DOA2: DOA implementation

plugins/channelmimo/doa2/doa2.cpp

@@ -293,6 +293,16 @@ void DOA2::applyChannelSettings(uint32_t log2Decim, uint32_t filterChainHash)
     m_basebandSink->getInputMessageQueue()->push(msg);
 }
 
+float DOA2::getPhi() const
+{
+    return m_basebandSink ? m_basebandSink->getPhi() : 0.0f;
+}
+
+float DOA2::getPositiveDOA() const
+{
+    return std::acos(getPhi()/M_PI)*(180/M_PI);
+}
+
 int DOA2::webapiSettingsGet(
         SWGSDRangel::SWGChannelSettings& response,
         QString& errorMessage)

plugins/channelmimo/doa2/doa2.h

@@ -125,6 +125,8 @@ public:
 
     ScopeVis *getScopeVis() { return &m_scopeSink; }
     void applyChannelSettings(uint32_t log2Decim, uint32_t filterChainHash);
+    float getPhi() const;
+    float getPositiveDOA() const;
 
     virtual int webapiSettingsGet(
             SWGSDRangel::SWGChannelSettings& response,

plugins/channelmimo/doa2/doa2baseband.cpp

@@ -33,6 +33,12 @@ MESSAGE_CLASS_DEFINITION(DOA2Baseband::MsgConfigureCorrelation, Message)
 
 DOA2Baseband::DOA2Baseband(int fftSize) :
     m_correlator(fftSize),
+    m_correlationType(DOA2Settings::CorrelationFFT),
+    m_fftSize(fftSize),
+    m_samplesCount(0),
+    m_magSum(0.0f),
+    m_wphSum(0.0f),
+    m_phi(0.0f),
     m_scopeSink(nullptr),
     m_mutex(QMutex::Recursive)
 {
@@ -142,6 +148,10 @@ void DOA2Baseband::run()
 {
     if (m_correlator.performCorr(m_sinks[0].getData(), m_sinks[0].getSize(), m_sinks[1].getData(), m_sinks[1].getSize()))
     {
+        if (m_correlationType == DOA2Settings::CorrelationType::CorrelationFFT) {
+            processDOA(m_correlator.m_xcorr.begin(), m_correlator.m_processed);
+        }
+
         if (m_scopeSink)
         {
             std::vector<SampleVector::const_iterator> vbegin;
@@ -221,12 +231,12 @@ bool DOA2Baseband::handleMessage(const Message& cmd)
     {
         QMutexLocker mutexLocker(&m_mutex);
         MsgConfigureCorrelation& cfg = (MsgConfigureCorrelation&) cmd;
-        DOA2Settings::CorrelationType correlationType = cfg.getCorrelationType();
+        m_correlationType = cfg.getCorrelationType();
 
         qDebug() << "DOA2Baseband::handleMessage: MsgConfigureCorrelation:"
-                << " correlationType: " << correlationType;
+                << " correlationType: " << m_correlationType;
 
-        m_correlator.setCorrType(correlationType);
+        m_correlator.setCorrType(m_correlationType);
 
         return true;
     }
@@ -245,3 +255,24 @@ void DOA2Baseband ::setBasebandSampleRate(unsigned int sampleRate)
         m_sinks[istream].reset();
     }
 }
+
+void DOA2Baseband::processDOA(const std::vector<Complex>::iterator& begin, int nbSamples)
+{
+    const std::vector<Complex>::iterator end = begin + nbSamples;
+
+    for (std::vector<Complex>::iterator it = begin; it != end; ++it)
+    {
+        float ph = std::arg(*it);
+        float mag = std::norm(*it);
+        m_magSum += mag;
+        m_wphSum += mag*ph;
+
+        if (++m_samplesCount == m_fftSize)
+        {
+            m_phi = m_wphSum / m_magSum;
+            m_magSum = 0;
+            m_wphSum = 0;
+            m_samplesCount = 0;
+        }
+    }
+}

plugins/channelmimo/doa2/doa2baseband.h

@@ -110,13 +110,21 @@ public:
 
 	void feed(const SampleVector::const_iterator& begin, const SampleVector::const_iterator& end, unsigned int streamIndex);
     void setBasebandSampleRate(unsigned int sampleRate);
+    float getPhi() const { return m_phi; }
 
 private:
     void processFifo(const std::vector<SampleVector>& data, unsigned int ibegin, unsigned int iend);
     void run();
     bool handleMessage(const Message& cmd);
+    void processDOA(const std::vector<Complex>::iterator& begin, int nbSamples);
 
