Merge pull request #377 from albertoesmp/devel

Subray rotation precomptuation is now cached

scripts/debug/hda_pulse_records_plotter.py

@@ -92,22 +92,19 @@ def read_records(path, sep=','):
         'received_power': intensity_calc[:, 9],
         # Subray simulation records
         'subray_hit': subray_sim[:, 0].astype(bool),
-        'radius_step': subray_sim[:, 1],
-        'circle_steps': subray_sim[:, 2],
-        'circle_step': subray_sim[:, 3],
-        'divergence_angle_rad': subray_sim[:, 4],
-        'ray_dir_norm': subray_sim[:, 5],
-        'subray_dir_norm': subray_sim[:, 6],
-        'ray_subray_angle_rad': subray_sim[:, 7],
-        'ray_subray_sign_check': subray_sim[:, 8],
-        'subray_tmin': subray_sim[:, 9],
-        'subray_tmax': subray_sim[:, 10],
-        'subray_dir_x': subray_sim[:, 11],
-        'subray_dir_y': subray_sim[:, 12],
-        'subray_dir_z': subray_sim[:, 13],
-        'ray_dir_x': subray_sim[:, 14],
-        'ray_dir_y': subray_sim[:, 15],
-        'ray_dir_z': subray_sim[:, 16]
+        'divergence_angle_rad': subray_sim[:, 1],
+        'ray_dir_norm': subray_sim[:, 2],
+        'subray_dir_norm': subray_sim[:, 3],
+        'ray_subray_angle_rad': subray_sim[:, 4],
+        'ray_subray_sign_check': subray_sim[:, 5],
+        'subray_tmin': subray_sim[:, 6],
+        'subray_tmax': subray_sim[:, 7],
+        'subray_dir_x': subray_sim[:, 8],
+        'subray_dir_y': subray_sim[:, 9],
+        'subray_dir_z': subray_sim[:, 10],
+        'ray_dir_x': subray_sim[:, 11],
+        'ray_dir_y': subray_sim[:, 12],
+        'ray_dir_z': subray_sim[:, 13]
     }
 
