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rudimentary helios laser dac implementation

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This commit is contained in:
Ruben van de Ven 2025-03-06 18:38:37 +01:00
parent 978d94024e
commit e1923569ef
11 changed files with 1156 additions and 26 deletions
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13
poetry.lock generated
View file

@ -2612,6 +2612,17 @@ files = [
{file = "pytz-2025.1.tar.gz", hash = "sha256:c2db42be2a2518b28e65f9207c4d05e6ff547d1efa4086469ef855e4ab70178e"}, {file = "pytz-2025.1.tar.gz", hash = "sha256:c2db42be2a2518b28e65f9207c4d05e6ff547d1efa4086469ef855e4ab70178e"},
] ]
[[package]]
name = "pyusb"
version = "1.3.1"
description = "Easy USB access for Python"
optional = false
python-versions = ">=3.9.0"
files = [
{file = "pyusb-1.3.1-py3-none-any.whl", hash = "sha256:bf9b754557af4717fe80c2b07cc2b923a9151f5c08d17bdb5345dac09d6a0430"},
{file = "pyusb-1.3.1.tar.gz", hash = "sha256:3af070b607467c1c164f49d5b0caabe8ac78dbed9298d703a8dbf9df4052d17e"},
]
[[package]] [[package]]
name = "pywin32" name = "pywin32"
version = "308" version = "308"
@ -3924,4 +3935,4 @@ watchdog = ["watchdog (>=2.3)"]
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "^3.10,<3.12," python-versions = "^3.10,<3.12,"
content-hash = "8a4b9895c94c13642a75d7b4a00f36e271674325009d24758df44bf9a023f103" content-hash = "1327d61e8a4f6d1eee7a6bfd234edb71c7165b6c30903d49522afa52252ddcc2"

1
pyproject.toml
View file

@ -46,6 +46,7 @@ tensorboardx = "^2.6.2.2"
shapely = "^1" shapely = "^1"
baumer-neoapi = {path = "../../Downloads/Baumer_neoAPI_1.4.1_lin_x86_64_python/wheel/baumer_neoapi-1.4.1-cp34.cp35.cp36.cp37.cp38.cp39.cp310.cp311.cp312-none-linux_x86_64.whl"} baumer-neoapi = {path = "../../Downloads/Baumer_neoAPI_1.4.1_lin_x86_64_python/wheel/baumer_neoapi-1.4.1-cp34.cp35.cp36.cp37.cp38.cp39.cp310.cp311.cp312-none-linux_x86_64.whl"}
qrcode = "^8.0" qrcode = "^8.0"
pyusb = "^1.3.1"
[build-system] [build-system]
requires = ["poetry-core"] requires = ["poetry-core"]

2
trap/animation_renderer.py
View file

@ -84,7 +84,7 @@ class AnimationRenderer:
config = pyglet.gl.Config(sample_buffers=1, samples=4) config = pyglet.gl.Config(sample_buffers=1, samples=4)
# , fullscreen=self.config.render_window # , fullscreen=self.config.render_window
display = pyglet.canvas.get_display() display = pyglet.display.get_display()
idx = -1 if self.config.render_window else 0 idx = -1 if self.config.render_window else 0
screen = display.get_screens()[idx] screen = display.get_screens()[idx]
print(display.get_screens()) print(display.get_screens())

4
trap/base.py
View file

@ -25,6 +25,10 @@ from urllib.parse import urlparse
logger = logging.getLogger('trap.base') logger = logging.getLogger('trap.base')
class UrlOrPath(): class UrlOrPath():
"""
Some video sources are on a path (files), others a url (some cameras).
Provide some utilities to easily deal with either.
"""
def __init__(self, string): def __init__(self, string):
self.url = urlparse(str(string)) self.url = urlparse(str(string))

3
trap/config.py
View file

@ -344,6 +344,9 @@ render_parser.add_argument("--render-window",
render_parser.add_argument("--render-animation", render_parser.add_argument("--render-animation",
help="Render animation (pyglet)", help="Render animation (pyglet)",
action='store_true') action='store_true')
render_parser.add_argument("--render-laser",
help="Render laser (Helios DAC)",
action='store_true')
render_parser.add_argument("--render-debug-shapes", render_parser.add_argument("--render-debug-shapes",
help="Lines and points for debugging/mapping", help="Lines and points for debugging/mapping",
action='store_true') action='store_true')

