updated-radar/DESIGN.md

# Radar Simulation — Class Design and File Layout
Author: Mark Allyn

---

## Class Hierarchy

```
Scope  (abstract base)
├── ExhibitIntro
├── AScope  (abstract)
│   ├── MarineAScope
│   └── ChainHomeAScope
├── PPIScope  (abstract)
│   ├── MarinePPIScope
│   └── ATCPPIScope
└── PARScope
```

---

## Class Descriptions

### Scope (abstract base)
Everything all scopes share:
- Left panel text rendering
- `s` / `S` key handling (scope advance / reverse)
- Auto-advance timer reset on any key or control input
- Pure virtual methods: `render()`, `handleKey()`, `getDescription()`

### ExhibitIntro : public Scope
- Text-only rendering, no radar display
- Header: "WELCOME TO MUSEUM VINTAGE RADAR EXHIBIT" (all caps)
- Emphasizes s/S keys and 120-second auto-advance

### AScope : public Scope (abstract)
Shared A-scope behavior:
- Horizontal range axis, vertical amplitude axis
- Noise floor rendering (rain/wave clutter)
- Incandescent graticule (three horizontal amplitude lines + vertical range lines)
- Bearing control with key-hold acceleration
- Phosphor type as parameter (P1 or P7)

### MarineAScope : public AScope
- P1 phosphor (green)
- Range settings: 2, 4, 6 miles
  - Max 2: one interim range at 1
  - Max 4: one interim range at 2
  - Max 6: one interim range at 4
- Keys: c (bearing CW), v (bearing CCW), u (range up), d (range down)
  - u and d are ignored during graticule swap animation

**Graticule swap animation:**
In the period, changing max range required the operator to physically slide the glass
graticule panel upward and out from in front of the CRT, then slide the replacement
graticule (calibrated for the new range) downward into position. This is simulated.

State machine triggered by u or d key:

  NORMAL       graticule in place, scope operating normally
      |
      | u or d pressed
      v
  SLIDING_OUT  old graticule translates upward off screen (~0.5 seconds)
      |
      v
  BARE_CRT     no graticule rendered; CRT trace and noise floor still running
      |
      v
  SLIDING_IN   new graticule slides down into position (~0.5 seconds)
      |
      v
  NORMAL       new range now active

- u and d keys ignored while state != NORMAL
- Graticule remains incandescent color throughout (edge-lit glass, not CRT-dependent)

### ChainHomeAScope : public AScope
- P7 phosphor (early implementation, slow decay for slow PRF)
- Goniometer state: H/V mode toggle, azimuth angle, elevation angle
- PRF toggle: 25 Hz / 12.5 Hz
- Calibrator stretch/shrink scale factor
- Fixed 100-mile range (no range change)
- Keys: [ (goniometer H/V toggle), 9 (tune left), 0 (tune right),
         . (PRF toggle), n (calibrator shrink), m (calibrator stretch)

### PPIScope : public Scope (abstract)
Shared PPI behavior:
- Clockwise sweep with P7 phosphor persistence
  - Immediate beam strike: blue
  - Persistence: green/yellow, faded by next sweep pass
- Incandescent bearing graticule:
  - Inner ring with 1-degree tick marks (0–359, True North = 0)
  - Text labels every 15 degrees
  - Outer ring
- Yellow cursor: 10-degree arc section + bearing crossline
- Cursor range/bearing readout displayed under scope (white text)
- Bearing offset for boat mode (k = right, j = left)
- Keys: r (cursor bearing right), l (cursor bearing left),
         t (cursor range increase), y (cursor range decrease),
         k (antenna bearing offset right), j (antenna bearing offset left)
- Cursor range clamped to max range if exceeded

### MarinePPIScope : public PPIScope
- Sweep time: 4 seconds
- Max range settings: 2, 4, 6 miles
  - Max 2: rings at 1, 2
  - Max 4: rings at 2, 4
  - Max 6: rings at 4, 6
- Keys: u (range up), d (range down) — affects only this scope

