus")
+        logging.debug(f"{self.uri}: Start delete PlutoPlus")
         self.close_tx()
         self.sdr.tx_destroy_buffer()
         self.sdr.rx_destroy_buffer()
         self.sdr.tx_enabled_channels = []
-        logging.info(f"{self.uri}: Done delete PlutoPlus")
+        logging.debug(f"{self.uri}: Done delete PlutoPlus")
 
     """
     Setup the Rx part of the pluto
@@ -134,7 +134,7 @@ def setup_rx(self):
     """
 
     def setup_tx(self):
-        logging.info(f"{self.tx_config.uri}: Setup TX")
+        logging.debug(f"{self.tx_config.uri}: Setup TX")
         self.sdr.tx_destroy_buffer()
         self.sdr.tx_cyclic_buffer = self.tx_config.cyclic  # this keeps repeating!
 
@@ -308,13 +308,13 @@ def setup_rxtx(rx_config, tx_config, leave_tx_on=False):
         logging.info(f"setup_rxtx({rx_config.uri}, {tx_config.uri}) retry {retries}")
         # sdr_rx = adi.ad9361(uri=receiver_uri)
         if rx_config.uri == tx_config.uri:
-            logging.info(f"{rx_config.uri} RX TX are same")
+            logging.debug(f"{rx_config.uri} RX TX are same")
             pplus_rx = get_pplus(rx_config=rx_config, tx_config=tx_config)
             pplus_tx = pplus_rx
         else:
-            logging.info(f"{rx_config.uri}(RX) TX are different")
+            logging.debug(f"{rx_config.uri}(RX) TX are different")
             pplus_rx = get_pplus(rx_config=rx_config)
-            logging.info(f"{tx_config.uri} RX (TX) are different")
+            logging.debug(f"{tx_config.uri} RX (TX) are different")
             pplus_tx = get_pplus(tx_config=tx_config)
 
         pplus_rx.setup_rx()
@@ -364,12 +364,12 @@ def setup_rxtx_and_phase_calibration(
 
     # its important to not use the emitter uri when calibrating!
     if using_tx_already_on is not None:
-        logging.info(f"{rx_config.uri}: TX already on!")
+        logging.debug(f"{rx_config.uri}: TX already on!")
         pplus_rx = get_pplus(rx_config=rx_config)
         pplus_rx.setup_rx()
         pplus_tx = using_tx_already_on
     else:
-        logging.info(f"{rx_config.uri}: TX not on!")
+        logging.debug(f"{rx_config.uri}: TX not on!")
         pplus_rx, pplus_tx = setup_rxtx(
             rx_config=rx_config, tx_config=tx_config, leave_tx_on=True
         )
@@ -387,7 +387,7 @@ def setup_rxtx_and_phase_calibration(
     )
     retries = 0
     while run_radios and retries < 20:
-        logging.info(f"{rx_config.uri} RETRY {retries}")
+        logging.debug(f"{rx_config.uri} RETRY {retries}")
         phase_calibrations = np.zeros(n_calibration_frames)
         phase_calibrations_cm = np.zeros(n_calibration_frames)
         for idx in range(n_calibration_frames):
@@ -423,7 +423,7 @@ def setup_rxtx_and_phase_calibration(
             pplus_rx.phase_calibration = phase_calibrations.mean()
             return pplus_rx, pplus_tx
     pplus_tx.close()
-    logging.info(f"{rx_config.uri}: Phase calibration failed")
+    logging.error(f"{rx_config.uri}: Phase calibration failed")
     return None, None
 
 

spf/wall_array_v2.py

@@ -1,16 +1,41 @@
+from functools import cache
+
 import numpy as np
 
 
-def get_column_names_v2(nthetas=65):
+def v2_column_names(nthetas=65):
     thetas = np.linspace(-np.pi, np.pi, nthetas)
     return [
         "timestamp",
         "tx_pos_x",
         "tx_pos_y",
         "rx_pos_x",
         "rx_pos_y",
-        "rx_theta_in_pis",
+        "rx_theta",
         "rx_spacing",
         "avg_phase_diff_1",
         "avg_phase_diff_2",
     ] + ["beamformer_angle_%0.4f" % theta for theta in thetas]
+
+
+@cache
+def v2_rx_pos_idxs():
+    return [
+        v2_column_names().index("rx_pos_x"),
+        v2_column_names().index("rx_pos_y"),
+    ]
+
+
+@cache
+def v2_rx_theta_idxs():
+    return [
+        v2_column_names().index("rx_theta"),
+    ]
+
+
+@cache
+def v2_tx_pos_idxs():
+    return [
+        v2_column_names().index("tx_pos_x"),
+        v2_column_names().index("tx_pos_y"),
+    ]

spf/wall_array_v2.yaml

@@ -51,7 +51,7 @@ receivers:
     motor_channel: 0
 
 
-output-file: wallarrayv2___DATE___.npy
+output-file: wallarrayv2___DATE__.npy
 n-thetas: 65
 n-records-per-receiver: 300000