619
trap/helios.py Normal file
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@ -0,0 +1,619 @@
# code by phar: https://github.com/phar/heliospy
import usb.core
import usb.util
import struct
import time
import queue
from trap.hersey import *
from threading import Thread
import matplotlib.pyplot as plt
import numpy as np
HELIOS_VID = 0x1209
HELIOS_PID = 0xE500
EP_BULK_OUT = 0x02
EP_BULK_IN = 0x81
EP_INT_OUT = 0x06
EP_INT_IN = 0x83
INTERFACE_INT = 0
INTERFACE_BULK = 1
INTERFACE_ISO = 2
HELIOS_MAX_POINTS = 0x1000
HELIOS_MAX_RATE = 0xFFFF
HELIOS_MIN_RATE = 7
HELIOS_SUCCESS = 1
# Functions return negative values if something went wrong
# Attempted to perform an action before calling OpenDevices()
HELIOS_ERROR_NOT_INITIALIZED =-1
# Attempted to perform an action with an invalid device number
HELIOS_ERROR_INVALID_DEVNUM = -2
# WriteFrame() called with null pointer to points
HELIOS_ERROR_NULL_POINTS = -3
# WriteFrame() called with a frame containing too many points
HELIOS_ERROR_TOO_MANY_POINTS = -4
# WriteFrame() called with pps higher than maximum allowed
HELIOS_ERROR_PPS_TOO_HIGH = -5
# WriteFrame() called with pps lower than minimum allowed
HELIOS_ERROR_PPS_TOO_LOW = -6
# Errors from the HeliosDacDevice class begin at -1000
# Attempted to perform an operation on a closed DAC device
HELIOS_ERROR_DEVICE_CLOSED = -1000
# Attempted to send a new frame with HELIOS_FLAGS_DONT_BLOCK before previous DoFrame() completed
HELIOS_ERROR_DEVICE_FRAME_READY = -1001
#/ Operation failed because SendControl() failed (if operation failed because of libusb_interrupt_transfer failure, the error code will be a libusb error instead)
HELIOS_ERROR_DEVICE_SEND_CONTROL = -1002
# Received an unexpected result from a call to SendControl()
HELIOS_ERROR_DEVICE_RESULT = -1003
# Attempted to call SendControl() with a null buffer pointer
HELIOS_ERROR_DEVICE_NULL_BUFFER = -1004
# Attempted to call SendControl() with a control signal that is too long
HELIOS_ERROR_DEVICE_SIGNAL_TOO_LONG = -1005
HELIOS_ERROR_LIBUSB_BASE = -5000
HELIOS_FLAGS_DEFAULT = 0
HELIOS_FLAGS_START_IMMEDIATELY = (1 << 0)
HELIOS_FLAGS_SINGLE_MODE = (1 << 1)
HELIOS_FLAGS_DONT_BLOCK = (1 << 2)
HELIOS_CMD_STOP =0x0001
HELIOS_CMD_SHUTTER =0x0002
HELIOS_CMD_GET_STATUS =0x0003
HELIOS_GET_FWVERSION =0x0004
HELIOS_CMD_GET_NAME =0x0005
HELIOS_CMD_SET_NAME =0x0006
HELIOS_SET_SDK_VERSION =0x0007
HELIOS_CMD_ERASE_FIRMWARE =0x00de
HELIOS_SDK_VERSION = 6
class HeliosPoint():
def __init__(self,x,y,c = 0xff0000,i= 255,blank=False):
self.x = x
self.y = y
self.c = 0x010203
self.i = i
self.blank = blank
def __str__(self):
return "HeleiosPoint(%d, %d,0x%0x,%d,%d)" % (self.x, self.y, self.c,self.i, self.blank)
class HeliosDAC():
def __init__(self,queuethread=True, debug=0):
self.debug=debug
self.closed = 1
self.frameReady = 0
self.framebuffer = ""
self.threadqueue = queue.Queue(maxsize=20)
self.nextframebuffer = ""
self.adcbits = 12
self.dev = usb.core.find(idVendor=HELIOS_VID, idProduct=HELIOS_PID)
self.cfg = self.dev.get_active_configuration()
self.intf = self.cfg[(0,1,2)]
self.dev.reset()
self.palette = [( 0, 0, 0 ), # Black/blanked (fixed)
( 255, 255, 255 ), # White (fixed)
( 255, 0, 0 ), # Red (fixed)
( 255, 255, 0 ), # Yellow (fixed)
( 0, 255, 0 ), # Green (fixed)
( 0, 255, 255 ), # Cyan (fixed)
( 0, 0, 255 ), # Blue (fixed)
( 255, 0, 255 ), # Magenta (fixed)
( 255, 128, 128 ), # Light red
( 255, 140, 128 ),
( 255, 151, 128 ),
( 255, 163, 128 ),
( 255, 174, 128 ),
( 255, 186, 128 ),
( 255, 197, 128 ),
( 255, 209, 128 ),
( 255, 220, 128 ),
( 255, 232, 128 ),
( 255, 243, 128 ),
( 255, 255, 128 ), # Light yellow
( 243, 255, 128 ),
( 232, 255, 128 ),
( 220, 255, 128 ),
( 209, 255, 128 ),
( 197, 255, 128 ),
( 186, 255, 128 ),
( 174, 255, 128 ),
( 163, 255, 128 ),
( 151, 255, 128 ),
( 140, 255, 128 ),
( 128, 255, 128 ), # Light green
( 128, 255, 140 ),
( 128, 255, 151 ),
( 128, 255, 163 ),
( 128, 255, 174 ),
( 128, 255, 186 ),
( 128, 255, 197 ),
( 128, 255, 209 ),
( 128, 255, 220 ),
( 128, 255, 232 ),
( 128, 255, 243 ),
( 128, 255, 255 ), # Light cyan
( 128, 243, 255 ),
( 128, 232, 255 ),
( 128, 220, 255 ),
( 128, 209, 255 ),
( 128, 197, 255 ),
( 128, 186, 255 ),
( 128, 174, 255 ),
( 128, 163, 255 ),
( 128, 151, 255 ),
( 128, 140, 255 ),
( 128, 128, 255 ), # Light blue
( 140, 128, 255 ),
( 151, 128, 255 ),
( 163, 128, 255 ),
( 174, 128, 255 ),
( 186, 128, 255 ),
( 197, 128, 255 ),
( 209, 128, 255 ),
( 220, 128, 255 ),
( 232, 128, 255 ),
( 243, 128, 255 ),
( 255, 128, 255 ), # Light magenta
( 255, 128, 243 ),
( 255, 128, 232 ),
( 255, 128, 220 ),
( 255, 128, 209 ),
( 255, 128, 197 ),
( 255, 128, 186 ),
( 255, 128, 174 ),
( 255, 128, 163 ),
( 255, 128, 151 ),
( 255, 128, 140 ),
( 255, 0, 0 ), # Red (cycleable)
( 255, 23, 0 ),
( 255, 46, 0 ),
( 255, 70, 0 ),
( 255, 93, 0 ),
( 255, 116, 0 ),
( 255, 139, 0 ),
( 255, 162, 0 ),
( 255, 185, 0 ),
( 255, 209, 0 ),
( 255, 232, 0 ),
( 255, 255, 0 ), #Yellow (cycleable)
( 232, 255, 0 ),
( 209, 255, 0 ),
( 185, 255, 0 ),
( 162, 255, 0 ),
( 139, 255, 0 ),
( 116, 255, 0 ),
( 93, 255, 0 ),
( 70, 255, 0 ),
( 46, 255, 0 ),
( 23, 255, 0 ),
( 0, 255, 0 ), # Green (cycleable)
( 0, 255, 23 ),
( 0, 255, 46 ),
( 0, 255, 70 ),
( 0, 255, 93 ),
( 0, 255, 116 ),
( 0, 255, 139 ),
( 0, 255, 162 ),
( 0, 255, 185 ),
( 0, 255, 209 ),
( 0, 255, 232 ),
( 0, 255, 255 ), # Cyan (cycleable)
( 0, 232, 255 ),
( 0, 209, 255 ),
( 0, 185, 255 ),
( 0, 162, 255 ),
( 0, 139, 255 ),
( 0, 116, 255 ),
( 0, 93, 255 ),
( 0, 70, 255 ),
( 0, 46, 255 ),
( 0, 23, 255 ),
( 0, 0, 255 ), # Blue (cycleable)
( 23, 0, 255 ),
( 46, 0, 255 ),
( 70, 0, 255 ),
( 93, 0, 255 ),
( 116, 0, 255 ),
( 139, 0, 255 ),
( 162, 0, 255 ),
( 185, 0, 255 ),
( 209, 0, 255 ),
( 232, 0, 255 ),
( 255, 0, 255 ), # Magenta (cycleable)
( 255, 0, 232 ),
( 255, 0, 209 ),
( 255, 0, 185 ),
( 255, 0, 162 ),
( 255, 0, 139 ),
( 255, 0, 116 ),
( 255, 0, 93 ),
( 255, 0, 70 ),
( 255, 0, 46 ),
( 255, 0, 23 ),
( 128, 0, 0 ), # Dark red
( 128, 12, 0 ),
( 128, 23, 0 ),
( 128, 35, 0 ),
( 128, 47, 0 ),
( 128, 58, 0 ),
( 128, 70, 0 ),
( 128, 81, 0 ),
( 128, 93, 0 ),
( 128, 105, 0 ),
( 128, 116, 0 ),
( 128, 128, 0 ), # Dark yellow
( 116, 128, 0 ),
( 105, 128, 0 ),
( 93, 128, 0 ),
( 81, 128, 0 ),
( 70, 128, 0 ),
( 58, 128, 0 ),
( 47, 128, 0 ),
( 35, 128, 0 ),
( 23, 128, 0 ),
( 12, 128, 0 ),
( 0, 128, 0 ), # Dark green
( 0, 128, 12 ),
( 0, 128, 23 ),
( 0, 128, 35 ),
( 0, 128, 47 ),
( 0, 128, 58 ),
( 0, 128, 70 ),
( 0, 128, 81 ),
( 0, 128, 93 ),
( 0, 128, 105 ),
( 0, 128, 116 ),
( 0, 128, 128 ), # Dark cyan
( 0, 116, 128 ),
( 0, 105, 128 ),
( 0, 93, 128 ),
( 0, 81, 128 ),
( 0, 70, 128 ),
( 0, 58, 128 ),
( 0, 47, 128 ),
( 0, 35, 128 ),
( 0, 23, 128 ),
( 0, 12, 128 ),
( 0, 0, 128 ), # Dark blue
( 12, 0, 128 ),
( 23, 0, 128 ),
( 35, 0, 128 ),
( 47, 0, 128 ),
( 58, 0, 128 ),
( 70, 0, 128 ),
( 81, 0, 128 ),
( 93, 0, 128 ),
( 105, 0, 128 ),
( 116, 0, 128 ),
( 128, 0, 128 ), # Dark magenta
( 128, 0, 116 ),
( 128, 0, 105 ),
( 128, 0, 93 ),
( 128, 0, 81 ),
( 128, 0, 70 ),
( 128, 0, 58 ),
( 128, 0, 47 ),
( 128, 0, 35 ),
( 128, 0, 23 ),
( 128, 0, 12 ),
( 255, 192, 192 ), # Very light red
( 255, 64, 64 ), # Light-medium red
( 192, 0, 0 ), # Medium-dark red
( 64, 0, 0 ), # Very dark red
( 255, 255, 192 ), # Very light yellow
( 255, 255, 64 ), # Light-medium yellow
( 192, 192, 0 ), # Medium-dark yellow
( 64, 64, 0 ), # Very dark yellow
( 192, 255, 192 ), # Very light green
( 64, 255, 64 ), # Light-medium green
( 0, 192, 0 ), # Medium-dark green
