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flandre 2025-01-13 14:21:01 +08:00
parent 4337b10a87
commit 5727df26c8
26 changed files with 1445 additions and 167 deletions
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1
.gitignore vendored
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@ -2,3 +2,4 @@
.venv
bak
__pycache__
@DS

1
pyproject.toml
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@ -15,6 +15,7 @@ dependencies = [
"scipy>=1.14.1",
"tqdm>=4.67.1",
"vtk>=9.4.0",
"jupyter>=1.1.1",
]
[tool.uv]

2
src/BusClient.py
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@ -1,7 +1,7 @@
import zmq
from zmq import Context
from Msg import Msg
from utils.Msg import Msg
class BusClient:

5
src/H264NV.py
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@ -1,15 +1,14 @@
import fractions
import logging
import math
from itertools import tee
from struct import pack, unpack_from
from typing import Iterator, List, Optional, Sequence, Tuple, Type, TypeVar
import av
import math
from aiortc.codecs.base import Decoder, Encoder
from aiortc.jitterbuffer import JitterFrame
from aiortc.mediastreams import VIDEO_TIME_BASE, convert_timebase
from aiortc.codecs.base import Decoder, Encoder
from av.frame import Frame
from av.packet import Packet

6
src/beamformer/das.py
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@ -4,9 +4,9 @@ from typing import Callable
import cupy as cp
import numpy as np
from ds.Config import DeviceConfig
from imaging.dist import refraction_dist, direct_dist
from imaging.kernels import dist_mat_to_yids, dist_mat_to_yids_pwi
from beamformer.dist import refraction_dist, direct_dist
from beamformer.kernels import dist_mat_to_yids, dist_mat_to_yids_pwi
from utils.Config import DeviceConfig
def repeat_range_in_axis(shape: tuple, axis: int,p=cp):

4
src/beamformer/dist.py
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@ -5,8 +5,8 @@ where f(y,x) is the pixel distance in echo pulse RF signal between point(0,0) an
import numpy as np
from scipy.optimize import fsolve
from ds.Config import DeviceConfig
from utils.filename import DS
from config import DS
from utils.Config import DeviceConfig
def refraction_dist(dev_cfg=DeviceConfig()):

4
src/beamformer/kernels.py
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@ -7,9 +7,9 @@ xri: x receive index
xrs: x receive shape
"""
import cupy as cp
from beamformer.dist import direct_dist
from ds.Config import DeviceConfig
from imaging.dist import direct_dist
from utils.Config import DeviceConfig
def dist_mat_to_yids(dist_mat: cp.ndarray, dev_cfg=DeviceConfig()):

6
src/beamformer/process.py
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@ -1,8 +1,8 @@
from ds.Config import ImagingConfig
from imaging.ScanData import ScanData
import cupy as cp
from imaging.das import TFM
from beamformer.das import TFM
from utils.Config import ImagingConfig
from utils.ScanData import ScanData
tfm_cache = [None]

22
src/config.py
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@ -1,3 +1,19 @@
socket1 = '127.0.0.1:5003'
video_height = 1920
video_width = 1080
from pathlib import Path
SOCKET1 = '127.0.0.1:5003'
VIDEO_HEIGHT = 1920
VIDEO_WIDTH = 1080
BASE = Path(__file__).parent.parent
DS = BASE / '@DS'
DOC = BASE / 'doc'
DS.mkdir(exist_ok=True, parents=True)
DOC.mkdir(exist_ok=True, parents=True)
CONFIG_FOLDER = BASE / 'config'
LAST_CONFIG = BASE / 'config' / 'last_imaging_config.json'
CONFIG_FOLDER.mkdir(exist_ok=True)
if __name__ == '__main__':
print(BASE)

