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trap/trap/helios.py
Ruben van de Ven 2ade58549f Fist laser test night
2025-03-18 18:38:58 +01:00

631 lines
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Python
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# 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.generateText("hello World", 0, 0,scale=10)
# pps = 20000
# while(1):
# a.newFrame(pps,cal)
# a.DoFrame()
# cal = a.loadILDfile("ildatest.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)
pps = 200
while(1):
a.newFrame(pps,[HeliosPoint(0,200, c=(255,255,255)), #draw a square
HeliosPoint(200,200, c=(255,255,255)),
HeliosPoint(200,0, c=(255,255,255)),
HeliosPoint(0,0, c=(255,255,255))])
a.DoFrame()
# 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()
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