diff --git a/gemini.md b/gemini.md index 7db08b7..31423a2 100644 --- a/gemini.md +++ b/gemini.md @@ -24,7 +24,7 @@ This document is the consolidated source of truth for AI agents working on the F - `intel/`: Detailed deep-dive documentation for specific components. - `intel/CHRONICLES.md`: **Project History** — Weekly evolution and major milestones. - `intel/memory_update.md`: **Agent Protocol** — Standardized guide for repo memory updates. -- `intel/radar/`: Deep dives into radar physics (e.g. `isotropic_illumination_problem.md`). +- `intel/radar/`: Deep dives into radar physics (e.g. `research/isotropic_illumination_problem.md`). - `scripts/`: Utility scripts for data processing and **Metrology Analysis** (`track_full_state.py`, etc). --- @@ -95,4 +95,4 @@ This document is the consolidated source of truth for AI agents working on the F --- -*Generated by Antigravity AI | Last Updated: 2026-04-14 | Refer to .cursorrules for start-of-turn instructions.* +*Generated by Antigravity AI | Last Updated: 2026-04-15 | Refer to .cursorrules for start-of-turn instructions.* diff --git a/intel/CHRONICLES.md b/intel/CHRONICLES.md index bd67cac..22fee47 100644 --- a/intel/CHRONICLES.md +++ b/intel/CHRONICLES.md @@ -122,7 +122,15 @@ After 30 iterations of parameter tuning, we identified the fundamental reason fo ## 📜 6. Detailed Daily Chronology (Git Absolute) -### **April 14 (Today)** +### **April 15 (Today)** +- **Task**: Modular Architecture & Calibration Refinement. +- **Action**: Transitioned Shenron to a fully modular "Knobs and Dials" architecture. +- **Modularity**: Isolated radar hardware profiles (AWRL1432, TI-Cascade, Radarbook) in `ConfigureRadar.py`. +- **Calibration**: Finalized the **Antenna Gain LUT Integration** (Separable Az/El patterns) in `Sceneset.py`. +- **Organization**: Reorganized the `intel/radar` directory into structured subfolders (`core`, `research`, `diagnostics`, `archive`) to maintain documentation scalability. +- **Physics**: Validated the pure physical $1/R^4$ power law and removed all legacy scaling multipliers. + +### **April 14** - **Task**: Physics "De-Hacking" & Root Cause Analysis. - **Action**: Identified the **Isotropic Illumination Problem** as the primary blocker for ADAS tracking. - **Physics**: Stripped legacy scaling multipliers (`~277x`) and tightened reflection cones (`5.0° -> 2.0°`) from `Sceneset.py` to restore physical realism. @@ -165,4 +173,4 @@ After 30 iterations of parameter tuning, we identified the fundamental reason fo --- -*Generated by Antigravity AI | Fox CARLA ADAS Simulation | 2026-04-14* +*Generated by Antigravity AI | Fox CARLA ADAS Simulation | 2026-04-15* diff --git a/intel/internal/context.md b/intel/internal/context.md index 5a7e9ee..5d0a2d5 100644 --- a/intel/internal/context.md +++ b/intel/internal/context.md @@ -344,7 +344,7 @@ class MyScenario(ScenarioBase): When working on this repository, prioritize documentation based on your specific task: -- **Radar Physics or Calibration:** READ `intel/radar/Shenron_debug.md` FIRST. This is the source of truth for all FMCW and material RCS milestones. +- **Radar Physics or Calibration:** READ `intel/radar/diagnostics/Shenron_debug.md` FIRST. This is the source of truth for all FMCW and material RCS milestones. - **Scenario Creation:** READ `intel/internal/context.md` for the plugin contract and `intel/scenarios/braking.md` for spawning examples. - **Dashboard or GUI Logic:** READ `intel/scenarios/dashboard.md` for SSE and Flask-to-Subprocess architecture. - **Historical Context:** Check `intel/internal/old_implement.md` if the user refers to legacy "Transfuser++" patterns. diff --git a/intel/memory_update.md b/intel/memory_update.md