( 0, 64, 0 ), # Very dark green
( 192, 255, 255 ), # Very light cyan
( 64, 255, 255 ), # Light-medium cyan
( 0, 192, 192 ), # Medium-dark cyan
( 0, 64, 64 ), # Very dark cyan
( 192, 192, 255 ), # Very light blue
( 64, 64, 255 ), # Light-medium blue
( 0, 0, 192 ), # Medium-dark blue
( 0, 0, 64 ), # Very dark blue
( 255, 192, 255 ), # Very light magenta
( 255, 64, 255 ), # Light-medium magenta
( 192, 0, 192 ), # Medium-dark magenta
( 64, 0, 64 ), # Very dark magenta
( 255, 96, 96 ), # Medium skin tone
( 255, 255, 255 ), # White (cycleable)
( 245, 245, 245 ),
( 235, 235, 235 ),
( 224, 224, 224 ), # Very light gray (7/8 intensity)
( 213, 213, 213 ),
( 203, 203, 203 ),
( 192, 192, 192 ), # Light gray (3/4 intensity)
( 181, 181, 181 ),
( 171, 171, 171 ),
( 160, 160, 160 ), # Medium-light gray (5/8 int.)
( 149, 149, 149 ),
( 139, 139, 139 ),
( 128, 128, 128 ), # Medium gray (1/2 intensity)
( 117, 117, 117 ),
( 107, 107, 107 ),
( 96, 96, 96 ), # Medium-dark gray (3/8 int.)
( 85, 85, 85 ),
( 75, 75, 75 ),
( 64, 64, 64 ), # Dark gray (1/4 intensity)
( 53, 53, 53 ),
( 43, 43, 43 ),
( 32, 32, 32 ), # Very dark gray (1/8 intensity)
( 21, 21, 21 ),
( 11, 11, 11 )] # Black
self.dev.set_interface_altsetting(interface = 0, alternate_setting = 1)
if self.dev.is_kernel_driver_active(0) is True:
self.dev.detach_kernel_driver(0)
# claim the device
usb.util.claim_interface(self.dev, 0)
if self.dev is None:
raise ValueError('Device not found')
else:
if self.debug:
print(self.dev)
try:
transferResult = self.intf[0].read(32,1)
except:
if self.debug:
print("no lingering data")
if self.debug:
print(self.GetName())
print(self.getHWVersion())
self.setSDKVersion()
self.closed = False
if queuethread:
self.runQueueThread()
def runQueueThread(self):
worker = Thread(target=self.doframe_thread_loop)
worker.setDaemon(True)
worker.start()
def doframe_thread_loop(self):
while self.closed == 0:
if self.closed:
return;
self.DoFrame();
def getHWVersion(self):
self.intf[1].write(struct.pack("<H",HELIOS_GET_FWVERSION))
transferResult = self.intf[0].read(32)
if transferResult[0] == 0x84:
return struct.unpack("<L",transferResult[1:])[0]
else:
return None
def setSDKVersion(self, version = HELIOS_SDK_VERSION):
self.intf[1].write(struct.pack("<H",(version << 8) | HELIOS_SET_SDK_VERSION))
return
def setShutter(self, shutter=False):
self.SendControl(struct.pack("<H",(shutter << 8) | HELIOS_CMD_SHUTTER))
return
def setName(self, name):
self.SendControl(struct.pack("<H", HELIOS_CMD_SET_NAME) + name[:30] + b"\x00")
return
def newFrame(self,pps, pntobjlist, flags = HELIOS_FLAGS_DEFAULT):
if self.closed:
return HELIOS_ERROR_DEVICE_CLOSED;
if ( len(pntobjlist) > HELIOS_MAX_POINTS):
return HELIOS_ERROR_TOO_MANY_POINTS
if (pps > HELIOS_MAX_RATE):
return HELIOS_ERROR_PPS_TOO_HIGH
if (pps < HELIOS_MIN_RATE):
return HELIOS_ERROR_PPS_TOO_LOW
#this is a bug workaround, the mcu won't correctly receive transfers with these sizes
ppsActual = pps;
numOfPointsActual = len(pntobjlist)
if (((len(pntobjlist)-45) % 64) == 0):
numOfPointsActual-=1
ppsActual = int((pps * numOfPointsActual / len(pntobjlist) + 0.5))
pntobjlist = pntobjlist[:numOfPointsActual]
nextframebuffer = b""
for pnt in pntobjlist:
a = (pnt.x >> 4) & 0xff
b = ((pnt.x & 0x0F) << 4) | (pnt.y >> 8)
c = pnt.y & 0xFF
if pnt.blank == False:
r = (pnt.c & 0xff0000) >> 16
g = (pnt.c & 0xff00) >> 8
b = (pnt.c & 0xff)
i = pnt.i
else:
r = 0
g = 0
b = 0
i = 0
nextframebuffer += struct.pack("BBBBBBB", a,b,c,r,g,b,i)
nextframebuffer += struct.pack("BBBBB", (ppsActual & 0xFF),(ppsActual >> 8) ,(len(pntobjlist) & 0xFF),(len(pntobjlist) >> 8),flags)
self.threadqueue.put(nextframebuffer)
def DoFrame(self):
if (self.closed):
return HELIOS_ERROR_DEVICE_CLOSED;
self.nextframebuffer = self.threadqueue.get(block=True)
self.intf[3].write(self.nextframebuffer)
t = time.time()
while(self.getStatus()[1] == 0): #wait for the laser
pass
return self.getStatus()
def GetName(self):
self.SendControl(struct.pack("<H",HELIOS_CMD_GET_NAME))
x = self.intf[0].read(32)[:16]
if x[0] == 0x85:
return "".join([chr(t) for t in x[1:]])
else:
return None
def SendControl(self, buffer):
if (buffer == None):
return HELIOS_ERROR_DEVICE_NULL_BUFFER;
if (len(buffer) > 32):
return HELIOS_ERROR_DEVICE_SIGNAL_TOO_LONG;
self.intf[1].write(buffer)
def stop(self):
self.SendControl(struct.pack("<H",0x0001), 2)
time.sleep(.1)
return
def getStatus(self):
self.SendControl(struct.pack("<H",0x0003))
ret = self.intf[0].read(32)
if self.debug:
print(ret)
return ret
def generateText(self,text,xpos,ypos,cindex=0,scale=1.0):
pointstream = []
ctr = 0
for c in text:
lastx = xpos
lasty = ypos
blank = True
for x,y in HERSHEY_FONT[ord(c)-32]:
if (x == -1) and (y == -1):
# pointstream.append(HeliosPoint(lastx,lasty,blank=blank))
blank = True
else:
lastx = int((x + (ctr * HERSHEY_WIDTH)) * scale)
lasty = int(y * scale)
blank = False
pointstream.append(HeliosPoint(lastx,lasty,self.palette[cindex],blank=blank))
ctr += 1
return pointstream
def loadILDfile(self,filename, xscale=1.0, yscale=1.0):
f = open(filename,"rb")
headerstruct = ">4s3xB8s8sHHHBx"
moreframes = True
frames = []
while moreframes:
(magic, format, fname, cname, rcnt, num, total_frames, projectorid) = struct.unpack(headerstruct,f.read(struct.calcsize(headerstruct)))
if magic == b"ILDA":
pointlist = []
palette = []
x = y = z = red = green = blue = 0
blank = 1
lastpoint = 0
if rcnt > 0:
for i in range(rcnt):
if format in [0,1,4,5]:
if format == 0:
fmt = ">hhhBB"
(x,y,z,status,cindex) = struct.unpack(fmt,f.read(struct.calcsize(fmt)))
elif format == 1:
fmt = ">hhBB"
(x,y,status,cindex) = struct.unpack(fmt,f.read(struct.calcsize(fmt)))
elif format == 4:
(x,y,z,status,red,green,blue) = struct.unpack(fmt,f.read(struct.calcsize(fmt)))
elif format == 5:
fmt = ">hhhBBBB"
(x,y,status,red,green,blue) = struct.unpack(fmt,f.read(struct.calcsize(fmt)))
blank = (status & 0x40) > 0
lastpoint = (status & 0x80) > 0
lessadcbits = (16 - self.adcbits)
x = int((x >> lessadcbits) * xscale)
y = int((y >> lessadcbits) * yscale)
pointlist.append(HeliosPoint(x,y,self.palette[cindex],blank=blank))
elif format == 2:
fmt = ">BBB"
(r,g,b) = struct.unpack(fmt,f.read(struct.calcsize(fmt)))
palette.append((r<<16) | (g<<8) | b)
if format == 2:
frames.append((("palette",fname,cname, num),palette))
else:
frames.append((("frame",fname,cname,num),pointlist))
else:
moreframes = 0
else:
moreframes = 0
return frames
def plot(self, pntlist):
fig, ax = plt.subplots() # Create a figure containing a single axes.
xlst = []
ylst = []
for p in pntlist:
if p.blank == False:
xlst.append(p.x)
ylst.append(p.y)
ax.plot(xlst,ylst)
plt.show()
if __name__ == "__main__":
a = HeliosDAC()
a.runQueueThread()
# cal = a.generateText("hello World", 20,20,scale=10)
## print(cal)
# a.plot(cal)
#
# while(1):
# a.newFrame(2000,cal)
# a.DoFrame()
cal = a.loadILDfile("astroid.ild")
while(1):
for (t,n1,n2,c),f in cal:
print("playing %s,%s, %d" % (n1,n2,c))
a.newFrame(5000,f)
# a.DoFrame()
# a.plot(f)
# while(1):
## a.newFrame(1000,[HeliosPoint(16000,16000)])
# a.newFrame(100,[HeliosPoint(16000-2500,16000),HeliosPoint(16000,16000),HeliosPoint(16000+2500,16000),HeliosPoint(16000,16000),HeliosPoint(16000,16000+2500),HeliosPoint(16000,16000),HeliosPoint(16000,16000-2500),HeliosPoint(16000,16000)])
# a.DoFrame()
# while(1):
# a.newFrame(1000,[HeliosPoint(0,200),
# HeliosPoint(200,200),
# HeliosPoint(200,0),
# HeliosPoint(0,0),
# ])
# a.DoFrame()

