diff --git a/src/epics/simLink/lib/cdsAtan2.mdl b/src/epics/simLink/lib/cdsAtan2.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..66ce75a5db42a775468e746e3cb6a16c08b7ee8e
--- /dev/null
+++ b/src/epics/simLink/lib/cdsAtan2.mdl
@@ -0,0 +1,1163 @@
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diff --git a/src/epics/simLink/lib/cdsUnwrapPhase.mdl b/src/epics/simLink/lib/cdsUnwrapPhase.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..849cccbf3f30b77d9feef448d0065aa436a37e62
--- /dev/null
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@@ -0,0 +1,1166 @@
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diff --git a/src/epics/util/lib/Atan2.pm b/src/epics/util/lib/Atan2.pm
new file mode 100644
index 0000000000000000000000000000000000000000..bf121711d0f7aeccb930370d363c2d01f4e8b108
--- /dev/null
+++ b/src/epics/util/lib/Atan2.pm
@@ -0,0 +1,63 @@
+package CDS::Atan2;
+use Exporter;
+@ISA = ('Exporter');
+
+sub partType {
+ return Atan2;
+}
+
+# Print Epics communication structure into a header file
+# Current part number is passed as first argument
+sub printHeaderStruct {
+ my ($i) = @_;
+}
+
+# Print Epics variable definitions
+# Current part number is passed as first argument
+sub printEpics {
+ my ($i) = @_;
+}
+
+
+# Print variable declarations int front-end file
+# Current part number is passed as first argument
+sub printFrontEndVars {
+ my ($i) = @_;
+ print ::OUT "double \L$::xpartName[$i];\n";
+}
+
+# Check inputs are connected
+sub checkInputConnect {
+ my ($i) = @_;
+ if($::partInCnt[$i] < 2) {
+ print ::CONN_ERRORS "***\n$::partType[$i] with name $::xpartName[$i] does not have both inputs connected.\n\n";
+ return "ERROR";
+ }
+ return "";
+}
+
+# Figure out part input code
+# Argument 1 is the part number
+# Argument 2 is the input number
+# Returns calculated input code
+sub fromExp {
+ my ($i, $j) = @_;
+ return "";
+}
+
+# Return front end initialization code
+# Argument 1 is the part number
+# Returns calculated code string
+sub frontEndInitCode {
+}
+
+
+# Return front end code
+# Argument 1 is the part number
+# Returns calculated code string
+sub frontEndCode {
+ my ($i) = @_;
+ my $calcExp = "\L$::xpartName[$i]" . " = latan2($::fromExp[0], $::fromExp[1]);\n";
+ return $calcExp;
+}
+
diff --git a/src/epics/util/lib/UnwrapPhase.pm b/src/epics/util/lib/UnwrapPhase.pm
new file mode 100644
index 0000000000000000000000000000000000000000..3b5d607ef0b50283bd3db6e08f3bfa3f6f7595ef
--- /dev/null
+++ b/src/epics/util/lib/UnwrapPhase.pm
@@ -0,0 +1,82 @@
+package CDS::UnwrapPhase;
+use Exporter;
+@ISA = ('Exporter');
+
+#// \page UnwrapPhase UnwrapPhase.pm
+#// Documentation for UnwrapPhase.pm
+#//
+#// \n
+
+
+sub partType {
+ return UnwrapPhase;
+}
+
+# Print Epics communication structure into a header file
+# Current part number is passed as first argument
+sub printHeaderStruct {
+ my ($i) = @_;
+ #print ::OUTH "\tdouble $::xpartName[$i]\_E;\n";
+ #print ::OUTH "\tdouble $::xpartName[$i]\[2\];\n";
+}
+
+# Print Epics variable definitions
+# Current part number is passed as first argument
+sub printEpics {
+ my ($i) = @_;
+ #print ::EPICS "PHASE $::xpartName[$i] $::systemName\.$::xpartName[$i] double ai 0 field(PREC,\"3\")\n";