index dcc0042..83afeae 100644 --- a/intel/memory_update.md +++ b/intel/memory_update.md @@ -10,7 +10,7 @@ This document instructs future AI agents on how to maintain the repository's doc | :--- | :--- | :--- | | `intel/CHRONICLES.md` | The Project Saga | Git milestones, technical "Why" & "How," bug post-mortems. | | `gemini.md` | Source of Truth | Architecture changes, new components, active file rules. | -| `intel/radar/Shenron_debug.md` | Calibration Log | Radar iterations (01-XX), specific physics fixes. | +| `intel/radar/diagnostics/Shenron_debug.md` | Calibration Log | Radar iterations (01-XX), specific physics fixes. | | `intel/scenarios/*.md` | Scenario Guides | Decision rationale for specific testing maneuvers. | --- @@ -42,4 +42,4 @@ Don't just log *what* happened. Documentation must explain: - **No Fluff**: Keep descriptions concise but info-dense. --- -*Generated by Antigravity AI | Repository Memory System | 2026-04-14* +*Generated by Antigravity AI | Repository Memory System | 2026-04-15* diff --git a/intel/radar/Azimuth_Elevation_Gain_Implementation.md b/intel/radar/archive/Azimuth_Elevation_Gain_Implementation.md similarity index 100% rename from intel/radar/Azimuth_Elevation_Gain_Implementation.md rename to intel/radar/archive/Azimuth_Elevation_Gain_Implementation.md diff --git a/intel/radar/Shenron_Debug_Plan.md b/intel/radar/archive/Shenron_Debug_Plan.md similarity index 94% rename from intel/radar/Shenron_Debug_Plan.md rename to intel/radar/archive/Shenron_Debug_Plan.md index 10bc072..62bce64 100644 --- a/intel/radar/Shenron_Debug_Plan.md +++ b/intel/radar/archive/Shenron_Debug_Plan.md @@ -39,8 +39,8 @@ This document tracks the resolution of data-fidelity issues in the C-SHENRON rad --- ## 🛰️ 3. Relevant Documentation -- [3D Vertical Energy Suppression](file:///d:/CARLA/CARLA_0.9.16/PythonAPI/Fox/intel/radar/3D%20vertical%20energy%20suppression.md) -- [Main Debug Log (Shenron_debug.md)](file:///d:/CARLA/CARLA_0.9.16/PythonAPI/Fox/intel/radar/Shenron_debug.md) +- [3D Vertical Energy Suppression](file:///d:/CARLA/CARLA_0.9.16/PythonAPI/Fox/intel/radar/research/3D%20vertical%20energy%20suppression.md) +- [Main Debug Log (Shenron_debug.md)](file:///d:/CARLA/CARLA_0.9.16/PythonAPI/Fox/intel/radar/diagnostics/Shenron_debug.md) - [Deep Metrology Report (Iteration 17)](file:///C:/Users/rakadu1/.gemini/antigravity/brain/67913a3c-cbc2-4fba-87e3-88fbea20f043/metrology_report.md) --- diff --git a/intel/radar/shenron_architecture_deepdive.html b/intel/radar/archive/shenron_architecture_deepdive.html similarity index 100% rename from intel/radar/shenron_architecture_deepdive.html rename to intel/radar/archive/shenron_architecture_deepdive.html diff --git a/intel/radar/shenron_integration.md b/intel/radar/archive/shenron_integration.md similarity index 100% rename from intel/radar/shenron_integration.md rename to intel/radar/archive/shenron_integration.md diff --git a/intel/radar/SHENRON_ANTENNA_GAIN_CALIBRATION.md b/intel/radar/core/SHENRON_ANTENNA_GAIN_CALIBRATION.md similarity index 100% rename from intel/radar/SHENRON_ANTENNA_GAIN_CALIBRATION.md rename to intel/radar/core/SHENRON_ANTENNA_GAIN_CALIBRATION.md diff --git a/intel/radar/SHENRON_MODULAR_ARCHITECTURE.md b/intel/radar/core/SHENRON_MODULAR_ARCHITECTURE.md similarity index 100% rename from intel/radar/SHENRON_MODULAR_ARCHITECTURE.md rename to intel/radar/core/SHENRON_MODULAR_ARCHITECTURE.md diff --git a/intel/radar/radar_architecture_answers.md b/intel/radar/core/radar_architecture_answers.md similarity index 100% rename from intel/radar/radar_architecture_answers.md rename to intel/radar/core/radar_architecture_answers.md diff --git a/intel/radar/shenron_implementation_guide.md