 
@@ -490,14 +487,8 @@ def do_subray_hit_subplot_hist(
 def do_subray_hit_plots(arec, brec, outdir):
     # Validate subray hit data
     if(not validate_record('subray_hit', arec, 'a') or
-        not validate_record('radius_step', arec, 'a') or
-        not validate_record('circle_steps', arec, 'a') or
-        not validate_record('circle_step', arec, 'a') or
         not validate_record('divergence_angle_rad', arec, 'a') or
         not validate_record('subray_hit', brec, 'b') or
-        not validate_record('radius_step', brec, 'b') or
-        not validate_record('circle_steps', brec, 'b') or
-        not validate_record('circle_step', brec, 'b') or
         not validate_record('divergence_angle_rad', brec, 'b')
        ):
         print('Cannot do subray hit plots')
@@ -507,58 +498,66 @@ def do_subray_hit_plots(arec, brec, outdir):
     fig = init_figure()  # Initialize figure
     # CASE A
     ax = fig.add_subplot(4, 5, 1)  # Initialize hit2Dhist on (radstep,circstep)
-    do_subray_hit_subplot_hist2d(
-        fig, ax,
-        arec['circle_step'][arec['subray_hit']],
-        arec['radius_step'][arec['subray_hit']],
-        title='Hit distribution (100%) (A)',
-    )
+    #do_subray_hit_subplot_hist2d(
+    #    fig, ax,
+    #    arec['circle_step'][arec['subray_hit']],
+    #    arec['radius_step'][arec['subray_hit']],
+    #    title='Hit distribution (100%) (A)',
+    #)
+    # Removed because radstep and circstep are no longer exported
     ax = fig.add_subplot(4, 5, 2)  # Initialize a hist on radius step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, arec['subray_hit'], arec['radius_step'],
-        ylabel='Absolute'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, arec['subray_hit'], arec['radius_step'],
+    #    ylabel='Absolute'
+    #)
+    # Removed because radstep is no longer exported
     ax = fig.add_subplot(4, 5, 3)  # Initialize a hist on circle steps by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, arec['subray_hit'], arec['circle_steps'],
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, arec['subray_hit'], arec['circle_steps'],
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 4)  # Initialize a hist on circle step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, arec['subray_hit'], arec['circle_step'],
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, arec['subray_hit'], arec['circle_step'],
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 5)  # Initialize a hist on div. angle by hit
     do_subray_hit_subplot_hist(
         fig, ax, arec['subray_hit'],
         1e03*arec['divergence_angle_rad']*180/np.pi,
     )
     ax = fig.add_subplot(4, 5, 6)  # Initialize non-hit 2D hist on (rs, cs)
-    do_subray_hit_subplot_hist2d(
-        fig, ax,
-        arec['circle_step'][~arec['subray_hit']],
-        arec['radius_step'][~arec['subray_hit']],
-        title='No-hit distribution (100%)',
-        xlabel='Circle step',
-        ylabel='Radius step'
-    )
+    #do_subray_hit_subplot_hist2d(
+    #    fig, ax,
+    #    arec['circle_step'][~arec['subray_hit']],
+    #    arec['radius_step'][~arec['subray_hit']],
+    #    title='No-hit distribution (100%)',
+    #    xlabel='Circle step',
+    #    ylabel='Radius step'
+    #)
+    # Removed because radstep and circstep are no longer exported
     ax = fig.add_subplot(4, 5, 7)  # Initialize a hist on radius step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, arec['subray_hit'], arec['radius_step'],
-        ylabel='Relative ($100\\%$)',
-        relative=True,
-        xlabel='Radius step'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, arec['subray_hit'], arec['radius_step'],
+    #    ylabel='Relative ($100\\%$)',
+    #    relative=True,
+    #    xlabel='Radius step'
+    #)
+    # Removed because radstep is no longer exported
     ax = fig.add_subplot(4, 5, 8)  # Initialize a hist on circle steps by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, arec['subray_hit'], arec['circle_steps'],
-        relative=True,
-        xlabel='Circle steps'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, arec['subray_hit'], arec['circle_steps'],
+    #    relative=True,
+    #    xlabel='Circle steps'
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 9)  # Initialize a hist on circle step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, arec['subray_hit'], arec['circle_step'],
-        relative=True,
-        xlabel='Circle step'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, arec['subray_hit'], arec['circle_step'],
+    #    relative=True,
+    #    xlabel='Circle step'
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 10)  # Initialize a hist on div. angle by hit
     do_subray_hit_subplot_hist(
         fig, ax, arec['subray_hit'],
@@ -568,58 +567,66 @@ def do_subray_hit_plots(arec, brec, outdir):
     )
     # CASE B
     ax = fig.add_subplot(4, 5, 11)  # Initialize hit2Dhist on (radstep,circstep)
-    do_subray_hit_subplot_hist2d(
-        fig, ax,
-        brec['circle_step'][brec['subray_hit']],
-        brec['radius_step'][brec['subray_hit']],
-        title='Hit distribution (100%) (B)',
-    )
+    #do_subray_hit_subplot_hist2d(
+    #    fig, ax,
+    #    brec['circle_step'][brec['subray_hit']],
+    #    brec['radius_step'][brec['subray_hit']],
+    #    title='Hit distribution (100%) (B)',
+    #)
+    # Removed because radstep and circstep are no longer exported
     ax = fig.add_subplot(4, 5, 12)  # Initialize a hist on radius step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, brec['subray_hit'], brec['radius_step'],
-        ylabel='Absolute'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, brec['subray_hit'], brec['radius_step'],
+    #    ylabel='Absolute'
+    #)
+    # Removed because radstep is no longer exported
     ax = fig.add_subplot(4, 5, 13)  # Initialize a hist on circle steps by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, brec['subray_hit'], brec['circle_steps'],
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, brec['subray_hit'], brec['circle_steps'],
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 14)  # Initialize a hist on circle step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, brec['subray_hit'], brec['circle_step'],
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, brec['subray_hit'], brec['circle_step'],
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 15)  # Initialize a hist on div. angle by hit
     do_subray_hit_subplot_hist(
         fig, ax, brec['subray_hit'],
         1e03*brec['divergence_angle_rad']*180/np.pi,
     )
     ax = fig.add_subplot(4, 5, 16)  # Initialize non-hit 2D hist on (rs, cs)
-    do_subray_hit_subplot_hist2d(
-        fig, ax,
-        brec['circle_step'][~brec['subray_hit']],
-        brec['radius_step'][~brec['subray_hit']],
-        title='No-hit distribution (100%)',
-        xlabel='Circle step',
-        ylabel='Radius step'
-    )
+    #do_subray_hit_subplot_hist2d(
+    #    fig, ax,
+    #    brec['circle_step'][~brec['subray_hit']],
+    #    brec['radius_step'][~brec['subray_hit']],
+    #    title='No-hit distribution (100%)',
+    #    xlabel='Circle step',
+    #    ylabel='Radius step'
+    #)
+    # Removed because radstep and circstep are no longer exported
     ax = fig.add_subplot(4, 5, 17)  # Initialize a hist on radius step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, brec['subray_hit'], brec['radius_step'],
-        ylabel='Relative ($100\\%$)',
-        relative=True,
-        xlabel='Radius step'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, brec['subray_hit'], brec['radius_step'],
+    #    ylabel='Relative ($100\\%$)',
+    #    relative=True,
+    #    xlabel='Radius step'
+    #)
+    # Removed because radstep is no longer exported
     ax = fig.add_subplot(4, 5, 18)  # Initialize a hist on circle steps by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, brec['subray_hit'], brec['circle_steps'],
-        relative=True,
-        xlabel='Circle steps'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, brec['subray_hit'], brec['circle_steps'],
+    #    relative=True,
+    #    xlabel='Circle steps'
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 19)  # Initialize a hist on circle step by hit
-    do_subray_hit_subplot_hist(
-        fig, ax, brec['subray_hit'], brec['circle_step'],
-        relative=True,
-        xlabel='Circle step'
-    )
+    #do_subray_hit_subplot_hist(
+    #    fig, ax, brec['subray_hit'], brec['circle_step'],
+    #    relative=True,
+    #    xlabel='Circle step'
+    #)
+    # Removed because circstep is no longer exported
     ax = fig.add_subplot(4, 5, 20)  # Initialize a hist on div. angle by hit
     do_subray_hit_subplot_hist(
         fig, ax, brec['subray_hit'],

