#!/usr/bin/env python3 # -*- coding: utf-8 -*- # # SPDX-License-Identifier: GPL-3.0 # # GNU Radio Python Flow Graph # Title: CSwSNRRX # Author: Ozgur Ozdemir # GNU Radio version: v3.8.5.0-6-g57bd109d from gnuradio import analog from gnuradio import blocks from gnuradio import digital from gnuradio import filter from gnuradio.filter import firdes from gnuradio import gr import sys import signal from argparse import ArgumentParser from gnuradio.eng_arg import eng_float, intx from gnuradio import eng_notation from gnuradio import uhd import time import epy_block_0 import math import threading def derive_num_uavs_from_csv(csv_path=None): """Derive number of UAVs from scenario.csv by counting initial positions. The initialPositions column contains a quoted comma-separated list of x,y,z triples. num_uavs = len(values) / 3. """ import os, csv if csv_path is None: csv_path = '/root/miSim/aerpaw/config/scenario.csv' with open(csv_path, 'r') as f: reader = csv.reader(f, skipinitialspace=True) header = [h.strip() for h in next(reader)] row = next(reader) col = header.index('initialPositions') init_pos = row[col].strip() n_vals = len([v.strip() for v in init_pos.split(',') if v.strip()]) if n_vals % 3 != 0: raise ValueError(f"initialPositions has {n_vals} values; expected a multiple of 3") return n_vals // 3 class TdmTaggedFileSink(gr.sync_block): """GNU Radio sink that writes CSV rows tagged with the current TDM TX slot ID. Each row has the form: tx_uav_id,value During the guard interval the TX ID is written as -1. """ def __init__(self, filepath, num_uavs, slot_duration, guard_interval): import numpy gr.sync_block.__init__( self, name='TDM Tagged File Sink', in_sig=[numpy.float32], out_sig=None) self._num_uavs = num_uavs self._slot_duration = slot_duration self._guard_interval = guard_interval self._frame_duration = slot_duration * num_uavs self._f = open(filepath, 'w') self._f.write('tx_uav_id,value\n') def work(self, input_items, output_items): now = time.time() slot_time = now % self._frame_duration current_slot = int(slot_time / self._slot_duration) time_into_slot = slot_time - current_slot * self._slot_duration if time_into_slot < self._guard_interval: tx_id = -1 # guard interval — ambiguous else: tx_id = current_slot for val in input_items[0]: self._f.write(f'{tx_id},{val}\n') self._f.flush() return len(input_items[0]) def stop(self): self._f.close() return True class CSwSNRRX(gr.top_block): def __init__(self, args='', freq=3.32e9, gainrx=30, noise=8, offset=250e3, samp_rate=2e6, sps=16, uav_id=0, num_uavs=1, slot_duration=0.5, guard_interval=0.05): gr.top_block.__init__(self, "CSwSNRRX") ################################################## # Parameters ################################################## self.args = args self.freq = freq self.gainrx = gainrx self.noise = noise self.offset = offset self.samp_rate = samp_rate self.sps = sps self.uav_id = uav_id self.num_uavs = num_uavs self.slot_duration = slot_duration self.guard_interval = guard_interval ################################################## # Variables ################################################## self.nfilts = nfilts = 32 self.alpha = alpha = 0.99 self.rrc_taps = rrc_taps = firdes.root_raised_cosine(nfilts, nfilts*samp_rate,samp_rate/sps, alpha, 11*sps*nfilts) self.lbc = lbc = 0.5 self.fun_prob = fun_prob = 0 ################################################## # Blocks ################################################## self.AGCprob = blocks.probe_signal_f() def _fun_prob_probe(): while True: val = self.AGCprob.level() try: self.set_fun_prob(val) except AttributeError: pass time.sleep(1.0 / (100)) _fun_prob_thread = threading.Thread(target=_fun_prob_probe) _fun_prob_thread.daemon = True _fun_prob_thread.start() self.uhd_usrp_source_0 = uhd.usrp_source( ",".join(("", args)), uhd.stream_args( cpu_format="fc32", args='', channels=list(range(0,1)), ), ) self.uhd_usrp_source_0.set_center_freq(freq, 0) self.uhd_usrp_source_0.set_gain(gainrx, 0) self.uhd_usrp_source_0.set_antenna('RX2', 0) self.uhd_usrp_source_0.set_samp_rate(samp_rate) self.uhd_usrp_source_0.set_time_unknown_pps(uhd.time_spec()) self.freq_xlating_fft_filter_ccc_0_0 = filter.freq_xlating_fft_filter_ccc(1, (-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, -1, 1, -1, 1, -1, -1, 1, -1, -1, -1, 1, -1, -1, 1, -1, 1, 1, 1, -1, 1, -1, 1, -1, -1, -1, 1, 1, -1, -1, -1, 1, -1, -1, -1, 1, -1, -1, -1, -1, -1, 1, 1, -1, -1, -1, 1, -1, 1, 1, 1, -1, -1, -1, 1, 1, -1, -1, -1, 1, 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1, 1, 1, 1), 0, samp_rate/sps) self.freq_xlating_fft_filter_ccc_0_0.set_nthreads(8) self.freq_xlating_fft_filter_ccc_0_0.declare_sample_delay(0) self.epy_block_0 = epy_block_0.blk(example_param=1) self.digital_symbol_sync_xx_0 = digital.symbol_sync_cc( digital.TED_SIGNAL_TIMES_SLOPE_ML, sps, 0.045, 1.0, 1.0, 1.5, 1, digital.constellation_bpsk().base(), digital.IR_PFB_MF, nfilts, rrc_taps) self.digital_fll_band_edge_cc_0_0 = digital.fll_band_edge_cc(sps, alpha, sps*2+1, 2*math.pi/sps/100) self.digital_costas_loop_cc_0 = digital.costas_loop_cc(lbc, 2, False) self.blocks_vector_to_stream_0_0 = blocks.vector_to_stream(gr.sizeof_gr_complex*1, 4095) self.blocks_sub_xx_0 = blocks.sub_ff(1) self.blocks_stream_to_vector_0_0 = blocks.stream_to_vector(gr.sizeof_gr_complex*1, 4095) self.blocks_nlog10_ff_0_0_0 = blocks.nlog10_ff(20, 1, 0) self.blocks_nlog10_ff_0_0 = blocks.nlog10_ff(20, 1, 0) self.blocks_multiply_xx_1 = blocks.multiply_vcc(1) self.blocks_multiply_xx_0 = blocks.multiply_vcc(1) self.blocks_moving_average_xx_1_0 = blocks.moving_average_cc(1000, 1/1000, 4000, 1) self.blocks_moving_average_xx_1 = blocks.moving_average_cc(3, 1, 4000, 1) self.blocks_moving_average_xx_0_0 = blocks.moving_average_ff(sps, 1, 4000, 1) self.blocks_moving_average_xx_0 = blocks.moving_average_ff(sps, 1, 4000, 1) self.blocks_keep_m_in_n_1_0 = blocks.keep_m_in_n(gr.sizeof_gr_complex, 1, 1000, 999) self.blocks_keep_m_in_n_1 = blocks.keep_m_in_n(gr.sizeof_gr_complex, 1, 3, 2) self.blocks_keep_m_in_n_0_0 = blocks.keep_m_in_n(gr.sizeof_gr_complex, 1000, 4095, 2000) self.blocks_keep_m_in_n_0 = blocks.keep_m_in_n(gr.sizeof_gr_complex, 3, 4095, 1) self.blocks_float_to_complex_0 = blocks.float_to_complex(1) self.blocks_file_sink_0_0_0_0 = TdmTaggedFileSink( '/root/SNR', num_uavs, slot_duration, guard_interval) self.blocks_file_sink_0_0_0 = TdmTaggedFileSink( '/root/Quality', num_uavs, slot_duration, guard_interval) self.blocks_file_sink_0 = TdmTaggedFileSink( '/root/Power', num_uavs, slot_duration, guard_interval) self.blocks_divide_xx_0 = blocks.divide_ff(1) self.blocks_complex_to_real_0_0 = blocks.complex_to_real(1) self.blocks_complex_to_real_0 = blocks.complex_to_real(1) self.blocks_complex_to_mag_0_0_0 = blocks.complex_to_mag(1) self.blocks_complex_to_mag_0_0 = blocks.complex_to_mag(1) self.blocks_add_const_vxx_0_0 = blocks.add_const_ff(-noise) self.blocks_add_const_vxx_0 = blocks.add_const_ff(-gainrx) self.analog_sig_source_x_0 = analog.sig_source_c(samp_rate, analog.GR_COS_WAVE, -offset, 1, 0, 0) self.analog_const_source_x_0_0 = analog.sig_source_f(0, analog.GR_CONST_WAVE, 0, 0, fun_prob) self.analog_const_source_x_0 = analog.sig_source_f(0, analog.GR_CONST_WAVE, 0, 0, 0) self.analog_agc_xx_0 = analog.agc_cc(1e-4, 1.0, 1.0) self.analog_agc_xx_0.set_max_gain(65536) ################################################## # Connections ################################################## self.connect((self.analog_agc_xx_0, 0), (self.blocks_complex_to_real_0, 0)) self.connect((self.analog_agc_xx_0, 0), (self.digital_fll_band_edge_cc_0_0, 0)) self.connect((self.analog_const_source_x_0, 0), (self.blocks_float_to_complex_0, 1)) self.connect((self.analog_const_source_x_0_0, 0), (self.blocks_float_to_complex_0, 0)) self.connect((self.analog_sig_source_x_0, 0), (self.blocks_multiply_xx_0, 1)) self.connect((self.blocks_add_const_vxx_0, 0), (self.blocks_add_const_vxx_0_0, 0)) self.connect((self.blocks_add_const_vxx_0, 0), (self.blocks_file_sink_0, 0)) self.connect((self.blocks_add_const_vxx_0_0, 0), (self.blocks_file_sink_0_0_0_0, 0)) self.connect((self.blocks_complex_to_mag_0_0, 0), (self.blocks_nlog10_ff_0_0, 0)) self.connect((self.blocks_complex_to_mag_0_0_0, 0), (self.blocks_nlog10_ff_0_0_0, 0)) self.connect((self.blocks_complex_to_real_0, 0), (self.blocks_moving_average_xx_0_0, 0)) self.connect((self.blocks_complex_to_real_0_0, 0), (self.blocks_moving_average_xx_0, 0)) self.connect((self.blocks_divide_xx_0, 0), (self.AGCprob, 0)) self.connect((self.blocks_float_to_complex_0, 0), (self.blocks_multiply_xx_1, 1)) self.connect((self.blocks_keep_m_in_n_0, 0), (self.blocks_moving_average_xx_1, 0)) self.connect((self.blocks_keep_m_in_n_0_0, 0), (self.blocks_moving_average_xx_1_0, 0)) self.connect((self.blocks_keep_m_in_n_1, 0), (self.blocks_complex_to_mag_0_0, 0)) self.connect((self.blocks_keep_m_in_n_1_0, 0), (self.blocks_complex_to_mag_0_0_0, 0)) self.connect((self.blocks_moving_average_xx_0, 0), (self.blocks_divide_xx_0, 0)) self.connect((self.blocks_moving_average_xx_0_0, 0), (self.blocks_divide_xx_0, 1)) self.connect((self.blocks_moving_average_xx_1, 0), (self.blocks_keep_m_in_n_1, 0)) self.connect((self.blocks_moving_average_xx_1_0, 0), (self.blocks_keep_m_in_n_1_0, 0)) self.connect((self.blocks_multiply_xx_0, 0), (self.analog_agc_xx_0, 0)) self.connect((self.blocks_multiply_xx_0, 0), (self.blocks_complex_to_real_0_0, 0)) self.connect((self.blocks_multiply_xx_1, 0), (self.freq_xlating_fft_filter_ccc_0_0, 0)) self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_add_const_vxx_0, 0)) self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_sub_xx_0, 0)) self.connect((self.blocks_nlog10_ff_0_0_0, 0), (self.blocks_sub_xx_0, 1)) self.connect((self.blocks_stream_to_vector_0_0, 0), (self.epy_block_0, 0)) self.connect((self.blocks_sub_xx_0, 0), (self.blocks_file_sink_0_0_0, 0)) self.connect((self.blocks_vector_to_stream_0_0, 0), (self.blocks_keep_m_in_n_0, 