### ATCPPIScope : public PPIScope
- Sweep time: 5 seconds
- Max range settings: 5, 10, 15, 20 miles
  - Max  5: rings at 2.5, 5
  - Max 10: rings at 2, 4, 6, 8, 10
  - Max 15: rings at 4, 8, 12, 15
  - Max 20: rings at 5, 10, 15, 20
- Keys: u (range up), d (range down) — affects only this scope

### PARScope : public Scope
- Two vertically stacked sub-scopes (right panel):
  - Top: azimuth (lateral deviation vs. range) — ~1/3 larger
  - Bottom: elevation (vertical deviation vs. range)
- P7 phosphor; graticules are incandescent etched glass
- 30 Hz alternating scan between azimuth and elevation planes
  (each plane scans at ~15 Hz, i.e., 1/15 second per plane)
- Fixed 10-mile range — no range change control
- Non-linear horizontal scale: inner 5 miles occupies 70% of width
- All targets simulated; no cursor or bearing controls
- Located at south end of Runway 16/34, BLI — active runway 34 (northbound)

---

## Supporting Classes

| Class | Thread | Purpose |
|---|---|---|
| `ScopeManager` | 1 | Owns scope list; handles s/S switching and 120s auto-advance timer |
| `PhosphorRenderer` | 1 | P1 and P7 decay/persistence simulation; shared dependency |
| `Graticule` | 1 | Draws incandescent graticule lines and text; parameterized per scope |
| `LeftPanel` | 1 | Renders scope description text panel (left side of window) |
| `SharedRenderState` | 1,2,3 | Mutex A — state variables Thread 1 reads each frame to push as shader uniforms |
| `TargetBuffer` | 2,4 | Mutex B — target data handoff between Thread 2 (traffic cop) and Thread 4 (simulator) |
| `TrafficCop` | 2 | Polls Simulator and RPi receivers each beam update; writes targets to SharedRenderState |
| `Simulator` | 4 | Runs fake targets independently; returns data to TrafficCop when polled |
| `KnobPanel` | 3 | Future hardware stub — idles without acquiring Mutex A until Arduino hardware is wired; SharedRenderState holds compile-time defaults from settings.h |
| `RPiReceiver` | 2 | Stub — one instance per Raspberry Pi; called by TrafficCop |

---

## Thread Summary

| Thread | Class(es) | Mutex Access |
|---|---|---|
| Thread 1 | ScopeManager, all Scope subclasses, PhosphorRenderer, Graticule, LeftPanel | Reads SharedRenderState under Mutex A |
| Thread 2 | TrafficCop, RPiReceiver | Writes SharedRenderState under Mutex A; reads TargetBuffer under Mutex B |
| Thread 3 | KnobPanel | Writes SharedRenderState under Mutex A |
| Thread 4 | Simulator | Writes TargetBuffer under Mutex B |

Keyboard input arrives via GLFW callback (glfwSetKeyCallback) in Thread 1.
Thread 1 dispatches s/S to ScopeManager and all other keys to the active Scope.

---

## Proposed File Layout

```
src/
  main.cpp                           — GLFW init, thread launch, main loop
  scope_manager.h / scope_manager.cpp
  scope.h / scope.cpp                — abstract Scope base class
  scope_intro.h / scope_intro.cpp    — ExhibitIntro
  scope_ascope.h / scope_ascope.cpp  — abstract AScope
  scope_marine_a.h / scope_marine_a.cpp
  scope_chain_home.h / scope_chain_home.cpp
  scope_ppi.h / scope_ppi.cpp        — abstract PPIScope
  scope_marine_ppi.h / scope_marine_ppi.cpp
  scope_atc_ppi.h / scope_atc_ppi.cpp
  scope_par.h / scope_par.cpp
  phosphor.h / phosphor.cpp
  graticule.h / graticule.cpp
  left_panel.h / left_panel.cpp
  shared_render_state.h / shared_render_state.cpp
  target_buffer.h / target_buffer.cpp
  traffic_cop.h / traffic_cop.cpp
  simulator.h / simulator.cpp
  knob_panel.h / knob_panel.cpp
  rpi_receiver.h / rpi_receiver.cpp
  db_panel.h / db_panel.cpp          — Dear ImGui database management panel
                                       (active only when --database flag passed;
                                        no radar rendering in this mode)
  settings.h                             — all tunable constants (no .cpp needed)

  imgui/                             — Dear ImGui source, compiled into project
    imgui.h / imgui.cpp
    imgui_impl_glfw.h / imgui_impl_glfw.cpp
    imgui_impl_opengl3.h / imgui_impl_opengl3.cpp
    imgui_draw.cpp / imgui_tables.cpp / imgui_widgets.cpp

shaders/
  phosphor.vert / phosphor.frag      — parameterized for P1 and P7 via uniforms
  graticule.vert / graticule.frag
  text.vert / text.frag
  sweep.vert / sweep.frag
  bloom.vert / bloom.frag            — two-pass bloom: render to FBO, Gaussian
                                       blur bright spots, blend back; used for
                                       target blooming from radar equation output
```

