SDR/model/surveillance_radar.py

from math import e
from pickletools import read_string1
from socket import timeout
import numpy as np
import numpy as np
from scipy.signal import find_peaks
from algo import anti_jamming_signal_algo
from algo.anti_jamming_signal_algo import AntiJammingSignalAlgo
from threading import Thread, Event
import queue
import threading
import time
import uhd
# ==================== 侦查雷达类 ====================
class SurveillanceRadar:
    SAMPLING_RATE = 10e6
    CENTER_FREQ = 6e9
    GAIN = 50

    def __init__(self, usrp, rx_channel=0, tx_channel=0):
        self.usrp = usrp
        self.stop_event = Event()
        self.tx_buffer = queue.Queue(maxsize=300)
        self.rx_buffer = queue.Queue(maxsize=300)

        # 流配置参数（与demo.py保持一致）
        tx_stream_args = uhd.usrp.StreamArgs('fc32', 'sc16')
        tx_stream_args.channels = [tx_channel]
        self.tx_stream = self.usrp.get_tx_stream(tx_stream_args)
        rx_stream_args = uhd.usrp.StreamArgs('fc32','sc16')
        rx_stream_args.channels = [rx_channel]
        self.rx_stream = self.usrp.get_rx_stream(rx_stream_args)
        self.samps_per_packet = 500000
        # self.stream_timeout = 3.0

        # 配置设备参数（与demo.py同步）
        self.usrp.set_tx_rate(self.SAMPLING_RATE)
        self.usrp.set_tx_freq(uhd.types.TuneRequest(self.CENTER_FREQ),tx_channel)
        self.usrp.set_tx_gain(self.GAIN)
        self.usrp.set_tx_antenna("TX/RX", tx_channel)

        self.usrp.set_rx_rate(self.SAMPLING_RATE)
        self.usrp.set_rx_freq(uhd.types.TuneRequest(self.CENTER_FREQ),rx_channel)
        self.usrp.set_rx_gain(self.GAIN)
        self.usrp.set_rx_antenna("RX2", rx_channel)


        self.anti_jamming_algorithm = None  # 存储抗干扰算法
        self.tx_signal = None  # 存储干扰信号
        self.rx_signal = None  # 接收到的信号
        self.jammed_signal = np.zeros((self.samps_per_packet,), dtype=np.complex64)  # 初始化干扰信号缓冲区
        self.processed_signal = None # 存储处理后的信号
        self.tx_buffer = queue.Queue(maxsize=100)
        self.rx_buffer = queue.Queue(maxsize=100)
        self.processing_thread = None

    def generate_signal(self):
            """生成具有随机强度的测试信号"""
            t = np.arange(int(SurveillanceRadar.SAMPLING_RATE * 0.1)) / SurveillanceRadar.SAMPLING_RATE  # 0.1秒的数据

            # 基础幅度为0.5，添加随机波动 (±0.3)
            amplitude = 0.5 + 0.3 * np.random.randn()
            amplitude = max(0.1, min(0.9, amplitude))  # 限制在合理范围内

            # 添加随机相位偏移
            phase = np.random.uniform(0, 2 * np.pi)

            # 添加随机频率偏移 (±50kHz)
            freq_offset = np.random.uniform(-50e3, 50e3)

            signal = amplitude * np.exp(2j * np.pi * (1e6 + freq_offset) * t + 1j * phase)
            return signal.astype(np.complex64), amplitude
    def tx_worker(self):
        """发送线程函数"""
        metadata = uhd.types.TXMetadata()
        metadata.start_of_burst = True
        metadata.end_of_burst = False
        metadata.has_time_spec = False

        print("发送线程已启动")

        while not self.stop_event.is_set():
            try:
                # 生成随机信号
                signal, amplitude = self.generate_signal()
                self.tx_signal = signal
                # 应用抗干扰算法
                samples = self.process_transmit_signal(self.tx_signal, self.anti_jamming_algorithm, self.SAMPLING_RATE)
                # print("samples:", samples)
                # 发送信号
                self.tx_stream.send(signal, metadata)
                print("数据已发送")
                # 将100个信号依次队列
                #如果队列已满，则去对头元素
                if self.tx_buffer.full():
                    self.tx_buffer.get()
                self.tx_buffer.put(samples.copy())  
                # 控制发送频率
                time.sleep(0.05)
            except Exception as e:
                # self.stop_event.set()
                # metadata.end_of_burst = True
                # self.tx_stream.send(np.zeros((1,), dtype=np.complex64), metadata)
                # raise Exception(f"发送线程出错: {e}")
                print(f"发送线程出错: {e}")
        