     DOA2Correlator m_correlator;
+    DOA2Settings::CorrelationType m_correlationType;
+    int m_fftSize;
+    int m_samplesCount;
+    float m_magSum;
+    float m_wphSum;
+    float m_phi;
     SampleMIFifo m_sampleMIFifo;
     std::vector<SampleVector::const_iterator> m_vbegin;
     int m_sizes[2];

plugins/channelmimo/doa2/doa2compass.cpp

@@ -87,7 +87,7 @@ void DOA2Compass::paintEvent(QPaintEvent *)
     }
 
 
-    // draw yaw lines
+    // draw compass lines
     {
         int     nyawLines = 36;
         float   rotAng = 360.0 / nyawLines;
@@ -150,7 +150,7 @@ void DOA2Compass::paintEvent(QPaintEvent *)
         painter.rotate(m_azAnt);
 
         painter.setPen(Qt::NoPen);
-        painter.setBrush(QBrush(Qt::white));
+        painter.setBrush(QBrush(QColor(192, 192, 192)));
         QPointF pointsN[3] = {
             QPointF(fx1, fy1),
             QPointF(fx2, fy2),

plugins/channelmimo/doa2/doa2corr.cpp

@@ -138,10 +138,10 @@ DOA2Correlator::DOA2Correlator(int fftSize) :
     m_invFFT2Sequence = fftFactory->getEngine(fftSize, true, &m_invFFT2);
 
     m_dataj = new std::complex<float>[2*fftSize]; // receives actual FFT result hence twice the data FFT size
-    m_scorr.resize(fftSize);
     m_tcorr.resize(fftSize);
-    m_scorrSize = fftSize;
+    m_xcorr.resize(fftSize);
     m_tcorrSize = fftSize;
+    m_xcorrSize = fftSize;
 }
 
 DOA2Correlator::~DOA2Correlator()
@@ -268,6 +268,7 @@ bool DOA2Correlator::performOpCorr(
 {
     unsigned int size = std::min(size0, size1);
     adjustTCorrSize(size);
+    adjustXCorrSize(size);
 
     std::transform(
         data0.begin(),
@@ -294,8 +295,8 @@ bool DOA2Correlator::performFFTProd(
     int nfft = 0;
     SampleVector::const_iterator begin0 = data0.begin();
     SampleVector::const_iterator begin1 = data1.begin();
-    adjustSCorrSize(size);
     adjustTCorrSize(size);
+    adjustXCorrSize(size);
 
     while (size >= m_fftSize)
     {
@@ -340,21 +341,22 @@ bool DOA2Correlator::performFFTProd(
             }
         );
 
-        // copy product to time domain - re-order, convert and scale to FFT size
+        // copy to complex vector for DOA with re-orderong
-        std::transform(
+        std::copy(
             m_invFFT2->in(),
             m_invFFT2->in() + m_fftSize/2,
-            m_tcorr.begin() + nfft*m_fftSize + m_fftSize/2,
+            m_xcorr.begin() + nfft*m_fftSize + m_fftSize/2
-            [](const std::complex<float>& a) -> Sample {
-                Sample s;
-                s.setReal(a.real()/2.0f);
-                s.setImag(a.imag()/2.0f);
-                return s;
-            }
         );
-        std::transform(
+        std::copy(
             m_invFFT2->in() + m_fftSize/2,
             m_invFFT2->in() + m_fftSize,
+            m_xcorr.begin() + nfft*m_fftSize
+        );
+
+        // convert and scale to FFT size for scope time domain display
+        std::transform(
+            m_xcorr.begin() + nfft*m_fftSize,
+            m_xcorr.begin() + nfft*m_fftSize + m_fftSize,
             m_tcorr.begin() + nfft*m_fftSize,
             [](const std::complex<float>& a) -> Sample {
                 Sample s;
@@ -364,14 +366,29 @@ bool DOA2Correlator::performFFTProd(
             }
         );
 