+}
+
+
+# Print variable declarations int front-end file
+# Current part number is passed as first argument
+sub printFrontEndVars {
+ my ($i) = @_;
+ print ::OUT "static double \L$::xpartName[$i];\n";
+ print ::OUT "static unwrapPhaseCtx_t \L$::xpartName[$i]_ctx;\n";
+}
+
+# Check inputs are connected
+sub checkInputConnect {
+ my ($i) = @_;
+ if($::partInCnt[$i] < 2) {
+ print ::CONN_ERRORS "***\n$::partType[$i] with name $::xpartName[$i] has missing inputs\nRequires 2; Only $::partInCnt[$i] provided: \n";
+ return "ERROR";
+ }
+ return "";
+}
+
+# Figure out part input code
+# Argument 1 is the part number
+# Argument 2 is the input number
+# Returns calculated input code
+sub fromExp {
+ my ($i, $j) = @_;
+ #my $from = $::partInNum[$i][$j];
+ #my $fromPort = $::partInputPort[$i][$j];
+ #return "\L$::xpartName[$from]\[" . $fromPort . "\]";
+ return "";
+}
+
+# Return front end initialization code
+# Argument 1 is the part number
+# Returns calculated code string
+sub frontEndInitCode {
+ my ($i) = @_;
+ my $pname = "\L$::xpartName[$i]_ctx";
+ return $pname . ".firstRun = 1;";
+}
+
+
+# Return front end code
+# Argument 1 is the part number
+# Returns calculated code string
+sub frontEndCode {
+ my ($i) = @_;
+ my $calcExp = "// UnwrapPhase: $::xpartName[$i]\n";
+
+ $calcExp .= "\L$::xpartName[$i] = ";
+ $calcExp .= "unwrapPhase( $::fromExp[0], $::fromExp[1], &" . "\L$::xpartName[$i]_ctx" . ");\n";
+
+ return $calcExp;
+}
diff --git a/src/include/fe.h b/src/include/fe.h
index bd4013f6d5e3931fc495744c6916ad88add9f695..3aa0a2675d0cc4e410e6efcd10cee502b79e28fa 100644
--- a/src/include/fe.h
+++ b/src/include/fe.h
@@ -10,6 +10,7 @@
#include "util/timing.h"
#include "util/random_bytes.h"
#include "util/prng_xoroshiroPP.h"
+#include "util/unwrapPhase.h"
#include "fm10Gen.h"
#include "tRamp.h"
#include "commData3.h"
diff --git a/src/include/util/inlineMath_x86_asm.h b/src/include/util/inlineMath_x86_asm.h
index 131fd8e3813f5c7bce1c8dedd64803741cad37da..7dd1141074011827d74a5160a9729f23cd8cd582 100644
--- a/src/include/util/inlineMath_x86_asm.h
+++ b/src/include/util/inlineMath_x86_asm.h
@@ -5,6 +5,7 @@
#define M_PI 3.14159265358979323846
#define M_TWO_PI 6.28318530717958647692
+#define M_HALF_PI 1.570796326794896619231
#define M_SQRT2 1.41421356237309504880
diff --git a/src/include/util/unwrapPhase.h b/src/include/util/unwrapPhase.h
new file mode 100644
index 0000000000000000000000000000000000000000..7f398edbd4162a17ee2e7789b3740cd9d408eafc
--- /dev/null
+++ b/src/include/util/unwrapPhase.h
@@ -0,0 +1,69 @@
+#include "portableInline.h"
+#include "util/inlineMath.h"
+
+typedef struct unwrapPhaseCtx_t
+{
+ int k;
+ int firstRun;
+
+ double uLast;
+ double uThis;
+
+} unwrapPhaseCtx_t;
+
+LIGO_INLINE double unwrapPhase(double cur_sample, double reset, unwrapPhaseCtx_t * ctx)
+{
+ /* This block of code is supposed to take the output of the atan code for the SPI and unwrap any phase
+ * jumps of greater than pi. This is similar to the MATLAB simulink unwrap block except that the reset
+ * is a seperate input instead of either continuously running or going frame to frame. This means that
+ * the system can be reset to zero fringes at any point.
