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thetianshuhuangthetianshuhuang
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Split collect into windows/wsl
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‎collect/Automation.lua

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---------------------------------- STARTUP -------------------------------------
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------------------------ DO NOT MODIFY THIS SECTION ----------------------------
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-- mmwavestudio installation path
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RSTD_PATH = RSTD.GetRstdPath()
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-- Declare the loading function
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dofile(RSTD_PATH .. "\\Scripts\\Startup.lua")
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----------------------------------- CONFIG -------------------------------------
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ar1.FullReset()
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ar1.SOPControl(2)
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ar1.Connect(5,115200,1000)
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ar1.Calling_IsConnected()
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ar1.SelectChipVersion("AR1642")
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ar1.SelectChipVersion("AR1642")
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ar1.deviceVariantSelection("XWR1843")
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ar1.frequencyBandSelection("77G")
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ar1.SelectChipVersion("XWR1843")
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ar1.DownloadBSSFw("C:\\ti\\mmwave_studio_02_01_01_00\\rf_eval_firmware\\radarss\\xwr18xx_radarss.bin")
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ar1.GetBSSFwVersion()
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ar1.GetBSSPatchFwVersion()
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ar1.DownloadMSSFw("C:\\ti\\mmwave_studio_02_01_01_00\\rf_eval_firmware\\masterss\\xwr18xx_masterss.bin")
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ar1.GetMSSFwVersion()
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ar1.PowerOn(0, 1000, 0, 0)
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ar1.SelectChipVersion("AR1642")
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ar1.SelectChipVersion("XWR1843")
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ar1.RfEnable()
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ar1.GetMSSFwVersion()
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ar1.GetBSSFwVersion()
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ar1.GetBSSPatchFwVersion()
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ar1.ChanNAdcConfig(1, 1, 1, 1, 1, 1, 1, 2, 2, 0)
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ar1.LPModConfig(0, 1)
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ar1.RfInit()
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ar1.SetCalMonFreqLimitConfig(77,81)
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ar1.DataPathConfig(513, 1216644097, 0)
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ar1.LvdsClkConfig(1, 1)
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ar1.LVDSLaneConfig(0, 1, 1, 0, 0, 1, 0, 0)
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ar1.ProfileConfig(0, 77, 10, 6, 63.14, 0, 0, 0, 0, 0, 0, 63.343, 1, 512, 9121, 0, 0, 30)
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ar1.ChirpConfig(0, 0, 0, 0, 0, 0, 0, 1, 0, 0)
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-- ar1.ChirpConfig(1, 1, 0, 0, 0, 0, 0, 0, 1, 0)
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ar1.ChirpConfig(1, 1, 0, 0, 0, 0, 0, 0, 0, 1)
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ar1.DisableTestSource(0)
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ar1.FrameConfig(0, 1, 0, 1, 0.5, 0, 0, 1)
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ar1.GetCaptureCardDllVersion()
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ar1.SelectCaptureDevice("DCA1000")
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ar1.CaptureCardConfig_EthInit("192.168.33.30", "192.168.33.180", "12:34:56:78:90:12", 4096, 4098)
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ar1.CaptureCardConfig_Mode(1, 2, 1, 2, 3, 30)
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ar1.CaptureCardConfig_PacketDelay(25)
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ar1.GetCaptureCardFPGAVersion()
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------------------------- Start the capture ------------------------------------
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RSTD.Sleep(15000)
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ar1.CaptureCardConfig_StartRecord("C:\\ti\\mmwave_studio_02_01_01_00\\mmWaveStudio\\PostProc\\adc_data.bin", 1)
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RSTD.Sleep(1000)
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ar1.StartFrame()
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RSTD.Sleep(1000)
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------------------------- End the capture --------------------------------------
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-- ar1.StopFrame()
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-- ar1.PowerOff()
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-- ar1.Disconnect()
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os.exit()
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-- end