0)) self.connect((self.blocks_vector_to_stream_0_0, 0), (self.blocks_keep_m_in_n_0_0, 0)) self.connect((self.digital_costas_loop_cc_0, 0), (self.blocks_multiply_xx_1, 0)) self.connect((self.digital_fll_band_edge_cc_0_0, 0), (self.digital_symbol_sync_xx_0, 0)) self.connect((self.digital_symbol_sync_xx_0, 0), (self.digital_costas_loop_cc_0, 0)) self.connect((self.epy_block_0, 0), (self.blocks_vector_to_stream_0_0, 0)) self.connect((self.freq_xlating_fft_filter_ccc_0_0, 0), (self.blocks_stream_to_vector_0_0, 0)) self.connect((self.uhd_usrp_source_0, 0), (self.blocks_multiply_xx_0, 0)) def get_args(self): return self.args def set_args(self, args): self.args = args def get_freq(self): return self.freq def set_freq(self, freq): self.freq = freq self.uhd_usrp_source_0.set_center_freq(self.freq, 0) def get_gainrx(self): return self.gainrx def set_gainrx(self, gainrx): self.gainrx = gainrx self.blocks_add_const_vxx_0.set_k(-self.gainrx) self.uhd_usrp_source_0.set_gain(self.gainrx, 0) self.uhd_usrp_source_0.set_gain(self.gainrx, 1) def get_noise(self): return self.noise def set_noise(self, noise): self.noise = noise self.blocks_add_const_vxx_0_0.set_k(-self.noise) def get_offset(self): return self.offset def set_offset(self, offset): self.offset = offset self.analog_sig_source_x_0.set_frequency(-self.offset) def get_samp_rate(self): return self.samp_rate def set_samp_rate(self, samp_rate): self.samp_rate = samp_rate self.set_rrc_taps(firdes.root_raised_cosine(self.nfilts, self.nfilts*self.samp_rate, self.samp_rate/self.sps, self.alpha, 11*self.sps*self.nfilts)) self.analog_sig_source_x_0.set_sampling_freq(self.samp_rate) self.uhd_usrp_source_0.set_samp_rate(self.samp_rate) def get_sps(self): return self.sps def set_sps(self, sps): self.sps = sps self.set_rrc_taps(firdes.root_raised_cosine(self.nfilts, self.nfilts*self.samp_rate, self.samp_rate/self.sps, self.alpha, 11*self.sps*self.nfilts)) self.blocks_moving_average_xx_0.set_length_and_scale(self.sps, 1) self.blocks_moving_average_xx_0_0.set_length_and_scale(self.sps, 1) self.digital_fll_band_edge_cc_0_0.set_loop_bandwidth(2*math.pi/self.sps/100) def get_nfilts(self): return self.nfilts def set_nfilts(self, nfilts): self.nfilts = nfilts self.set_rrc_taps(firdes.root_raised_cosine(self.nfilts, self.nfilts*self.samp_rate, self.samp_rate/self.sps, self.alpha, 11*self.sps*self.nfilts)) def get_alpha(self): return self.alpha def set_alpha(self, alpha): self.alpha = alpha self.set_rrc_taps(firdes.root_raised_cosine(self.nfilts, self.nfilts*self.samp_rate, self.samp_rate/self.sps, self.alpha, 11*self.sps*self.nfilts)) def get_rrc_taps(self): return self.rrc_taps def set_rrc_taps(self, rrc_taps): self.rrc_taps = rrc_taps def get_lbc(self): return self.lbc def set_lbc(self, lbc): self.lbc = lbc self.digital_costas_loop_cc_0.set_loop_bandwidth(self.lbc) def get_fun_prob(self): return self.fun_prob def set_fun_prob(self, fun_prob): self.fun_prob = fun_prob self.analog_const_source_x_0_0.set_offset(self.fun_prob) def argument_parser(): parser = ArgumentParser() parser.add_argument( "--args", dest="args", type=str, default='', help="Set args [default=%(default)r]") parser.add_argument( "--freq", dest="freq", type=eng_float, default="3.32G", help="Set freq [default=%(default)r]") parser.add_argument( "--gainrx", dest="gainrx", type=eng_float, default="30.0", help="Set