9
src/nodes/Beamformer.py
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@ -1,10 +1,9 @@
import cv2
import numpy as np
import zmq
import cupy as cp
from Msg import BMMsg, ImageArgMsg, KillMsg
from config import socket1, video_width, video_height
from utils.Msg import BMMsg, ImageArgMsg, KillMsg
from config import SOCKET1, VIDEO_WIDTH, VIDEO_HEIGHT
from nodes.Node import Node
@ -26,14 +25,14 @@ class Beamformer(Node):
b *= 255
b = b.astype(np.uint8)
b = cv2.rotate(b, cv2.ROTATE_90_CLOCKWISE)
b = cv2.resize(b, (video_width, video_height))
b = cv2.resize(b, (VIDEO_WIDTH, VIDEO_HEIGHT))
b = cv2.cvtColor(b, cv2.COLOR_GRAY2RGBA, b)
self.send(BMMsg(0, b.tobytes()))
def loop(self):
s2 = self.context.socket(zmq.PULL)
s2.setsockopt(zmq.CONFLATE, 1)
s2.connect(f"tcp://{socket1}")
s2.connect(f"tcp://{SOCKET1}")
self.c.poller.register(s2, zmq.POLLIN)
buffer = None
while True:

2
src/nodes/Broker.py
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@ -4,7 +4,7 @@ import zmq
from zmq import ContextTerminated
from nodes.Node import Node
from Msg import KillMsg
from utils.Msg import KillMsg
class Broker(Node):

14
src/nodes/ImageCV.py
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@ -1,15 +1,9 @@
import sys
import cv2
import numpy as np
import zmq
from PyQt6.QtWidgets import QMainWindow, QApplication
from Image import Ui_MainWindow
from RfFile import RfFolder
from Msg import StrMsg, MoveAxisMsg, KillMsg, Msg, ImageArgMsg, BMMsg
from config import video_height, video_width
from utils.Msg import BMMsg
from config import VIDEO_HEIGHT, VIDEO_WIDTH
from nodes.Node import Node
@ -18,7 +12,7 @@ class ImageCV(Node):
def __init__(self):
super().__init__()
self.buffer = np.zeros((video_height, video_width, 3), dtype=np.uint8) + 128
self.buffer = np.zeros((VIDEO_HEIGHT, VIDEO_WIDTH, 3), dtype=np.uint8) + 128
def loop(self):
cv2.namedWindow('image', cv2.WINDOW_NORMAL)
@ -28,7 +22,7 @@ class ImageCV(Node):
r = self.recv()
if isinstance(r, BMMsg):
b = np.frombuffer(r.data, dtype=np.uint8)
b = np.reshape(b, (video_height, video_width, 4))
b = np.reshape(b, (VIDEO_HEIGHT, VIDEO_WIDTH, 4))
self.buffer = b
cv2.imshow('image', self.buffer)
cv2.waitKey(1)

9
src/nodes/ImageQt.py
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@ -1,17 +1,14 @@
import sys
import numpy as np
import zmq
from PyQt6 import QtCore
from PyQt6.QtCore import QByteArray
from PyQt6.QtGui import QImage, QPixmap
from PyQt6.QtWidgets import QMainWindow, QApplication
from Image import Ui_MainWindow
from RfFile import RfFolder
from Msg import StrMsg, MoveAxisMsg, KillMsg, Msg, ImageArgMsg, BMMsg
from utils.Msg import KillMsg, Msg, ImageArgMsg, BMMsg
from ZMQReceiver import ZMQReceiver
from config import video_height, video_width
from config import VIDEO_HEIGHT, VIDEO_WIDTH
from nodes.Node import Node
@ -34,7 +31,7 @@ class Adv(QMainWindow, Ui_MainWindow):
# height, width, channel = cvImg.shape
# bytesPerLine = 3 * width
# qImg = QImage(cvImg.data, width, height, bytesPerLine, QImage.Format.Format_RGB888).rgbSwapped()
qImg = QImage(msg.data, video_width, video_height, 4 * video_width, QImage.Format.Format_RGB888).rgbSwapped()
qImg = QImage(msg.data, VIDEO_WIDTH, VIDEO_HEIGHT, 4 * VIDEO_WIDTH, QImage.Format.Format_RGB888).rgbSwapped()
self.label.setPixmap(QPixmap(qImg))
@QtCore.pyqtSlot(int)