-        // feed spectrum with the sum
+        // copy product to time domain - re-order, convert and scale to FFT size
-        std::transform(
+        // std::transform(
-            begin0,
+        //     m_invFFT2->in(),
-            begin0 + m_fftSize,
+        //     m_invFFT2->in() + m_fftSize/2,
-            begin1,
+        //     m_tcorr.begin() + nfft*m_fftSize + m_fftSize/2,
-            m_scorr.begin() + nfft*m_fftSize,
+        //     [](const std::complex<float>& a) -> Sample {
-            sAdd
+        //         Sample s;
-        );
+        //         s.setReal(a.real()/2.0f);
+        //         s.setImag(a.imag()/2.0f);
+        //         return s;
+        //     }
+        // );
+        // std::transform(
+        //     m_invFFT2->in() + m_fftSize/2,
+        //     m_invFFT2->in() + m_fftSize,
+        //     m_tcorr.begin() + nfft*m_fftSize,
+        //     [](const std::complex<float>& a) -> Sample {
+        //         Sample s;
+        //         s.setReal(a.real()/2.0f);
+        //         s.setImag(a.imag()/2.0f);
+        //         return s;
+        //     }
+        // );
 
         size -= m_fftSize;
         begin0 += m_fftSize;
@@ -387,17 +404,6 @@ bool DOA2Correlator::performFFTProd(
     return nfft > 0;
 }
 
-void DOA2Correlator::adjustSCorrSize(int size)
-{
-    int nFFTSize = (size/m_fftSize)*m_fftSize;
-
-    if (nFFTSize > m_scorrSize)
-    {
-        m_scorr.resize(nFFTSize);
-        m_scorrSize = nFFTSize;
-    }
-}
-
 void DOA2Correlator::adjustTCorrSize(int size)
 {
     int nFFTSize = (size/m_fftSize)*m_fftSize;
@@ -409,6 +415,17 @@ void DOA2Correlator::adjustTCorrSize(int size)
     }
 }
 
+void DOA2Correlator::adjustXCorrSize(int size)
+{
+    int nFFTSize = (size/m_fftSize)*m_fftSize;
+
+    if (nFFTSize > m_xcorrSize)
+    {
+        m_xcorr.resize(nFFTSize);
+        m_xcorrSize = nFFTSize;
+    }
+}
+
 void DOA2Correlator::setPhase(int phase)
 {
     m_phase = phase;

plugins/channelmimo/doa2/doa2corr.h

@@ -46,10 +46,10 @@ public:
     int getFullFFTSize() const { return 2*m_fftSize; }
     void setPhase(int phase);
 
-    SampleVector m_scorr; //!< raw correlation result (spectrum) - Sample vector expected
+    SampleVector m_tcorr;         //!< correlation result (time or spectrum inverse FFT) - Sample vector expected
-    SampleVector m_tcorr; //!< correlation result (time or spectrum inverse FFT) - Sample vector expected
+    std::vector<Complex> m_xcorr; //!< correlation result of inverse FFT of FFT prod with conjugate (performFFTProd) for DOA processing
-    int m_processed;      //!< number of samples processed at the end of correlation
+    int m_processed;              //!< number of samples processed at the end of correlation
-    int m_remaining[2];   //!< number of samples remaining per member at the end of correlation
+    int m_remaining[2];           //!< number of samples remaining per member at the end of correlation
 
 signals:
     void dataReady(int start, int stop);
@@ -68,8 +68,8 @@ private:
         const SampleVector& data1,
         unsigned int size1
     );
-    void adjustSCorrSize(int size);
     void adjustTCorrSize(int size);
+    void adjustXCorrSize(int size);
 