src/dataanalytics/HDA_PulseRecorder.h

@@ -53,37 +53,31 @@ class HDA_PulseRecorder : public HDA_Recorder{
      *
      * [0] -> Subray hit (0 does not hit, 1 hit)
      *
-     * [1] -> Radius step
+     * [1] -> Divergence angle (in rad)
      *
-     * [2] -> Circle steps
+     * [2] -> Ray direction norm
      *
-     * [3] -> Circle step
+     * [3] -> Subray direction norm
      *
-     * [4] -> Divergence angle (in rad)
+     * [4] -> Angle between ray and subray (in rad)
      *
-     * [5] -> Ray direction norm
+     * [5] -> Ray-subray sign check (1 if sign match, 0 otherwise)
      *
-     * [6] -> Subray direction norm
+     * [6] -> Min time for subray intersection
      *
-     * [7] -> Angle between ray and subray (in rad)
+     * [7] -> Max time for subray intersection
      *
-     * [8] -> Ray-subray sign check (1 if sign match, 0 otherwise)
+     * [8] -> Subray direction (x component)
      *
-     * [9] -> Min time for subray intersection
+     * [9] -> Subray direction (y component)
      *
-     * [10] -> Max time for subray intersection
+     * [10] -> Subray direction (z component)
      *
-     * [11] -> Subray direction (x component)
+     * [11] -> Ray direction (x component)
      *
-     * [12] -> Subray direction (y component)
+     * [12] -> Ray direction (y component)
      *
-     * [13] -> Subray direction (z component)
-     *
-     * [14] -> Ray direction (x component)
-     *
-     * [15] -> Ray direction (y component)
-     *
-     * [16] -> Ray direction (z component)
+     * [13] -> Ray direction (z component)
      */
     std::shared_ptr<HDA_RecordBuffer<std::vector<double>>> subraySim;
 

src/scanner/MultiScanner.cpp

@@ -66,6 +66,8 @@ void MultiScanner::prepareSimulation() {
                 sh->setDeflectorAnglePtr(&pmbd->state_currentBeamAngle_rad);
             }
         }
+        // Prepare scanning device
+        scanDevs[i].prepareSimulation();
     }
 }
 
@@ -158,9 +160,7 @@ Rotation MultiScanner::calcAbsoluteBeamAttitude(size_t const idx){
 }
 void MultiScanner::computeSubrays(
     std::function<void(
-        int const circleStep,
-        double const circleStep_rad,
-        Rotation &r1,
+        Rotation &subrayRotation,
         double const divergenceAngle,
         NoiseSource<double> &intersectionHandlingNoiseSource,
         std::map<double, double> &reflections,

src/scanner/MultiScanner.h

@@ -157,9 +157,7 @@ class MultiScanner : public Scanner{
      */
     void computeSubrays(
         std::function<void(
-            int const circleStep,
-            double const circleStep_rad,
-            Rotation &r1,
+            Rotation &subrayRotation,
             double const divergenceAngle,
             NoiseSource<double> &intersectionHandlingNoiseSource,
             std::map<double, double> &reflections,

src/scanner/Scanner.h

@@ -440,9 +440,7 @@ class Scanner : public Asset {
      */
     virtual void computeSubrays(
         std::function<void(
-            int const circleStep,
-            double const circleStep_rad,
-            Rotation &r1,
+            Rotation &subrayRotation,
             double const divergenceAngle,
             NoiseSource<double> &intersectionHandlingNoiseSource,
             std::map<double, double> &reflections,