5
src/nodes/Loader.py
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@ -1,8 +1,7 @@
import numpy as np
import zmq
from RfFile import RfFolder
from Msg import StrMsg, MoveAxisMsg, KillMsg
from utils.RfFile import RfFolder
from utils.Msg import MoveAxisMsg, KillMsg
from nodes.Node import Node

5
src/nodes/MainUI.py
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@ -1,14 +1,11 @@
import sys
import numpy as np
import zmq
from PyQt6 import QtCore
from PyQt6.QtCore import QByteArray
from PyQt6.QtWidgets import QMainWindow, QApplication
from Main import Ui_MainWindow
from RfFile import RfFolder
from Msg import StrMsg, MoveAxisMsg, KillMsg, Msg, ImageArgMsg
from utils.Msg import KillMsg, Msg, ImageArgMsg
from ZMQReceiver import ZMQReceiver
from nodes.Node import Node

2
src/nodes/Node.py
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@ -4,7 +4,7 @@ from abc import abstractmethod
import zmq
from BusClient import BusClient
from Msg import Msg, KillMsg
from utils.Msg import Msg, KillMsg
class Node:

9
src/nodes/WebRTC.py
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@ -9,7 +9,6 @@ from fractions import Fraction
import aiohttp
import aiohttp_cors
import aiortc.rtcrtpsender
import cv2
import numpy as np
import zmq
from aiohttp import web, WSMessage
@ -19,8 +18,8 @@ from av import VideoFrame
import H264NV
from BusClient import BusClient
from Msg import BMMsg, Msg, TickMsg, KillMsg, StrMsg, MoveAxisMsg, ImageArgMsg
from config import video_width, video_height
from utils.Msg import BMMsg, Msg, KillMsg, MoveAxisMsg, ImageArgMsg
from config import VIDEO_WIDTH, VIDEO_HEIGHT
ROOT = os.path.dirname(__file__)
from nodes.Node import Node
@ -29,7 +28,7 @@ web.WebSocketResponse()
def generate_placeholder():
z = np.zeros((video_height, video_width, 4), dtype=np.uint8)
z = np.zeros((VIDEO_HEIGHT, VIDEO_WIDTH, 4), dtype=np.uint8)
z[:, :, 3] = 0
z[:, :, :3] = 128
return z.tobytes()
@ -58,7 +57,7 @@ class WebRTC(Node):
msg: BMMsg = Msg.decode_msg(events[0][0].recv())
self.buffer = msg.data
frame = VideoFrame.from_bytes(self.buffer, video_width, video_height)
frame = VideoFrame.from_bytes(self.buffer, VIDEO_WIDTH, VIDEO_HEIGHT)
frame.time_base = Fraction(1, 60)
frame.pts = self.pts
self.pts += 1