196
trap/hersey.py Normal file
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@ -0,0 +1,196 @@
# part of heliospy, see helios.py
HERSHEY_HEIGHT = 28
HERSHEY_WIDTH = 28
HERSHEY_FONT = [
#Ascii 32
[(0,16),(-1, -1)],
#Ascii 33
[(8,10),(5, 21),(5, 7),(-1, -1),(5, 2),(4, 1),(5, 0),(6, 1),(5, 2),(-1, -1)],
#Ascii 34
[(5,16),(4, 21),(4, 14),(-1, -1),(12, 21),(12, 14),(-1, -1)],
#Ascii 35
[(11,21),(11, 25),(4, -7),(-1, -1),(17, 25),(10, -7),(-1, -1),(4, 12),(18, 12),(-1, -1),(3, 6),(17, 6),(-1, -1)],
#Ascii 36
[(26,20),(8, 25),(8, -4),(-1, -1),(12, 25),(12, -4),(-1, -1),(17, 18),(15, 20),(12, 21),(8, 21),(5, 20),(3, 18),(3, 16),(4, 14),(5, 13),(7, 12),(13, 10),(15, 9),(16, 8),(17, 6),(17, 3),(15, 1),(12, 0),(8, 0),(5, 1),(3, 3),(-1, -1)],
#Ascii 37
[(31,24),(21, 21),(3, 0),(-1, -1),(8, 21),(10, 19),(10, 17),(9, 15),(7, 14),(5, 14),(3, 16),(3, 18),(4, 20),(6, 21),(8, 21),(10, 20),(13, 19),(16, 19),(19, 20),(21, 21),(-1, -1),(17, 7),(15, 6),(14, 4),(14, 2),(16, 0),(18, 0),(20, 1),(21, 3),(21, 5),(19, 7),(17, 7),(-1, -1)],
#Ascii 38
[(34,26),(23, 12),(23, 13),(22, 14),(21, 14),(20, 13),(19, 11),(17, 6),(15, 3),(13, 1),(11, 0),(7, 0),(5, 1),(4, 2),(3, 4),(3, 6),(4, 8),(5, 9),(12, 13),(13, 14),(14, 16),(14, 18),(13, 20),(11, 21),(9, 20),(8, 18),(8, 16),(9, 13),(11, 10),(16, 3),(18, 1),(20, 0),(22, 0),(23, 1),(23, 2),(-1, -1)],
#Ascii 39
[(7,10),(5, 19),(4, 20),(5, 21),(6, 20),(6, 18),(5, 16),(4, 15),(-1, -1)],
#Ascii 40
[(10,14),(11, 25),(9, 23),(7, 20),(5, 16),(4, 11),(4, 7),(5, 2),(7, -2),(9, -5),(11, -7),(-1, -1)],
#Ascii 41
[(10,14),(3, 25),(5, 23),(7, 20),(9, 16),(10, 11),(10, 7),(9, 2),(7, -2),(5, -5),(3, -7),(-1, -1)],
#Ascii 42
[(8,16),(8, 21),(8, 9),(-1, -1),(3, 18),(13, 12),(-1, -1),(13, 18),(3, 12),(-1, -1)],
#Ascii 43
[(5,26),(13, 18),(13, 0),(-1, -1),(4, 9),(22, 9),(-1, -1)],
#Ascii 44
[(8,10),(6, 1),(5, 0),(4, 1),(5, 2),(6, 1),(6, -1),(5, -3),(4, -4),(-1, -1)],
#Ascii 45
[(2,26),(4, 9),(22, 9),(-1, -1)],
#Ascii 46
[(5,10),(5, 2),(4, 1),(5, 0),(6, 1),(5, 2),(-1, -1)],
#Ascii 47`
[(2,22),(20, 25),(2, -7),(-1, -1)],
#Ascii 48
[(17,20),(9, 21),(6, 20),(4, 17),(3, 12),(3, 9),(4, 4),(6, 1),(9, 0),(11, 0),(14, 1),(16, 4),(17, 9),(17, 12),(16, 17),(14, 20),(11, 21),(9, 21),(-1, -1)],
#Ascii 49
[(4,20),(6, 17),(8, 18),(11, 21),(11, 0),(-1, -1)],
#Ascii 50
[(14,20),(4, 16),(4, 17),(5, 19),(6, 20),(8, 21),(12, 21),(14, 20),(15, 19),(16, 17),(16, 15),(15, 13),(13, 10),(3, 0),(17, 0),(-1, -1)],
#Ascii 51
[(15,20),(5, 21),(16, 21),(10, 13),(13, 13),(15, 12),(16, 11),(17, 8),(17, 6),(16, 3),(14, 1),(11, 0),(8, 0),(5, 1),(4, 2),(3, 4),(-1, -1)],
#Ascii 52
[(6,20),(13, 21),(3, 7),(18, 7),(-1, -1),(13, 21),(13, 0),(-1, -1)],
#Ascii 53
[(17,20),(15, 21),(5, 21),(4, 12),(5, 13),(8, 14),(11, 14),(14, 13),(16, 11),(17, 8),(17, 6),(16, 3),(14, 1),(11, 0),(8, 0),(5, 1),(4, 2),(3, 4),(-1, -1)],
#Ascii 54
[(23,20),(16, 18),(15, 20),(12, 21),(10, 21),(7, 20),(5, 17),(4, 12),(4, 7),(5, 3),(7, 1),(10, 0),(11, 0),(14, 1),(16, 3),(17, 6),(17, 7),(16, 10),(14, 12),(11, 13),(10, 13),(7, 12),(5, 10),(4, 7),(-1, -1)],
#Ascii 55
[(5,20),(17, 21),(7, 0),(-1, -1),(3, 21),(17, 21),(-1, -1)],
#Ascii 56
[(29,20),(8, 21),(5, 20),(4, 18),(4, 16),(5, 14),(7, 13),(11, 12),(14, 11),(16, 9),(17, 7),(17, 4),(16, 2),(15, 1),(12, 0),(8, 0),(5, 1),(4, 2),(3, 4),(3, 7),(4, 9),(6, 11),(9, 12),(13, 13),(15, 14),(16, 16),(16, 18),(15, 20),(12, 21),(8, 21),(-1, -1)],
#Ascii 57
[(23,20),(16, 14),(15, 11),(13, 9),(10, 8),(9, 8),(6, 9),(4, 11),(3, 14),(3, 15),(4, 18),(6, 20),(9, 21),(10, 21),(13, 20),(15, 18),(16, 14),(16, 9),(15, 4),(13, 1),(10, 0),(8, 0),(5, 1),(4, 3),(-1, -1)],
#Ascii 58
[(11,10),(5, 14),(4, 13),(5, 12),(6, 13),(5, 14),(-1, -1),(5, 2),(4, 1),(5, 0),(6, 1),(5, 2),(-1, -1)],
#Ascii 59
[(14,10),(5, 14),(4, 13),(5, 12),(6, 13),(5, 14),(-1, -1),(6, 1),(5, 0),(4, 1),(5, 2),(6, 1),(6, -1),(5, -3),(4, -4),(-1, -1)],
#Ascii 60
[(3,24),(20, 18),(4, 9),(20, 0),(-1, -1)],
#Ascii 61
[(5,26),(4, 12),(22, 12),(-1, -1),(4, 6),(22, 6),(-1, -1)],
#Ascii 62
[(3,24),(4, 18),(20, 9),(4, 0),(-1, -1)],
#Ascii 63
[(20,18),(3, 16),(3, 17),(4, 19),(5, 20),(7, 21),(11, 21),(13, 20),(14, 19),(15, 17),(15, 15),(14, 13),(13, 12),(9, 10),(9, 7),(-1, -1),(9, 2),(8, 1),(9, 0),(10, 1),(9, 2),(-1, -1)],
#Ascii 64