---

## Robustness and Safety

### Input Rate Limiting (the mad-child problem)
GLFW key callbacks can fire hundreds of times per second under key-mashing or hardware
encoder noise. Each control variable carries a `last_event_time` timestamp alongside
its value. Any input arriving within `MIN_INPUT_INTERVAL_MS` of the previous accepted
input for that control is silently discarded. The `KEY_MAX_STEP` / `KEY_GONIO_MAX_STEP`
constants cap how far a single accepted input can move a value. Together these make it
impossible to slam a bearing to an extreme in under a second regardless of how fast the
input fires.

### Control Variable Clamping
Every state variable that a control modifies has companion `MIN_*` and `MAX_*` constants
in `settings.h`. The clamp is applied **at the point of write** using `std::clamp()`, in
every code path: keyboard callback, KnobPanel, and any future source. Thread 1 reads
already-clean values and applies a second `std::clamp()` before passing to the shader as
a second line of defense. No validation logic is needed at the shader boundary.

### Incoming Data Validation
`RPiReceiver::parseFrame()` and `Simulator::poll()` both return `std::optional<TargetData>`.
A return of `std::nullopt` means the frame was malformed or out of bounds. `TrafficCop`
discards nullopt silently — no exception, no abort, no log spam. Fields validated:
bearing (0–360), range (0–radar max), amplitude (0–1), altitude (0–60,000 ft), timestamp
(not stale, not future), target count (truncated to `MAX_SIMULTANEOUS_TARGETS`), and
frame byte length (rejected above `MAX_RPI_FRAME_BYTES`).

### Array Bounds Safety
- All fixed-size target storage uses `std::array<TargetData, MAX_TARGETS>` — never a raw C array.
- Array views passed between functions use `std::span<TargetData>` (C++20) — size always travels with the pointer.
- Ring buffers for phosphor persistence use modulo indexing (`index % CAPACITY`), never raw pointer arithmetic.
- `static_assert` guards validate that `MAX_TARGETS` and similar constants are within sane limits at compile time.
- Bounds-checked access (`.at()`) used in debug builds; validated index used in release.

### Thread Safety Rules
1. **Snapshot pattern**: Thread 1 acquires Mutex A, copies the entire `SharedRenderState` struct, releases the lock immediately, then renders from the local copy. No OpenGL calls are ever made while holding a mutex (Core Guideline CP.22).
2. **Always `std::scoped_lock`**: Mutexes are never locked/unlocked manually. `std::scoped_lock` releases on all exit paths including exceptions (SEI CERT CON51).
3. **Lock ordering**: If code ever needs both Mutex A and Mutex B simultaneously, A must be acquired first. Documented here as a project-wide invariant to prevent deadlock (SEI CERT CON53).
4. **Atomic simple flags**: Boolean toggles that are written by one thread and read by another (`prf_high`, `goniometer_mode`) use `std::atomic<bool>` — no mutex overhead for single-variable reads.
5. **KnobPanel idle guarantee**: Until hardware is connected, KnobPanel's thread loop sleeps and never calls `lock()` on Mutex A. Zero contention on that mutex from Thread 3.