            
            
    def rx_worker(self):
        
        # 启动接收流
        stream_cmd = uhd.types.StreamCMD(uhd.types.StreamMode.start_cont)
        stream_cmd.stream_now = True
        self.rx_stream.issue_stream_cmd(stream_cmd)
        metadata = uhd.types.RXMetadata()

        buff = np.zeros((self.samps_per_packet,), dtype=np.complex64)
        while not self.stop_event.is_set():
            try:
                num_rx = self.rx_stream.recv(buff, metadata)
                if metadata.error_code != uhd.types.RXMetadataErrorCode.none:
                    print(f"接收错误: {metadata.error_code}")
                    continue
                # 将100个信号依次队列
                if num_rx > 0:
                    #如果队列已满，则去对头元素
                    if self.rx_buffer.full():
                        self.rx_buffer.get()
                    self.rx_buffer.put(buff.copy()[:num_rx])
            except Exception as e:
            # stream_cmd = uhd.types.StreamCMD(uhd.types.StreamMode.stop_cont)
            # self.usrp.issue_stream_cmd(stream_cmd)
            # raise Exception(f"接收线程出错: {e}")
                print(f"接收线程出错: {e}")

    def process_transmit_signal(self, tx_signal: np.ndarray, algorithm: callable, sample_rate: float) -> np.ndarray:
        """
        发射端信号处理
        :param tx_signal: 发射信号
        :param algorithm: 发射端抗干扰算法
        :param sample_rate: 采样率
        """
        
        #如果为频率捷变算法
        if algorithm == AntiJammingSignalAlgo.frequency_agility:
            hop_sequence = [(10e6, 0.001), (20e6, 0.001)]  # 跳频序列，频率点和驻留时间
            process_signal = algorithm(tx_signal=tx_signal, sample_rate=sample_rate, hop_sequence=hop_sequence)
        
        elif algorithm == AntiJammingSignalAlgo.waveform_agility:
            waveform_params = {'type': 'LFM', 'bandwidth': 100e6, 'duration': 0.1}  # 波形参数
            process_signal = algorithm(tx_signal=tx_signal, sample_rate=sample_rate, waveform_params=waveform_params)
        else:
            process_signal = tx_signal    
        # print("processed_signal:", processed_signal)
        return process_signal.astype(np.complex64)
        
        

    def apply_anti_jamming_processing(self, rx_signal: np.ndarray, algorithm: callable, sample_rate: float, **kwargs) -> np.ndarray:
        """
        应用抗干扰信号处理
        :param rx_signal: 接收信号
        :param algorithm: 接收端抗干扰算法
        :param sample_rate: 采样率
        """
        # 极化参数配置
        polar_params = {
            'angle': 45,      # 极化角（单位：度）
            'ellipticity': 0.8 # 椭圆率（0~1之间）
        }
        
        if algorithm == AntiJammingSignalAlgo.polarization_filter:
            process_signal = algorithm(rx_signal=rx_signal, sample_rate=sample_rate, polarization_params=polar_params)
        else:
            process_signal = rx_signal
        return process_signal.astype(np.complex64)
    def anti_jamming_worker(self):
        # try:
        while not self.stop_event.is_set():
            if not self.rx_buffer.qsize() > 150:
                list = np.array([])
                for i in range(100):
                    buff = self.rx_buffer.get()
                    combined_signal = buff 
                    # processed_signal = self.apply_anti_jamming_processing(
                    #     combined_signal,
                    #     self.anti_jamming_algorithm,
                    #     self.SAMPLING_RATE
                    # )
                    # 计算接收信号的强度 (RMS)
                    signal_rms = np.sqrt(np.mean(np.abs(buff) ** 2))
                    print(f"\r接收信号强度: {signal_rms:.3f}")
                    list = np.append(list,signal_rms)
                print("list:",list.tolist())    
                self.processed_signal = list
                time.sleep(0.05)   

        # except Exception as e:
        #     self.stop_event.set()
        #     raise Exception(f"信号处理线程出错: {e}")
               
    
    def run(self):
        """启动雷达"""
        print("雷达启动")
        tx_thread = Thread(target=self.tx_worker)
        rx_thread = Thread(target=self.rx_worker)
        tx_thread.start()
        rx_thread.start()
        self.processing_thread = threading.Thread(target=self.anti_jamming_worker)
        self.processing_thread.start()
        print("雷达运行完毕")

    def inject(self,anti_jam_algorithm,jammed_signal):
        self.jammed_signal = jammed_signal
        self.anti_jamming_algorithm = anti_jam_algorithm