[(55,27),(18, 13),(17, 15),(15, 16),(12, 16),(10, 15),(9, 14),(8, 11),(8, 8),(9, 6),(11, 5),(14, 5),(16, 6),(17, 8),(-1, -1),(12, 16),(10, 14),(9, 11),(9, 8),(10, 6),(11, 5),(-1, -1),(18, 16),(17, 8),(17, 6),(19, 5),(21, 5),(23, 7),(24, 10),(24, 12),(23, 15),(22, 17),(20, 19),(18, 20),(15, 21),(12, 21),(9, 20),(7, 19),(5, 17),(4, 15),(3, 12),(3, 9),(4, 6),(5, 4),(7, 2),(9, 1),(12, 0),(15, 0),(18, 1),(20, 2),(21, 3),(-1, -1),(19, 16),(18, 8),(18, 6),(19, 5),(8, 18),(-1,-1)],
#Ascii 65
[(8,18), (9,21), (1, 0),(-1,-1), (9,21),(17, 0),(-1,-1),( 4, 7),(14, 7),(-1,-1)],
#Ascii 66
[(23,21),(4, 21),(4, 0),(-1, -1),(4, 21),(13, 21),(16, 20),(17, 19),(18, 17),(18, 15),(17, 13),(16, 12),(13, 11),(-1, -1),(4, 11),(13, 11),(16, 10),(17, 9),(18, 7),(18, 4),(17, 2),(16, 1),(13, 0),(4, 0),(-1, -1)],
#Ascii 67
[(18,21),(18, 16),(17, 18),(15, 20),(13, 21),(9, 21),(7, 20),(5, 18),(4, 16),(3, 13),(3, 8),(4, 5),(5, 3),(7, 1),(9, 0),(13, 0),(15, 1),(17, 3),(18, 5),(-1, -1)],
#Ascii 68
[(15,21),(4, 21),(4, 0),(-1, -1),(4, 21),(11, 21),(14, 20),(16, 18),(17, 16),(18, 13),(18, 8),(17, 5),(16, 3),(14, 1),(11, 0),(4, 0),(-1, -1)],
#Ascii 69
[(11,19),(4, 21),(4, 0),(-1, -1),(4, 21),(17, 21),(-1, -1),(4, 11),(12, 11),(-1, -1),(4, 0),(17, 0),(-1, -1)],
#Ascii 70
[(8,18),(4, 21),(4, 0),(-1, -1),(4, 21),(17, 21),(-1, -1),(4, 11),(12, 11),(-1, -1)],
#Ascii 71
[(22,21),(18, 16),(17, 18),(15, 20),(13, 21),(9, 21),(7, 20),(5, 18),(4, 16),(3, 13),(3, 8),(4, 5),(5, 3),(7, 1),(9, 0),(13, 0),(15, 1),(17, 3),(18, 5),(18, 8),(-1, -1),(13, 8),(18, 8),(-1, -1)],
#Ascii 72
[(8,22),(4, 21),(4, 0),(-1, -1),(18, 21),(18, 0),(-1, -1),(4, 11),(18, 11),(-1, -1)],
#Ascii 73
[(2,8),(4, 21),(4, 0),(-1, -1)],
#Ascii 74
[(10,16),(12, 21),(12, 5),(11, 2),(10, 1),(8, 0),(6, 0),(4, 1),(3, 2),(2, 5),(2, 7),(-1, -1)],
#Ascii 75
[(8,21),(4, 21),(4, 0),(-1, -1),(18, 21),(4, 7),(-1, -1),(9, 12),(18, 0),(-1, -1)],
#Ascii 76
[(5,17),(4, 21),(4, 0),(-1, -1),(4, 0),(16, 0),(-1, -1)],
#Ascii 77
[(11,24),(4, 21),(4, 0),(-1, -1),(4, 21),(12, 0),(-1, -1),(20, 21),(12, 0),(-1, -1),(20, 21),(20, 0),(-1, -1)],
#Ascii 78
[(8,22),(4, 21),(4, 0),(-1, -1),(4, 21),(18, 0),(-1, -1),(18, 21),(18, 0),(-1, -1)],
#Ascii 79
[(21,22),(9, 21),(7, 20),(5, 18),(4, 16),(3, 13),(3, 8),(4, 5),(5, 3),(7, 1),(9, 0),(13, 0),(15, 1),(17, 3),(18, 5),(19, 8),(19, 13),(18, 16),(17, 18),(15, 20),(13, 21),(9, 21),(-1, -1)],
#Ascii 80
[(13,21),(4, 21),(4, 0),(-1, -1),(4, 21),(13, 21),(16, 20),(17, 19),(18, 17),(18, 14),(17, 12),(16, 11),(13, 10),(4, 10),(-1, -1)],
#Ascii 81
[(24,22),(9, 21),(7, 20),(5, 18),(4, 16),(3, 13),(3, 8),(4, 5),(5, 3),(7, 1),(9, 0),(13, 0),(15, 1),(17, 3),(18, 5),(19, 8),(19, 13),(18, 16),(17, 18),(15, 20),(13, 21),(9, 21),(-1, -1),(12, 4),(18, -2),(-1, -1)],
#Ascii 82
[(16,21),(4, 21),(4, 0),(-1, -1),(4, 21),(13, 21),(16, 20),(17, 19),(18, 17),(18, 15),(17, 13),(16, 12),(13, 11),(4, 11),(-1, -1),(11, 11),(18, 0),(-1, -1)],
#Ascii 83
[(20,20),(17, 18),(15, 20),(12, 21),(8, 21),(5, 20),(3, 18),(3, 16),(4, 14),(5, 13),(7, 12),(13, 10),(15, 9),(16, 8),(17, 6),(17, 3),(15, 1),(12, 0),(8, 0),(5, 1),(3, 3),(-1, -1)],
#Ascii 8,4
[(5,16),(8, 21),(8, 0),(-1, -1),(1, 21),(15, 21),(-1, -1)],
#Ascii 85
[(10,22),(4, 21),(4, 6),(5, 3),(7, 1),(10, 0),(12, 0),(15, 1),(17, 3),(18, 6),(18, 21),(-1, -1)],
#Ascii 86
[(5,18),(1, 21),(9, 0),(-1, -1),(17, 21),(9, 0),(-1, -1)],
#Ascii 87
[(11,24),(2, 21),(7, 0),(-1, -1),(12, 21),(7, 0),(-1, -1),(12, 21),(17, 0),(-1, -1),(22, 21),(17, 0),(-1, -1)],
#Ascii 88
[(5,20),(3, 21),(17, 0),(-1, -1),(17, 21),(3, 0),(-1, -1)],
#Ascii 89
[(6,18),(1, 21),(9, 11),(9, 0),(-1, -1),(17, 21),(9, 11),(-1, -1)],
#Ascii 90
[(8,20),(17, 21),(3, 0),(-1, -1),(3, 21),(17, 21),(-1, -1),(3, 0),(17, 0),(-1, -1)],
#Ascii 91
[(11,14),(4, 25),(4, -7),(-1, -1),(5, 25),(5, -7),(-1, -1),(4, 25),(11, 25),(-1, -1),(4, -7),(11, -7),(-1, -1)],
#Ascii 92
[(2,14),(0, 21),(14, -3),(-1, -1)],
#Ascii 93
[(11,14),(9, 25),(9, -7),(-1, -1),(10, 25),(10, -7),(-1, -1),(3, 25),(10, 25),(-1, -1),(3, -7),(10, -7),(-1, -1)],
#Ascii 94
[(10,16),(6, 15),(8, 18),(10, 15),(-1, -1),(3, 12),(8, 17),(13, 12),(-1, -1),(8, 17),(8, 0),(-1, -1)],
#Ascii 95
[(2,16),(0, -2),(16, -2),(-1, -1)],
#Ascii 96
[(7,10),(6, 21),(5, 20),(4, 18),(4, 16),(5, 15),(6, 16),(5, 17),(-1, -1)],
#Ascii 97