+ *
+ * Daniel Clark - Stanford University 2011.06.27
+ *
+ */
+
+
+ double uwrapout;
+ double compare;
+
+
+
+ /* Some special cases for the first time the code is run - this means that we will miss a phase jump
+ * if it happens between the first and second data point */
+ if (ctx->firstRun == 1) {
+ ctx->uLast = cur_sample;
+ ctx->k = 0.0;
+ ctx->firstRun = 0;
+ }
+
+ /* Reset the phase / fringe counter to zero if desired */
+ if (reset > 0.5) {
+ ctx->k = 0;
+ }
+
+
+ /* Collect the difference of the last two data points to determine if unwrapping is necessary */
+ compare = cur_sample - ctx->uLast;
+
+ /* Now take the absolute value of the difference */
+ if (compare < 0.0) {
+ compare = compare * -1.0;
+ }
+
+ /* Use the last value of k if no unwrapping is needed */
+ if (compare < M_PI) {
+ uwrapout = cur_sample + M_HALF_PI * 4.0 * ctx->k;
+ }
+ else {
+ if (cur_sample < ctx->uLast) {
+ ctx->k += 1;
+ }
+ else {
+ ctx->k -= 1;
+ }
+ uwrapout = cur_sample + M_HALF_PI * 4.0 * ctx->k;
+ }
+ ctx->uLast = cur_sample;
+ return uwrapout;
+}
+
diff --git a/src/include/util/user/inlineMath_stdlib.h b/src/include/util/user/inlineMath_stdlib.h
index 489b6f4c3bc4a1679681795ff6f29d3e753c2457..3ea3ad987f784c2361e5f05d853118459b14ac3d 100644
--- a/src/include/util/user/inlineMath_stdlib.h
+++ b/src/include/util/user/inlineMath_stdlib.h
@@ -32,6 +32,9 @@
#define lfloor floor
#define lfmon fmod
+//Define anything else that LIGO needs
+#define M_HALF_PI 1.570796326794896619231
+
#ifdef __APPLE__
#define sincos __sincos
#endif
diff --git a/src/librts/CMakeLists.txt b/src/librts/CMakeLists.txt
index c5499c9468b2a5839acad484b09ed91b090c00d2..b7ea5c9e2cb9f5eb567aff34a8581bcd193c70e3 100644
--- a/src/librts/CMakeLists.txt
+++ b/src/librts/CMakeLists.txt
@@ -79,4 +79,5 @@ add_subdirectory(tests/math-function-test)
add_subdirectory(tests/product-divide-sum-test)
add_subdirectory(tests/matrix-test)
add_subdirectory(tests/osc-test)
+add_subdirectory(tests/python)
endif()
diff --git a/src/librts/tests/math-function-test/main.cpp b/src/librts/tests/math-function-test/main.cpp
index 9a274b7a1528ddb9a9a6efa435ee2eea8e433c4d..603ea25e8d73e4878894f8b7c822ebac03a79218 100644
--- a/src/librts/tests/math-function-test/main.cpp
+++ b/src/librts/tests/math-function-test/main.cpp
@@ -58,7 +58,39 @@ TEST_CASE( "simple MathFunction tests", "[general]" )
}
+TEST_CASE( "atan2 tests", "[general]" )
+{
+
+ std::unique_ptr<rts::Model> model_ptr = rts::Model::create_instance();
+ REQUIRE( model_ptr != nullptr);
+ const std::string subsys = "ATAN2_TEST_";
+
+
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_0", 0));
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_1", 0));
+ model_ptr->run_model(1);
+ REQUIRE(model_ptr->get_var<double>(subsys + "ATAN2_OUTPUT_0").value() == Approx( 0.0 ));
+
+
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_0", 3.0));
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_1", 5.342));
+ model_ptr->run_model(1);
+ REQUIRE(model_ptr->get_var<double>(subsys + "ATAN2_OUTPUT_0").value() == Approx( atan2(3, 5.342) ));
+
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_0", -43.1));
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_1", -55.1));
+ model_ptr->run_model(1);
+ REQUIRE(model_ptr->get_var<double>(subsys + "ATAN2_OUTPUT_0").value() == Approx( atan2(-43.1, -55.1) ));
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_0", 3.1));
+ REQUIRE(model_ptr->set_var(subsys + "ATAN2_INPUT_1", 1.1));
+ model_ptr->run_model(1);