‎collect/README.md

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# Data Collection
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## Radar Computer
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1. Power:
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- power supply charges via USB-C
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- power supply power button
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- hold power supply AC button until AC is shown on screen
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2. connect laptop to dart-5 (wiselab2023)
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3. AFTER laptop is connected to wifi, plug in NUC + radar and press power on NUC
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4. run RDP on laptop.
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- connect to win-qbb0j8pltgl.local
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- username: Administrator
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- password: mmwave76GHz
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5. run cmd:
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```sh
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cd git/dart/scripts
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conda activate dart-datacollect
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python radar.py
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```
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6. wait about 60 seconds until mmwave GUI closes
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- should see "flushing 8192 packets"
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- if radar packets are not showing up (this happens on first boot of NUC):
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1. ctrl-C
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2. open task manager
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3. find `DCA1000EVM` exe
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4. end task
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5. power cycle the radar
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6. start again from the `python radar.py` command
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## Lidar Computer
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[email protected]
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0. Time sync: `sudo ntpdate -u time.windows.com`
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1. `roslaunch slam ouster.launch`
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2. `roslaunch xsens_mti_driver xsens_mti_node.launch`
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3. go into `/home/wiselab/catkin_ws/src/data_collection/src/`, then execute `./gt_collect.sh {filename}`
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## Cartographer Processing
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wiselab@touriga
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0. Check that rosbag is good shape: `rosbag info {filename}.bag`
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- If an issue is found: `rosbag reindex {filename}.bag`
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1. `roslaunch slam offine_cart_3d.launch bag_filenames:=/home/wiselab/ws/dart/{filename}.bag`
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2. `roslaunch slam asset_writer_cart_3d.launch bag_filenames:=/home/wiselab/ws/dart/{filename}.bag pose_graph_filename:=/home/wiselab/ws/dart/{filename}.bag.pbstream`
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3. go to `/home/wiselab/catkin_ws/src/slam/src/`, execute `./get_pose {filename}`

‎collect/radar.py ‎collect/collect.py

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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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"""Main collection script (wsl)"""
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import argparse
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import subprocess
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from datetime import datetime
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CMD_DIR = 'C:/ti/mmwave_studio_02_01_01_00/mmWaveStudio/RunTime'
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SCRIPT_FILE = 'C:/Users/Administrator/git/dart/scripts/radar/Automation.lua'
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PACKET_BUFSIZE = 8192
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MAX_PACKET_SIZE = 4096
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@@ -51,19 +48,12 @@ def radarcollect(args):
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os.makedirs(args.output, exist_ok=True)
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outfile = os.path.join(args.output, 'radarpackets.h5')
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cwd = os.getcwd()
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os.chdir(CMD_DIR)
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subprocess.Popen(['mmWaveStudio.exe', '/lua', SCRIPT_FILE])
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os.chdir(cwd)
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print('waiting 56 seconds...')
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time.sleep(56.0)
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print('starting!')
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cfg_recv = (args.static_ip, args.config_port)
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data_recv = (args.static_ip, args.data_port)
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# Need to open the config socket, even if we don't use it, in order to
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# "steal" it from mmwave studo.
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# Otherwise, this script will crash after
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config_socket = socket.socket(
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socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
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data_socket = socket.socket(

‎collect/start.py

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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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import os
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import sys
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import subprocess
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import time
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CMD_DIR = 'C:/ti/mmwave_studio_02_01_01_00/mmWaveStudio/RunTime'
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SCRIPT_FILE = 'C:/Users/Administrator/git/dart/collect/Automation.lua'
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def _parse(p):
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p.add_argument(
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'--static_ip', '-i',
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help='Static IP address (eg 192.168.33.30)',
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default='192.168.33.30')
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p.add_argument(
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'--data_port', '-d', type=int, default=4098,
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help='Port for data stream (eg. 4098)')
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p.add_argument(
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'--config_port', '-c', type=int, default=4096,
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help='Port for config stream (eg. 4096)')
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p.add_argument(
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'--timeout', '-t', type=float, default=20,
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help='Socket timeout in seconds (eg. 20)')
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p.add_argument(
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'--output', '-o', default=None, help="Output directory. If blank, "
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"creates a folder with the current datetime.")
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return p
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if __name__ == '__main__':
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cwd = os.getcwd()
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os.chdir(CMD_DIR)
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subprocess.Popen(['mmWaveStudio.exe', '/lua', SCRIPT_FILE])
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os.chdir(cwd)
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print('waiting 56 seconds...')
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time.sleep(56.0)
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print('starting!')
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subprocess.Popen(["wsl", "python3", "collect.py"] + sys.argv[1:])

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