     DOA2Settings::CorrelationType m_corrType;
     unsigned int m_fftSize;          //!< FFT length
@@ -86,8 +86,8 @@ private:
     SampleVector m_data0w;           //!< windowed data 0
     SampleVector m_data1w;           //!< windowed data 1
     SampleVector m_data1p;           //!< data1 with phase correction
-    int m_scorrSize;                 //!< spectrum correlations vector size
     int m_tcorrSize;                 //!< time correlations vector size
+    int m_xcorrSize;                 //!< DOA correlations vector size
     int m_phase;   //!< phase correction
     int64_t m_sin; //!< scaled sine of phase correction
     int64_t m_cos; //!< scaled cosine of phase correction

plugins/channelmimo/doa2/doa2gui.cpp

@@ -152,6 +152,8 @@ DOA2GUI::DOA2GUI(PluginAPI* pluginAPI, DeviceUISet *deviceUISet, MIMOChannel *ch
     displayRateAndShift();
     applySettings(true);
 
+    connect(&MainCore::instance()->getMasterTimer(), SIGNAL(timeout()), this, SLOT(tick()));
+
     // Test
     ui->compass->setAzNeg(85);
     ui->compass->setAzPos(315);
@@ -200,6 +202,8 @@ void DOA2GUI::displaySettings()
     applyDecimation();
     ui->phaseCorrection->setValue(m_settings.m_phase);
     ui->phaseCorrectionText->setText(tr("%1").arg(m_settings.m_phase));
+    ui->compass->setAzAnt(m_settings.m_antennaAz);
+    ui->antAz->setValue(m_settings.m_antennaAz);
     getRollupContents()->restoreState(m_rollupState);
     updateAbsoluteCenterFrequency();
     blockApplySettings(false);
@@ -318,6 +322,14 @@ void DOA2GUI::on_correlationType_currentIndexChanged(int index)
     applySettings();
 }
 
+void DOA2GUI::on_antAz_valueChanged(int value)
+{
+    m_settings.m_antennaAz = value;
+    ui->compass->setAzAnt(value);
+    updateDOA();
+    applySettings();
+}
+
 void DOA2GUI::applyDecimation()
 {
     uint32_t maxHash = 1;
@@ -346,7 +358,9 @@ void DOA2GUI::applyPosition()
 
 void DOA2GUI::tick()
 {
-    if (++m_tickCount == 20) { // once per second
+    if (++m_tickCount == 20) // once per second
+    {
+        updateDOA();
         m_tickCount = 0;
     }
 }
@@ -357,9 +371,21 @@ void DOA2GUI::makeUIConnections()
     QObject::connect(ui->position, &QSlider::valueChanged, this, &DOA2GUI::on_position_valueChanged);
     QObject::connect(ui->phaseCorrection, &QSlider::valueChanged, this, &DOA2GUI::on_phaseCorrection_valueChanged);
     QObject::connect(ui->correlationType, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &DOA2GUI::on_correlationType_currentIndexChanged);
+    QObject::connect(ui->antAz, QOverload<int>::of(&QSpinBox::valueChanged), this, &DOA2GUI::on_antAz_valueChanged);
 }
 
 void DOA2GUI::updateAbsoluteCenterFrequency()
 {
     setStatusFrequency(m_centerFrequency + m_shiftFrequencyFactor * m_sampleRate);
 }
+
+void DOA2GUI::updateDOA()
+{
+    float doaAngle = m_doa2->getPositiveDOA();
+    float posAngle = ui->antAz->value() - doaAngle; // DOA angles are trigonometric but displayed angles are clockwise
+    float negAngle = ui->antAz->value() + doaAngle;
+    ui->compass->setAzPos(posAngle);
+    ui->compass->setAzNeg(negAngle);
+    ui->posText->setText(tr("%1").arg(ui->compass->getAzPos(), 0, 'f', 0));
+    ui->negText->setText(tr("%1").arg(ui->compass->getAzNeg(), 0, 'f', 0));
+}

plugins/channelmimo/doa2/doa2gui.h

@@ -87,6 +87,7 @@ private:
     bool handleMessage(const Message& message);
     void makeUIConnections();
     void updateAbsoluteCenterFrequency();
+    void updateDOA();
 