b/intel/radar/core/shenron_implementation_guide.md similarity index 100% rename from intel/radar/shenron_implementation_guide.md rename to intel/radar/core/shenron_implementation_guide.md diff --git a/intel/radar/3D energy compression debug.md b/intel/radar/diagnostics/3D energy compression debug.md similarity index 98% rename from intel/radar/3D energy compression debug.md rename to intel/radar/diagnostics/3D energy compression debug.md index 79e9546..21a3931 100644 --- a/intel/radar/3D energy compression debug.md +++ b/intel/radar/diagnostics/3D energy compression debug.md @@ -71,7 +71,7 @@ Solve the physical inconsistency where increasing LiDAR resolution increases Rad | **`sim_radar_utils/config.yaml`** | DSP Config | Adjust `threshold` and `guard cells` after vertical energy is balanced. | ### Knowledge Base -- **Calibration History:** [Shenron_debug.md](file:///d:/CARLA/CARLA_0.9.16/PythonAPI/Fox/intel/radar/Shenron_debug.md) (Iterations 01-13). +- **Calibration History:** [Shenron_debug.md](file:///d:/CARLA/CARLA_0.9.16/PythonAPI/Fox/intel/radar/diagnostics/Shenron_debug.md) (Iterations 01-13). - **Architecture Guide:** [context.md](file:///d:/CARLA/CARLA_0.9.16/PythonAPI/Fox/intel/internal/context.md) (AI navigation rules). --- diff --git a/intel/radar/Shenron_debug.md b/intel/radar/diagnostics/Shenron_debug.md similarity index 99% rename from intel/radar/Shenron_debug.md rename to intel/radar/diagnostics/Shenron_debug.md index 88aaf42..6182a52 100644 --- a/intel/radar/Shenron_debug.md +++ b/intel/radar/diagnostics/Shenron_debug.md @@ -231,7 +231,7 @@ python scripts/test_shenron.py --iter "07_high_def_sync" | `scripts/test_shenron.py` | Testbench — generates and packages iterations | | `scripts/data_to_mcap.py` | Main MCAP converter (Dashboard path) | | `src/recorder.py` | Data capture — includes velocity + semantic metadata | -| `intel/radar/shenron_architecture_deepdive.html` | Visual HTML architecture guide | +| `intel/radar/archive/shenron_architecture_deepdive.html` | Visual HTML architecture guide | --- diff --git a/intel/radar/possible_issue_resolution.md b/intel/radar/diagnostics/possible_issue_resolution.md similarity index 100% rename from intel/radar/possible_issue_resolution.md rename to intel/radar/diagnostics/possible_issue_resolution.md diff --git a/intel/radar/3D vertical energy suppression.md b/intel/radar/research/3D vertical energy suppression.md similarity index 100% rename from intel/radar/3D vertical energy suppression.md rename to intel/radar/research/3D vertical energy suppression.md diff --git a/intel/radar/Physics_Symmetry_Milestone_R4.md b/intel/radar/research/Physics_Symmetry_Milestone_R4.md similarity index 100% rename from intel/radar/Physics_Symmetry_Milestone_R4.md rename to intel/radar/research/Physics_Symmetry_Milestone_R4.md diff --git a/intel/radar/isotropic_illumination_problem.md b/intel/radar/research/isotropic_illumination_problem.md similarity index 100% rename from intel/radar/isotropic_illumination_problem.md rename to intel/radar/research/isotropic_illumination_problem.md diff --git a/intel/radar/shenron_pipeline_analysis.md b/intel/radar/research/shenron_pipeline_analysis.md similarity index 100% rename from intel/radar/shenron_pipeline_analysis.md rename to intel/radar/research/shenron_pipeline_analysis.md diff --git a/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/README.md b/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/README.md index f05c825..b321e3c 100644 --- a/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/README.md +++ b/scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/README.md @@ -1,16 +1,33 @@ -# SHENRON: Radar Simulation -Packaging shenron into minimal working code +# SHENRON: Modular Radar Simulation Package -To run the simulation, follow these steps: +This package contains the high-fidelity, physics-based radar simulation engine isolated from the main CARLA ADAS pipeline. It uses CARLA Semantic LiDAR as the primary input and synthesizes raw ADC-like radar signals. -1. Open the `simulator_config.yaml` file. -2. Add the file paths for the input and output files in the appropriate fields. For example: +## 🚀 Iteration 18: The "Knobs and Dials" Milestone +The engine has been restructured for modularity. You can now tune individual radar profiles without touching the core physics logic. - ```yaml - PATHS : - LIDAR_PATH : "/home/Kshitiz/" - LIDAR_FOLDERS : ["semantic_lidar"] - OUT_PATH : "/home/Kshitiz/semantic_lidar/" -3. Run the simulation using main file - ```python +## 🏗️ Package Structure +- `main.py`: Entry point for standalone execution. +- `ConfigureRadar.py`: **The Control Panel.** Define hardware profiles (BW, Chirps, LUTs here). +- `lidar.py`: Handles point cloud normalization and axis-swapping (CARLA -> Shenron). +- `shenron/Sceneset.py`: Core physics engine (Fresnel + scattering + path loss). +- `shenron/heatmap_gen_fast.py`: GPU-accelerated signal synthesis. + +## 🛠️ Usage + +1. **Configure Hardware:** + Edit `ConfigureRadar.py` to select/tune your radar profile (e.g., `awrl1432`). + +2. **Set Paths:** + Edit `carla_shenron_config.yaml` to point to your LiDAR dataset and output directories. + +3. **Run Simulation:** + ```powershell + # Windows (Conda environment required) python main.py + ``` + +## 📡 Physics Consistency +This package strictly enforces the **1/R⁴ Radar Range Equation**. All legacy scaling multipliers have been removed to ensure the simulation matches real-world hardware intensity profiles. + +--- +*Fox CARLA ADAS Simulation | Shenron Physics Engine | 2026-04-15* diff --git a/tmp/commit_message.txt b/tmp/commit_message.txt new file mode 100644 index 0000000..515cb0e --- /dev/null +++ b/tmp/commit_message.txt @@ -0,0 +1,30 @@ +feat(radar): Major Update - Shenron Modularity and Physics Refinement (Iteration 18) + +Transitioned the Shenron radar engine from a rigid architecture to a modular, +tunable "Knobs and Dials" framework. This update establishes a physics-first +baseline derived from real-world electromagnetic behavior. + +Core Changes: +- Modular Radar Profiles: Pre-configured profiles for TI Cascade, Radarbook, + and AWRL1432 with hardware-specific Bandwidth, Chirp, and nRx parameters. +- Physics Core (Sceneset.py): + - Full implementation of Fresnel and Beckmann-Spizzichino scattering. + - Pure 1/R^4 power law (1/R^2 transmit, 1/R^2 receive) via legacy scaling removal. + - Fixed cos(cos(theta)) bug in CARLA semantic lidar mapping. +- Antenna Gain Integration: + - Implemented separable Azimuth/Elevation gain patterns. + - Added Symmetric Azimuth LUT interpolation and Vertical FOV Hard Cutoff. +- Signal Processing: + - Optimized GPU-accelerated signal synthesis using PyTorch. + - Standardized 110 dB System Calibration Constant for hardware SNR matching. + +Architecture & Documentation (intel/radar): +- Reorganized radar intel directory into structured subfolders (core, research, + diagnostics, archive) for better scalability. +- Added SHENRON_MODULAR_ARCHITECTURE.md (System overview). +- Added SHENRON_ANTENNA_GAIN_CALIBRATION.md (Gain physics deep-dive). +- Modernized package README with Windows/Conda specific usage instructions. +- Synchronized all internal and external documentation links. + +Calibration: Iteration 18 (Antenna Gain Baseline) +Note: Remaining magic numbers in get_loss_3 are noted for future migration.