+ REQUIRE(model_ptr->get_var<double>(subsys + "ATAN2_OUTPUT_0").value() == Approx( atan2(3.1, 1.1) ));
+
+
+
+
+}
diff --git a/src/librts/tests/python/CMakeLists.txt b/src/librts/tests/python/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ac5d891e050b93d10d4515716b49d4577f29704
--- /dev/null
+++ b/src/librts/tests/python/CMakeLists.txt
@@ -0,0 +1,9 @@
+project (python-tests)
+
+find_package(Python COMPONENTS Interpreter REQUIRED)
+
+add_test(NAME unwrap-phase-test
+ COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/unwrap-phase.py
+ WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
+set_tests_properties(unwrap-phase-test
+ PROPERTIES ENVIRONMENT "PYTHONPATH=${PROJECT_SOURCE_DIR}/../../build/cmake/python/pybind/:$ENV{PYTHONPATH}")
diff --git a/src/librts/tests/python/unwrap-phase.py b/src/librts/tests/python/unwrap-phase.py
new file mode 100755
index 0000000000000000000000000000000000000000..dc22eadc1d52bb0670891d0045c88597e55b5713
--- /dev/null
+++ b/src/librts/tests/python/unwrap-phase.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+#import sys
+#sys.path.append('../../build/cmake/python/pybind/')
+import x1unittest_pybind as model #Built by rtslib
+
+import unittest
+import numpy as np
+from scipy import signal
+from math import isclose
+
+class TestUnwrapPhase(unittest.TestCase):
+
+
+
+ @classmethod
+ def setUpClass(cls):
+ pass
+
+
+ def test_positive_unwrap(self):
+ mod = model.create_instance()
+ mod.record_model_var("UNWRAP_PHASE_TEST_OUTPUT_1", mod.get_model_rate_Hz())
+ input_complex = np.fft.ifft([0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
+ phase_data = np.angle(input_complex)
+ mod.set_excitation_point_generator("UNWRAP_PHASE_TEST_EXC_0", model.CannedSignalGenerator( canned_data=phase_data, repeat=False))
+ mod.run_model( len(phase_data) )
+ np_unwrapped = np.unwrap(phase_data)
+ unwrap_out = mod.get_recorded_var("UNWRAP_PHASE_TEST_OUTPUT_1")
+ for i in range(len(phase_data)):
+ self.assertTrue(isclose(unwrap_out[i], np_unwrapped[i], rel_tol=1e-12, abs_tol=0.0))
+
+ def test_negative_unwrap(self):
+ mod = model.create_instance()
+ mod.record_model_var("UNWRAP_PHASE_TEST_OUTPUT_1", mod.get_model_rate_Hz())
+ input_complex = np.fft.ifft([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 0])
+ phase_data = np.angle(input_complex)
+ mod.set_excitation_point_generator("UNWRAP_PHASE_TEST_EXC_0", model.CannedSignalGenerator( canned_data=phase_data, repeat=False))
+ mod.run_model( len(phase_data) )
+ np_unwrapped = np.unwrap(phase_data)
+ unwrap_out = mod.get_recorded_var("UNWRAP_PHASE_TEST_OUTPUT_1")
+ for i in range(len(phase_data)):
+ self.assertTrue(isclose(unwrap_out[i], np_unwrapped[i], rel_tol=1e-12, abs_tol=0.0))
+
+ def test_random_unwrap(self):
+ for tests in range(20):
+ mod = model.create_instance( )
+ mod.record_model_var("UNWRAP_PHASE_TEST_OUTPUT_1", mod.get_model_rate_Hz())
+
+ n = np.zeros((400,), dtype=complex)
+ n[40:60] = np.exp(1j*np.random.uniform(0, 2*np.pi, (20,)))
+ input_complex = np.fft.ifft(n)
+
+ phase_data = np.angle(input_complex)
+ mod.set_excitation_point_generator("UNWRAP_PHASE_TEST_EXC_0", model.CannedSignalGenerator( canned_data=phase_data, repeat=False))
+ mod.run_model( len(phase_data) )
+ np_unwrapped = np.unwrap(phase_data)
+ unwrap_out = mod.get_recorded_var("UNWRAP_PHASE_TEST_OUTPUT_1")
+ for i in range(len(phase_data)):
+ self.assertTrue(isclose(unwrap_out[i], np_unwrapped[i], rel_tol=1e-12, abs_tol=0.0))
+
+ del mod #Clean up singleton for next loop
+
+
+if __name__ == '__main__':
+ unittest.main()
+
+
+
+
+
+