gainrx [default=%(default)r]") parser.add_argument( "--noise", dest="noise", type=eng_float, default="8.0", help="Set noise [default=%(default)r]") parser.add_argument( "--offset", dest="offset", type=eng_float, default="250.0k", help="Set offset [default=%(default)r]") parser.add_argument( "--samp-rate", dest="samp_rate", type=eng_float, default="2.0M", help="Set samp_rate [default=%(default)r]") parser.add_argument( "--sps", dest="sps", type=intx, default=16, help="Set sps [default=%(default)r]") parser.add_argument( "--uav-id", dest="uav_id", type=int, default=None, help="TDM slot index for this UAV (0-indexed). " "If omitted, read from config/client.yaml.") parser.add_argument( "--num-uavs", dest="num_uavs", type=int, default=None, help="Total number of UAVs (TDM slots). " "If omitted, derived from config/scenario.csv.") parser.add_argument( "--slot-duration", dest="slot_duration", type=float, default=None, help="TDM slot duration in seconds [default: 0.5 or from client.yaml]") parser.add_argument( "--guard-interval", dest="guard_interval", type=float, default=None, help="TDM guard interval in seconds [default: 0.05 or from client.yaml]") return parser def _resolve_tdm_options(options): """Fill in TDM parameters from client.yaml / scenario.csv when not provided on the command line.""" import os, yaml cfg_dir = '/root/miSim/aerpaw/config' env_cfg = os.environ.get('AERPAW_CLIENT_CONFIG', '') if env_cfg: yaml_path = env_cfg if os.path.isabs(env_cfg) else os.path.join('/root/miSim/aerpaw', env_cfg) else: yaml_path = os.path.join(cfg_dir, 'client.yaml') cfg = {} if os.path.isfile(yaml_path): with open(yaml_path, 'r') as f: cfg = yaml.safe_load(f) or {} tdm_cfg = cfg.get('tdm', {}) if options.uav_id is None: options.uav_id = int(cfg.get('uav_id', 0)) if options.slot_duration is None: options.slot_duration = float(tdm_cfg.get('slot_duration', 0.5)) if options.guard_interval is None: options.guard_interval = float(tdm_cfg.get('guard_interval', 0.05)) if options.num_uavs is None: try: options.num_uavs = derive_num_uavs_from_csv( '/root/miSim/aerpaw/config/scenario.csv') except Exception as e: print(f"[TDM] Warning: could not derive num_uavs from scenario.csv: {e}") print("[TDM] Defaulting to num_uavs=1 (TDM effectively disabled)") options.num_uavs = 1 return options def main(top_block_cls=CSwSNRRX, options=None): if options is None: options = argument_parser().parse_args() options = _resolve_tdm_options(options) print(f"[TDM-RX] Config: uav_id={options.uav_id}, " f"num_uavs={options.num_uavs}, slot={options.slot_duration}s, " f"guard={options.guard_interval}s") print(f"[TDM-RX] Receiver runs continuously; measurements from all " f"TX slots interleave into output files.") tb = top_block_cls( args=options.args, freq=options.freq, gainrx=options.gainrx, noise=options.noise, offset=options.offset, samp_rate=options.samp_rate, sps=options.sps, uav_id=options.uav_id, num_uavs=options.num_uavs, slot_duration=options.slot_duration, guard_interval=options.guard_interval) def sig_handler(sig=None, frame=None): tb.stop() tb.wait() sys.exit(0) signal.signal(signal.SIGINT, sig_handler) signal.signal(signal.SIGTERM, sig_handler) tb.start() try: input('Press Enter to quit: ') except EOFError: pass tb.stop() tb.wait() if __name__ == '__main__': main()