### RAII Requirements
Every resource that is opened must be wrapped in an RAII holder so that it closes on any exit path:

| Resource | RAII mechanism |
|---|---|
| OpenGL VAO / VBO / texture / shader | Thin `GLHandle<T>` wrapper; destructor calls `glDelete*()` |
| GLFW window | `unique_ptr<GLFWwindow, decltype(&glfwDestroyWindow)>` |
| FreeType `FT_Library` / `FT_Face` | Small RAII structs; destructor calls `FT_Done_*` |
| Mutex locks | `std::scoped_lock` or `std::lock_guard` — never bare lock/unlock |
| Worker threads | `std::jthread` (C++20) — auto-joins on destruction; no detached threads |
| File handles (shader source) | `std::ifstream` — RAII by default |

No raw `new` or `delete` anywhere in the codebase. No `malloc`/`free`.

### SEI CERT C++ Compliance — Key Rules
| Rule | Enforcement |
|---|---|
| CON50 | Never destroy a mutex while locked — `std::scoped_lock` makes this structurally impossible |
| CON51 | Release locks on exceptions — `std::scoped_lock` handles automatically |
| CON53 | Consistent lock ordering (A before B) — documented invariant |
| ARR50 | Array indices always validated before use or bounded by `std::array::at()` |
| MEM51 | All resources managed by RAII wrappers; no raw `new`/`delete` |
| ERR50 | No `abort()` or `exit()` in normal operation; bad data is dropped, not fatal |
| INT30 | Bearing arithmetic uses `fmod()`, not unsigned wraparound subtraction |
| FLP30 | No floating-point loop counters; sweep angle is a double accumulator |
| OOP50 | No virtual method calls in constructors or destructors |

### C++ Core Guidelines Compliance — Key Rules
| Guideline | Enforcement |
|---|---|
| I.6 / I.7 | `Expects()` / `Ensures()` (GSL) at function entry/exit in debug builds |
| I.12 | `gsl::not_null<Scope*>` for the active scope pointer in ScopeManager |
| R.1 | All resource management through RAII handles (see table above) |
| CP.20 | `std::scoped_lock` for all mutex acquisition — no bare lock/unlock |
| CP.21 | `std::scoped_lock(mutexA, mutexB)` if both must be held simultaneously |
| CP.22 | No OpenGL calls while holding any mutex — snapshot pattern enforces this |
| Bounds.1 | No pointer arithmetic; `std::span` for array views |
| Bounds.2 | Array access only via `.at()` or pre-validated index |
| Bounds.4 | No `sprintf`, `strcpy`, `gets`; use `std::string` and `std::format` (C++20) |

---

## Key Design Notes

1. **ScopeManager** sits in Thread 1 and holds the active scope pointer. The GLFW
   key callback calls ScopeManager::handleKey(), which dispatches s/S to itself
   and all other keys to the active scope. The auto-advance timer resets on any
   key event or control input.

2. **SharedRenderState** holds two categories: control state (bearing, range,
   cursor — written by Thread 1 keyboard callbacks and Thread 3 knob panel) and
   target state (written by Thread 2). Thread 1 reads the whole struct once per
   frame under Mutex A to push uniforms to the shaders.

3. **TargetBuffer** is separate from SharedRenderState — it is the handoff point
   between Thread 2 (traffic cop) and Thread 4 (simulator) under Mutex B.

4. **PhosphorRenderer** is a shared utility. AScope and PPIScope subclasses
   receive it as a constructor dependency rather than each reimplementing decay
   logic. Pass phosphor type (P1/P7) and decay constant as parameters.

5. **Shaders** are parameterized via uniforms rather than duplicated. A single
   phosphor shader pair handles both P1 (green, no persistence) and P7 (blue
   strike, yellow-green decay) by passing color and decay time as uniforms.

6. **Shoreline and terrain geometry** is loaded once at Thread 1 startup as a
   static VBO. It is read-only after load — no mutex needed.

7. **Each scope's max range and cursor state are independent.** Changing range
   on the Marine PPI does not affect the ATC PPI, and vice versa. State is
   owned by each scope instance.

8. **PAR sub-scopes** (azimuth and elevation) can be implemented as private
   member objects within PARScope rather than as separate Scope subclasses,
   since they are never displayed independently.