[(17,19),(15, 14),(15, 0),(-1, -1),(15, 11),(13, 13),(11, 14),(8, 14),(6, 13),(4, 11),(3, 8),(3, 6),(4, 3),(6, 1),(8, 0),(11, 0),(13, 1),(15, 3),(-1, -1)],
#Ascii 98
[(17,19),(4, 21),(4, 0),(-1, -1),(4, 11),(6, 13),(8, 14),(11, 14),(13, 13),(15, 11),(16, 8),(16, 6),(15, 3),(13, 1),(11, 0),(8, 0),(6, 1),(4, 3),(-1, -1)],
#Ascii 99
[(14,18),(15, 11),(13, 13),(11, 14),(8, 14),(6, 13),(4, 11),(3, 8),(3, 6),(4, 3),(6, 1),(8, 0),(11, 0),(13, 1),(15, 3),(-1, -1)],
#Ascii 100
[(17,19),(15, 21),(15, 0),(-1, -1),(15, 11),(13, 13),(11, 14),(8, 14),(6, 13),(4, 11),(3, 8),(3, 6),(4, 3),(6, 1),(8, 0),(11, 0),(13, 1),(15, 3),(-1, -1)],
#Ascii 101
[(17,18),(3, 8),(15, 8),(15, 10),(14, 12),(13, 13),(11, 14),(8, 14),(6, 13),(4, 11),(3, 8),(3, 6),(4, 3),(6, 1),(8, 0),(11, 0),(13, 1),(15, 3),(-1, -1)],
#Ascii 102
[(8,12),(10, 21),(8, 21),(6, 20),(5, 17),(5, 0),(-1, -1),(2, 14),(9, 14),(-1, -1)],
#Ascii 103
[(22,19),(15, 14),(15, -2),(14, -5),(13, -6),(11, -7),(8, -7),(6, -6),(-1, -1),(15, 11),(13, 13),(11, 14),(8, 14),(6, 13),(4, 11),(3, 8),(3, 6),(4, 3),(6, 1),(8, 0),(11, 0),(13, 1),(15, 3),(-1, -1)],
#Ascii 104
[(10,19),(4, 21),(4, 0),(-1, -1),(4, 10),(7, 13),(9, 14),(12, 14),(14, 13),(15, 10),(15, 0),(-1, -1)],
#Ascii 105
[(8,8),(3, 21),(4, 20),(5, 21),(4, 22),(3, 21),(-1, -1),(4, 14),(4, 0),(-1, -1)],
#Ascii 106
[(11,10),(5, 21),(6, 20),(7, 21),(6, 22),(5, 21),(-1, -1),(6, 14),(6, -3),(5, -6),(3, -7),(1, -7),(-1, -1)],
#Ascii 107
[(8,17),(4, 21),(4, 0),(-1, -1),(14, 14),(4, 4),(-1, -1),(8, 8),(15, 0),(-1, -1)],
#Ascii 108
[(2,8),(4, 21),(4, 0),(-1, -1),(18, 30),(-1,-1)],
#Ascii 109
[(18,30), (4,14),(4, 0),(-1,-1),(4,10),(7,13),(9,14),(12,14),(14,13),(15,10),(15, 0),(-1,-1),(15,10),(18,13),(20,14),(23,14),(25,13),(26,10),(26, 0),(-1,-1)],
#Ascii 110
[(10,19),(4, 14),(4, 0),(-1, -1),(4, 10),(7, 13),(9, 14),(12, 14),(14, 13),(15, 10),(15, 0),(-1, -1),(17, 19),(-1,-1)],
#Ascii 111 */
[(17,19),(8,14), (6,13), (4,11), (3, 8), (3, 6), (4, 3), (6, 1), (8, 0),(11, 0),(13, 1),(15, 3),(16,6),(16, 8),(15,11),(13,13),(11,14), (8,14), (-1,-1),(-1,-1)],
#Ascii 112
[(17,19),(4, 14),(4, -7),(-1, -1),(4, 11),(6, 13),(8, 14),(11, 14),(13, 13),(15, 11),(16, 8),(16, 6),(15, 3),(13, 1),(11, 0),(8, 0),(6, 1),(4, 3),(-1, -1),(17, 19),(-1,-1)],
#Ascii 113,
[(17,19), (15,14),(15,-7),(-1,-1),(15,11),(13,13),(11,14), (8,14), (6,13), (4,11), (3, 8), (3, 6), (4,3), (6, 1), (8, 0),(11, 0),(13, 1),(15, 3), (-1,-1), (-1,-1)],
#Ascii 114
[(8,13),(4, 14),(4, 0),(-1, -1),(4, 8),(5, 11),(7, 13),(9, 14),(12, 14),(-1, -1)],
#Ascii 115
[(17,17),(14, 11),(13, 13),(10, 14),(7, 14),(4, 13),(3, 11),(4, 9),(6, 8),(11, 7),(13, 6),(14, 4),(14, 3),(13, 1),(10, 0),(7, 0),(4, 1),(3, 3),(-1, -1)],
#Ascii 116
[(8,12),(5, 21),(5, 4),(6, 1),(8, 0),(10, 0),(-1, -1),(2, 14),(9, 14),(-1, -1)],
#Ascii 117
[(10,19),(4, 14),(4, 4),(5, 1),(7, 0),(10, 0),(12, 1),(15, 4),(-1, -1),(15, 14),(15, 0),(-1, -1)],
#Ascii 118
[(5,16),(2, 14),(8, 0),(-1, -1),(14, 14),(8, 0),(-1, -1)],
#Ascii 119
[(11,22),(3, 14),(7, 0),(-1, -1),(11, 14),(7, 0),(-1, -1),(11, 14),(15, 0),(-1, -1),(19, 14),(15, 0),(-1, -1)],
#Ascii 120
[(5,17),(3, 14),(14, 0),(-1, -1),(14, 14),(3, 0),(-1, -1)],
#Ascii 121
[(9,16),(2, 14),(8, 0),(-1, -1),(14, 14),(8, 0),(6, -4),(4, -6),(2, -7),(1, -7),(-1, -1)],
#Ascii 122
[(8,17),(14, 14),(3, 0),(-1, -1),(3, 14),(14, 14),(-1, -1),(3, 0),(14, 0),(-1, -1)],
#Ascii 123
[(39,14),(9, 25),(7, 24),(6, 23),(5, 21),(5, 19),(6, 17),(7, 16),(8, 14),(8, 12),(6, 10),(-1, -1),(7, 24),(6, 22),(6, 20),(7, 18),(8, 17),(9, 15),(9, 13),(8, 11),(4, 9),(8, 7),(9, 5),(9, 3),(8, 1),(7, 0),(6, -2),(6, -4),(7, -6),(-1, -1),(6, 8),(8, 6),(8, 4),(7, 2),(6, 1),(5, -1),(5, -3),(6, -5),(7, -6),(9, -7),(-1, -1)],
#Ascii 124
[(2,8),(4, 25),(4, -7),(-1, -1)],
#Ascii 125
[(39,14),(5, 25),(7, 24),(8, 23),(9, 21),(9, 19),(8, 17),(7, 16),(6, 14),(6, 12),(8, 10),(-1, -1),(7, 24),(8, 22),(8, 20),(7, 18),(6, 17),(5, 15),(5, 13),(6, 11),(10, 9),(6, 7),(5, 5),(5, 3),(6, 1),(7, 0),(8, -2),(8, -4),(7, -6),(-1, -1),(8, 8),(6, 6),(6, 4),(7, 2),(8, 1),(9, -1),(9, -3),(8, -5),(7, -6),(5, -7),(-1, -1)],
#Ascii 126
[(23,24),(3, 6),(3, 8),(4, 11),(6, 12),(8, 12),(10, 11),(14, 8),(16, 7),(18, 7),(20, 8),(21, 10),(-1, -1),(3, 8),(4, 10),(6, 11),(8, 11),(10, 10),(14, 7),(16, 6),(18, 6),(20, 7),(21, 10),(21, 12),(-1, -1)]]