 	void leaveEvent(QEvent*);
 	void enterEvent(QEvent*);
@@ -97,6 +98,7 @@ private slots:
     void on_position_valueChanged(int value);
     void on_phaseCorrection_valueChanged(int value);
     void on_correlationType_currentIndexChanged(int index);
+    void on_antAz_valueChanged(int value);
     void onWidgetRolled(QWidget* widget, bool rollDown);
     void onMenuDialogCalled(const QPoint& p);
 	void tick();

plugins/channelmimo/doa2/doa2gui.ui

@@ -335,7 +335,7 @@
     <rect>
      <x>0</x>
      <y>98</y>
-     <width>720</width>
+     <width>718</width>
      <height>334</height>
     </rect>
    </property>
@@ -402,8 +402,8 @@
     <rect>
      <x>0</x>
      <y>432</y>
-     <width>720</width>
+     <width>718</width>
-     <height>284</height>
+     <height>85</height>
     </rect>
    </property>
    <property name="sizePolicy">
@@ -438,9 +438,115 @@
      <number>2</number>
     </property>
     <item>
-     <layout class="QHBoxLayout" name="horizontalLayout">
+     <layout class="QGridLayout" name="gridLayout">
-      <item>
+      <item row="0" column="1">
+       <layout class="QHBoxLayout" name="doaValuesLayout">
+        <item>
+         <widget class="QLabel" name="posLabel">
+          <property name="text">
+           <string>Pos</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="posText">
+          <property name="text">
+           <string>000</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="spcLabel1">
+          <property name="minimumSize">
+           <size>
+            <width>10</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="negLabel">
+          <property name="text">
+           <string>Neg</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="negText">
+          <property name="text">
+           <string>000</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="spcLabel1_2">
+          <property name="minimumSize">
+           <size>
+            <width>10</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="antLabel">
+          <property name="text">
+           <string>Ant</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="antAz">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="wrapping">
+           <bool>true</bool>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+          <property name="maximum">
+           <number>359</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </item>
+      <item row="1" column="1">
+       <layout class="QHBoxLayout" name="horizontalLayout"/>
+      </item>
+      <item row="0" column="0" rowspan="2">
        <widget class="DOA2Compass" name="compass" native="true">
+        <property name="minimumSize">
+         <size>
+          <width>359</width>
+          <height>200</height>
+         </size>
+        </property>
         <property name="font">
          <font>
           <family>Liberation Sans</family>

plugins/channelmimo/doa2/doa2settings.cpp

@@ -45,6 +45,7 @@ void DOA2Settings::resetToDefaults()
     m_reverseAPIChannelIndex = 0;
     m_workspaceIndex = 0;
     m_hidden = false;
+    m_antennaAz = 0;
 }
 
 QByteArray DOA2Settings::serialize() const
@@ -65,6 +66,7 @@ QByteArray DOA2Settings::serialize() const
     s.writeS32(13,m_workspaceIndex);
     s.writeBlob(14, m_geometryBytes);
     s.writeBool(15, m_hidden);
+    s.writeS32(16, m_antennaAz);
 
     if (m_scopeGUI) {
         s.writeBlob(21, m_scopeGUI->serialize());
@@ -121,6 +123,8 @@ bool DOA2Settings::deserialize(const QByteArray& data)
         d.readS32(13, &m_workspaceIndex);
         d.readBlob(14, &m_geometryBytes);
         d.readBool(15, &m_hidden, false);
+        d.readS32(16, &tmp, 0);
+        m_antennaAz = tmp < 0 ? 0 : tmp > 359 ? 359 : tmp;
 
         if (m_scopeGUI)
         {

plugins/channelmimo/doa2/doa2settings.h

@@ -38,6 +38,7 @@ struct DOA2Settings
     uint32_t m_log2Decim;
     uint32_t m_filterChainHash;
     int m_phase;
+    int m_antennaAz;
     bool m_useReverseAPI;
     QString m_reverseAPIAddress;
     uint16_t m_reverseAPIPort;