9. **settings.h** is a header-only file (no .cpp). It will contain only
   `constexpr` constants organized into named sections. Every other source
   file that needs a tunable value includes this file. No magic numbers
   anywhere else in the codebase. Add candidate variables here before
   coding begins; values can be refined during debugging and appearance work.
   Sections defined: phosphor colors (P1/P7), sweep parameters, graticule
   geometry and colors, cursor, noise floor, graticule swap animation timing,
   key-hold acceleration, auto-advance timer, window/layout geometry, text
   colors/sizes, **general operator control defaults** (Intensity, Focus,
   Astigmatism, Gain, Rain Clutter, Wave Clutter, Graticule Intensity),
   **per-scope default state** (initial bearing, range, cursor, calibrator
   scale for each scope), and **PAR geometry** (non-linear scale breakpoint,
   runway heading, glide path angle, scan widths).

10. **General operator controls** (Intensity, Focus, Astigmatism, Gain, Rain
   Clutter, Wave Clutter, Graticule Intensity) are placeholders for physical
   encoders not yet purchased. Each has a `DEFAULT_*` constant in settings.h
   and a corresponding variable in `SharedRenderState`. KnobPanel (Thread 3)
   has a stub write path for each. The thread starts and idles, but never
   calls `lock()` on Mutex A, so it imposes zero contention. When hardware
   arrives, only KnobPanel changes — Thread 1 and the shaders are already
   fully wired to consume the values.

11. **MarineAScope graticule swap** is a state machine with four states:
   NORMAL → SLIDING_OUT → BARE_CRT → SLIDING_IN → NORMAL. The u and d keys
   are blocked during the animation. The new range value is latched when the
   key is pressed but not applied to the scope state until SLIDING_IN completes.
   Animation duration is approximately 0.5 seconds per slide (out and in).

12. **All dimensions are stored and computed in meters** throughout the system.
   Any incoming data from Raspberry Pi receivers or the simulator that arrives in
   feet (e.g., altitude from ADS-B in feet, antenna heights) is converted to
   meters at the boundary in `RPiReceiver::parseFrame()` or `Simulator::poll()`
   before the value enters any shared data structure. No feet values appear
   anywhere inside the system after the conversion point.
   Conversion: 1 foot = 0.3048 meters exactly.

13. **Default target dimensions** used when a target is first seen with no
   database record. All values in meters. `need_update` is set TRUE for all
   defaults so the operator knows to fill in real data.

   | Category      | Length (m) | Fuselage/Beam width (m) | Material    |
   |---|---|---|---|
   | GA aircraft   | 4.0        | 1.0                     | aluminum    |
   | Commercial a/c| 30.0       | 5.0                     | aluminum    |
   | AIS vessel    | 20.0       | 5.0                     | steel       |
   | Simulator boat| 6.0        | 2.0                     | fiberglass  |

   AIS-sourced vessels default to steel (legally required commercial traffic).
   Simulator-sourced boats default to fiberglass (small pleasure craft).
   Aircraft source type does not disambiguate GA vs. commercial — the system
   defaults to GA and lets the operator correct it.

14. **Bloom post-processing** uses a dedicated `bloom.vert` / `bloom.frag` shader
   pair. The pipeline is: render targets to an offscreen FBO at full computed
   brightness (from radar equation output), apply a two-pass Gaussian blur to
   pixels above a luminance threshold, then additively blend the blurred result
   back onto the main framebuffer. Bloom threshold and blur radius are
   `constexpr` constants in `settings.h`.

15. **Dear ImGui** is used for the database management panel, activated by the
   `--database` command-line flag. In that mode no radar rendering occurs —
   main.cpp skips the scope/shader initialization path entirely and starts the
   ImGui loop instead. ImGui source files live under `src/imgui/` and are
   compiled directly into the project (no separate install step). The panel
   provides: a scrollable target table with `need_update` highlighted, inline
   edit fields for length/width/height/material, a dropdown for target type,
   and a Save button that writes to PostgreSQL via libpq.

16. **Chain Home RCS resonance** is modelled with a multiplier constant
   `CHAIN_HOME_RCS_RESONANCE_FACTOR` in `settings.h`. At 30 MHz (λ ≈ 10 m),
   aircraft with wingspans of 10–30 m are in the Mie/resonant scattering
   region; RCS can be 2–5× the geometric cross section. The default value is
   3.0 (a mid-range estimate). This is applied in the radar equation computation
   for Chain Home targets only, before the result is passed to the bloom/
   brightness pipeline.