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trap/laser_renderer.py Normal file
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# used for "Forward Referencing of type annotations"
from __future__ import annotations
import time
import ffmpeg
from argparse import Namespace
import datetime
import logging
from multiprocessing import Event
from multiprocessing.synchronize import Event as BaseEvent
import cv2
import numpy as np
import json
import pyglet
import pyglet.event
import zmq
import tempfile
from pathlib import Path
import shutil
import math
from typing import Dict, Iterable, Optional
from pyglet import shapes
from PIL import Image
from trap.frame_emitter import DetectionState, Frame, Track, Camera
from trap.helios import HeliosDAC, HeliosPoint
from trap.preview_renderer import FrameWriter
from trap.tools import draw_track, draw_track_predictions, draw_track_projected, draw_trackjectron_history, to_point, track_predictions_to_lines
from trap.utils import convert_world_points_to_img_points, convert_world_space_to_img_space
logger = logging.getLogger("trap.laser_renderer")
class LaserRenderer:
def __init__(self, config: Namespace, is_running: BaseEvent):
self.config = config
self.is_running = is_running
context = zmq.Context()
self.prediction_sock = context.socket(zmq.SUB)
self.prediction_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
self.prediction_sock.setsockopt(zmq.SUBSCRIBE, b'')
# self.prediction_sock.connect(config.zmq_prediction_addr if not self.config.bypass_prediction else config.zmq_trajectory_addr)
self.prediction_sock.connect(config.zmq_prediction_addr)
self.tracker_sock = context.socket(zmq.SUB)
self.tracker_sock.setsockopt(zmq.CONFLATE, 1) # only keep latest frame. NB. make sure this comes BEFORE connect, otherwise it's ignored!!
self.tracker_sock.setsockopt(zmq.SUBSCRIBE, b'')
self.tracker_sock.connect(config.zmq_trajectory_addr)
self.H = self.config.H
self.inv_H = np.linalg.pinv(self.H)
# TODO: get FPS from frame_emitter
# self.out = cv2.VideoWriter(str(filename), fourcc, 23.97, (1280,720))
self.fps = 60
self.frame_size = (self.config.camera.w,self.config.camera.h)
self.first_time: float|None = None
self.frame: Frame|None= None
self.tracker_frame: Frame|None = None
self.prediction_frame: Frame|None = None
self.tracks: Dict[str, Track] = {}
self.predictions: Dict[str, Track] = {}
self.dac = HeliosDAC(debug=False)
logger.info(f"{self.dac.dev}")
logger.info(f"{self.dac.GetName()}")
logger.info(f"{self.dac.getHWVersion()}")
logger.info(f"Helios version: {self.dac.getHWVersion()}")
# self.init_shapes()
# self.init_labels()
def check_frames(self, dt):
new_tracks = False
try:
self.frame: Frame = self.frame_sock.recv_pyobj(zmq.NOBLOCK)
if not self.first_time:
self.first_time = self.frame.time
img = cv2.GaussianBlur(self.frame.img, (15, 15), 0)
img = cv2.flip(cv2.cvtColor(img, cv2.COLOR_BGR2RGB), 0)
img = pyglet.image.ImageData(self.frame_size[0], self.frame_size[1], 'RGB', img.tobytes())
# don't draw in batch, so that it is the background
self.video_sprite = pyglet.sprite.Sprite(img=img, batch=self.batch_bg)
self.video_sprite.opacity = 100
except zmq.ZMQError as e:
# idx = frame.index if frame else "NONE"
# logger.debug(f"reuse video frame {idx}")
pass
try:
self.prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
new_tracks = True
except zmq.ZMQError as e:
pass
try:
self.tracker_frame: Frame = self.tracker_sock.recv_pyobj(zmq.NOBLOCK)
new_tracks = True
except zmq.ZMQError as e:
pass
def run(self, timer_counter):
frame = None
prediction_frame = None
tracker_frame = None
i=0
first_time = None
while self.is_running.is_set():
i+=1
with timer_counter.get_lock():
timer_counter.value+=1
try:
prediction_frame: Frame = self.prediction_sock.recv_pyobj(zmq.NOBLOCK)
for track_id, track in prediction_frame.tracks.items():
prediction_id = f"{track_id}-{track.history[-1].frame_nr}"
self.predictions[prediction_id] = track
except zmq.ZMQError as e:
logger.debug(f'reuse prediction')
try:
tracker_frame: Frame = self.tracker_sock.recv_pyobj(zmq.NOBLOCK)
for track_id, track in tracker_frame.tracks.items():
self.tracks[track_id] = track
except zmq.ZMQError as e:
logger.debug(f'reuse tracks')
if tracker_frame is None:
# might need to wait a few iterations before first frame comes available
time.sleep(.1)
continue
if first_time is None:
first_time = tracker_frame.time
pointlist = render_frame_to_dac(self.dac, tracker_frame, prediction_frame, first_time, self.config, self.tracks, self.predictions, self.config.render_clusters)
self.dac.newFrame(50000, pointlist)
# clear out old tracks & predictions:
for track_id, track in list(self.tracks.items()):
# TODO)) Migrate to using time() instead of framenr, to detach the two
if get_animation_position(track, tracker_frame) == 1:
self.tracks.pop(track_id)
for prediction_id, track in list(self.predictions.items()):
if get_animation_position(track, tracker_frame) == 1:
self.predictions.pop(prediction_id)
logger.info('Stopping')
# if i>2:
logger.info('stopped')
# colorset = itertools.product([0,255], repeat=3) # but remove white
# colorset = [(0, 0, 0),
# (0, 0, 255),
# (0, 255, 0),
# (0, 255, 255),
# (255, 0, 0),
# (255, 0, 255),
# (255, 255, 0)
# ]
colorset = [
(255,255,100),
(255,100,255),
(100,255,255),
]
# colorset = [
# (0,0,0),
# ]
def get_animation_position(track: Track, current_frame: Frame):
fade_duration = current_frame.camera.fps * 3
diff = current_frame.index - track.history[-1].frame_nr
return max(0, min(1, diff / fade_duration))
# track.history[-1].frame_nr < (current_frame.index - current_frame.camera.fps * 3)
# track.history[-1].frame_nr < (current_frame.index - current_frame.camera.fps * 3)
# Deprecated
def render_frame_to_dac(dac: HeliosDAC, tracker_frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track], as_clusters = True) -> np.array:
# TODO: replace opencv with QPainter to support alpha? https://doc.qt.io/qtforpython-5/PySide2/QtGui/QPainter.html#PySide2.QtGui.PySide2.QtGui.QPainter.drawImage
# or https://github.com/pygobject/pycairo?tab=readme-ov-file
# or https://pyglet.readthedocs.io/en/latest/programming_guide/shapes.html
# and use http://code.astraw.com/projects/motmot/pygarrayimage.html or https://gist.github.com/nkymut/1cb40ea6ae4de0cf9ded7332f1ca0d55
# or https://api.arcade.academy/en/stable/index.html (supports gradient color in line -- "Arcade is built on top of Pyglet and OpenGL.")
pointlist = []
# pointlist.append(HeliosPoint(x,y, dac.palette[cindex],blank=blank))
# all not working:
# if i == 1:
# # thanks to GpG for fixing scaling issue: https://stackoverflow.com/a/39668864
# scale_factor = 1./20 # from 10m to 1000px
# S = np.array([[scale_factor, 0,0],[0,scale_factor,0 ],[ 0,0,1 ]])
# new_H = S * self.H * np.linalg.inv(S)
# warpedFrame = cv2.warpPerspective(img, new_H, (1000,1000))
# cv2.imwrite(str(self.config.output_dir / "orig.png"), warpedFrame)
# cv2.rectangle(img, (0,0), (img.shape[1],25), (0,0,0), -1)
c = dac.palette[4] # Green
pointlist.append(HeliosPoint(10,10, c,blank=False))
pointlist.append(HeliosPoint(10,100, c,blank=False))
pointlist.append(HeliosPoint(100,100, c,blank=False))
pointlist.append(HeliosPoint(100,10, c,blank=False))
pointlist.append(HeliosPoint(10,10, c,blank=True))
if not tracker_frame:
c = dac.palette[3] # yellow
pointlist.append(HeliosPoint(110,10, c,blank=False))
pointlist.append(HeliosPoint(110,100, c,blank=False))
pointlist.append(HeliosPoint(200,100, c,blank=False))
pointlist.append(HeliosPoint(200,10, c,blank=False))
pointlist.append(HeliosPoint(110,10, c,blank=True))
else:
for track_id, track in tracks.items():
inv_H = np.linalg.pinv(tracker_frame.H)
history = track.get_projected_history(camera=config.camera)
history = convert_world_points_to_img_points(history)
# point_color = bgr_colors[color_index % len(bgr_colors)]
points = np.rint(history.reshape((-1,1,2))).astype(np.int32)
for i, point in enumerate(points):
blank = i+1 == len(points) # last point blank
pointlist.append(HeliosPoint(point[0][0], point[0][1], dac.palette[2], blank=blank))
# draw_track_projected(img, track, int(track_id), config.camera, convert_world_points_to_img_points)
if not prediction_frame:
c = dac.palette[7] # magenta
pointlist.append(HeliosPoint(210,10, c,blank=False))
pointlist.append(HeliosPoint(210,100, c,blank=False))
pointlist.append(HeliosPoint(300,100, c,blank=False))
pointlist.append(HeliosPoint(300,10, c,blank=False))
pointlist.append(HeliosPoint(210,10, c,blank=True))
# cv2.putText(img, f"Waiting for prediction...", (500,17), cv2.FONT_HERSHEY_PLAIN, 1, (255,255,0), 1)
# continue
else:
for track_id, track in predictions.items():
inv_H = np.linalg.pinv(prediction_frame.H)
# For debugging:
# draw_trackjectron_history(img, track, int(track.track_id), convert_world_points_to_img_points)
anim_position = get_animation_position(track, tracker_frame)
lines = track_predictions_to_lines(track, config.camera, anim_position)
if not lines:
continue
lines = [convert_world_points_to_img_points(points) for points in lines]
# cv2 only draws to integer coordinates
lines = [np.rint(points).astype(int) for points in lines]
# draw in a single pass
# line_points = line_points.reshape((1, -1,1,2))
for line in lines:
for i, point in enumerate(line):
blank = i+1 == len(points) # last point blank
pointlist.append(HeliosPoint(point[0], point[1], dac.palette[4], blank=blank))
# draw_track_predictions(img, track, int(track.track_id)+1, config.camera, convert_world_points_to_img_points, anim_position=anim_position, as_clusters=as_clusters)
# cv2.putText(img, f"{len(track.predictor_history) if track.predictor_history else 'none'}", to_point(track.history[0].get_foot_coords()), cv2.FONT_HERSHEY_COMPLEX, 1, (255,255,255), 1)
return pointlist
def run_laser_renderer(config: Namespace, is_running: BaseEvent, timer_counter):
renderer = LaserRenderer(config, is_running)
renderer.run(timer_counter)

5
trap/plumber.py
View file

@ -9,6 +9,7 @@ import time
from trap.config import parser from trap.config import parser
from trap.cv_renderer import run_cv_renderer from trap.cv_renderer import run_cv_renderer
from trap.frame_emitter import run_frame_emitter from trap.frame_emitter import run_frame_emitter
from trap.laser_renderer import run_laser_renderer
from trap.prediction_server import run_prediction_server from trap.prediction_server import run_prediction_server
from trap.preview_renderer import run_preview_renderer from trap.preview_renderer import run_preview_renderer
from trap.animation_renderer import run_animation_renderer from trap.animation_renderer import run_animation_renderer
@ -106,6 +107,10 @@ def start():
procs.append( procs.append(
ExceptionHandlingProcess(target=run_animation_renderer, kwargs={'config': args, 'is_running': isRunning}, name='renderer') ExceptionHandlingProcess(target=run_animation_renderer, kwargs={'config': args, 'is_running': isRunning}, name='renderer')
) )
if args.render_laser:
procs.append(
ExceptionHandlingProcess(target=run_laser_renderer, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_preview.iterations}, name='renderer')
)
if not args.bypass_prediction: if not args.bypass_prediction:
timer_predict = timers.new('predict') timer_predict = timers.new('predict')

42
trap/tools.py
View file

@ -324,27 +324,13 @@ def cluster_predictions_by_radius(start_point, lines: Iterable[np.ndarray] | Lin
# l = LineString([(0,0), (10, 10)]) # l = LineString([(0,0), (10, 10)])
# i = c.intersection(l) # i = c.intersection(l)
def track_predictions_to_lines(track: Track, camera:Camera, anim_position=.8):
def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:Camera, convert_points: Optional[Callable], anim_position=.8, as_clusters=False):
"""
anim_position: 0-1
"""
if not track.predictions: if not track.predictions:
return return
current_point = track.get_projected_history(camera=camera)[-1] current_point = track.get_projected_history(camera=camera)[-1]
opacity = 1-min(1, max(0, inv_lerp(0.8, 1, anim_position))) # fade out
slide_t = min(1, max(0, inv_lerp(0, 0.8, anim_position))) # slide_position slide_t = min(1, max(0, inv_lerp(0, 0.8, anim_position))) # slide_position
# if convert_points:
# current_point = convert_points([current_point])[0]
color = bgr_colors[color_index % len(bgr_colors)]
color = tuple([int(c*opacity) for c in color])
lines = [] lines = []
for pred_i, pred in enumerate(track.predictions): for pred_i, pred in enumerate(track.predictions):
pred_coords = pred #cv2.perspectiveTransform(np.array([pred]), inv_H)[0].tolist() pred_coords = pred #cv2.perspectiveTransform(np.array([pred]), inv_H)[0].tolist()
@ -353,7 +339,27 @@ def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:
# print(pred_coords, current_point, line_points) # print(pred_coords, current_point, line_points)
line_points = transition_path_points(line_points, slide_t) line_points = transition_path_points(line_points, slide_t)
lines.append(line_points) lines.append(line_points)
return lines
def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:Camera, convert_points: Optional[Callable], anim_position=.8, as_clusters=False):
"""
anim_position: 0-1
"""
lines = track_predictions_to_lines(track, camera, anim_position)
if not lines:
return
opacity = 1-min(1, max(0, inv_lerp(0.8, 1, anim_position))) # fade out
# if convert_points:
# current_point = convert_points([current_point])[0]
color = bgr_colors[color_index % len(bgr_colors)]
color = tuple([int(c*opacity) for c in color])
if as_clusters: if as_clusters:
clusters = cluster_predictions_by_radius(current_point, lines, 1.5) clusters = cluster_predictions_by_radius(current_point, lines, 1.5)
@ -387,7 +393,7 @@ def draw_track_predictions(img: cv2.Mat, track: Track, color_index: int, camera:
lines = [np.rint(points).astype(int) for points in lines] lines = [np.rint(points).astype(int) for points in lines]
# draw in a single pass # draw in a single pass
line_points = line_points.reshape((1, -1,1,2)) # line_points = line_points.reshape((1, -1,1,2)) # TODO)) SEems to do nothing..
cv2.polylines(img, lines, False, color, 2, cv2.LINE_AA) cv2.polylines(img, lines, False, color, 2, cv2.LINE_AA)
def draw_trackjectron_history(img: cv2.Mat, track: Track, color_index: int, convert_points: Optional[Callable]): def draw_trackjectron_history(img: cv2.Mat, track: Track, color_index: int, convert_points: Optional[Callable]):

12
trap/video_sources.py
View file

@ -7,7 +7,7 @@ import neoapi
import cv2 import cv2
import numpy as np import numpy as np
from trap.frame_emitter import Camera, Frame, UrlOrPath from trap.base import Camera, UrlOrPath
logger = logging.getLogger('video_source') logger = logging.getLogger('video_source')
@ -32,10 +32,10 @@ class GigE(VideoSource):
self.camera.SetImageBufferCount(10) self.camera.SetImageBufferCount(10)
# neoAPI docs: Setting the neoapi.Cam.SetImageBufferCycleCount()to one ensures that all buffers but one are given back to the neoAPI to be re-cycled and never given to the user by the neoapi.Cam.GetImage() method. # neoAPI docs: Setting the neoapi.Cam.SetImageBufferCycleCount()to one ensures that all buffers but one are given back to the neoAPI to be re-cycled and never given to the user by the neoapi.Cam.GetImage() method.
self.camera.SetImageBufferCycleCount(1) self.camera.SetImageBufferCycleCount(1)
# if self.camera.IsConnected(): if self.camera.IsConnected():
# self.camera.f.PixelFormat.Set(neoapi.PixelFormat_RGB8) self.camera.f.PixelFormat.Set(neoapi.PixelFormat_RGB8)
# self.camera.f.BinningHorizontal.Set(2) self.camera.f.BinningHorizontal.Set(2)
# self.camera.f.BinningVertical.Set(2) self.camera.f.BinningVertical.Set(2)
self.pixfmt = self.camera.f.PixelFormat.Get() self.pixfmt = self.camera.f.PixelFormat.Get()
def recv(self): def recv(self):
@ -43,7 +43,7 @@ class GigE(VideoSource):
if not self.camera.IsConnected(): if not self.camera.IsConnected():
return return
i = self.camera.GetImage(0) i = self.camera.GetImage(0)
if i.IsEmpty(): if i.IsEmpty():
time.sleep(.01) time.sleep(.01)
continue continue