103
src/rtcserver.py
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@ -1,103 +0,0 @@
import asyncio
import json
import logging
import os
from fractions import Fraction
import aiohttp_cors
import aiortc.rtcrtpsender
import zmq
from aiohttp import web
from aiortc import MediaStreamTrack, RTCPeerConnection, RTCSessionDescription, RTCConfiguration, RTCRtpCodecCapability
from av import VideoFrame
import H264NV
ROOT = os.path.dirname(__file__)
class PlayerStreamTrackx(MediaStreamTrack):
def __init__(self):
super().__init__()
context = zmq.Context()
self.socket = context.socket(zmq.PULL)
self.socket.bind("tcp://*:5555")
self.kind = 'video'
self.pts = 0
async def recv(self):
frame = VideoFrame.from_bytes(self.socket.recv(), 1920, 1080)
frame.time_base = Fraction(1, 120)
frame.pts = self.pts
self.pts += 1
return frame
pcs = set()
px = PlayerStreamTrackx()
async def offer(request):
params = await request.json()
offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
pc = RTCPeerConnection(RTCConfiguration([]))
# print(request.remote)
pcs.add(pc)
rc = pc.addTransceiver(px, 'sendonly')
rc.setCodecPreferences([RTCRtpCodecCapability(mimeType='video/H264',
clockRate=90000,
channels=None,
parameters={
'level-asymmetry-allowed': '1',
'packetization-mode': '1',
'profile-level-id': '42e01f'
})])
await pc.setRemoteDescription(offer)
answer = await pc.createAnswer()
await pc.setLocalDescription(answer)
return web.Response(
content_type="application/json",
text=json.dumps(
{"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
),
)
async def on_shutdown(app):
# close peer connections
coros = [pc.close() for pc in pcs]
await asyncio.gather(*coros)
pcs.clear()
if __name__ == "__main__":
f0 = aiortc.RTCRtpSender.__init__
def f1(*args, **kwargs):
f0(*args, **kwargs)
if not args[1] == 'audio':
args[0]._RTCRtpSender__encoder = H264NV.H264NVENCEncoder()
aiortc.RTCRtpSender.__init__ = f1
logging.basicConfig(level=logging.INFO)
app = web.Application()
app.on_shutdown.append(on_shutdown)
app.router.add_post("/offer", offer)
cors = aiohttp_cors.setup(app, defaults={
"*": aiohttp_cors.ResourceOptions(
allow_credentials=True,
expose_headers="*",
allow_headers="*"
)
})
for route in list(app.router.routes()):
cors.add(route)
web.run_app(
app, access_log=None, host='0.0.0.0', port=8081
)

2
src/utils/Config.py
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@ -1,7 +1,7 @@
import dataclasses
import json
from utils.filename import LAST_CONFIG, CONFIG_FOLDER
from config import CONFIG_FOLDER
@dataclasses.dataclass

1
src/utils/Msg.py
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@ -1,7 +1,6 @@
import dataclasses
import json
import struct
import time
from enum import auto, Enum

139
src/utils/RfFile.py
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@ -1,4 +1,7 @@
from enum import Enum, auto
from pathlib import Path
import inspect
from typing import Annotated, get_type_hints
from attr import dataclass
@ -9,6 +12,7 @@ class RfFolder:
D: str
L: int = 30
C: str = 'PAR'
SHAPE = (1500, 256)
@staticmethod
def from_path(p: Path | str) -> 'RfFolder':
@ -59,11 +63,144 @@ class RfFile:
# print(filename)
return self.folder.path / filename
@property
def bin(self):
return self.path.read_bytes()
def test2():
r = RfFile.from_path('/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/cap4/TEST1,L=30,C=PAR/S=925,E=4.bin')
print(r)
COMMIT_KEY = 'COMMIT'
class SM:
@classmethod
@property
def p2a(clz):
gh = get_type_hints(clz, include_extras=True)
return {k: gh[k].__metadata__[0] for k in gh}
@classmethod
@property
def p2t(clz):
return get_type_hints(clz)
@classmethod
@property
def a2p(clz):
return {v: k for k, v in clz.p2a.items()}
@property
def name(self):
p2a = self.p2a
p2t = self.p2t
a2p = self.a2p
arr = []
if COMMIT_KEY in a2p:
cp = a2p[COMMIT_KEY]
del p2a[cp]
arr.append(f'{self.__getattribute__(cp)}')
for p in p2a:
t = p2t[p]
v = self.__getattribute__(p)
if issubclass(t, Enum):
vs = v.name
elif issubclass(t, tuple):
vs = f'({' '.join([str(vv) for vv in v])})'
else:
vs = str(v)
arr.append(f'{p2a[p]}={vs}')
return ",".join(arr) + '.bin'
@classmethod
def from_name(clz, name: str):
p2t = clz.p2t
a2p = clz.a2p
c = clz()
sp = Path(name).stem.split(',')
if COMMIT_KEY in a2p:
c.__setattr__(a2p[COMMIT_KEY], sp.pop(0))
for pv in sp:
a, v = pv.split('=')
p = a2p[a]
t = p2t[p]
if issubclass(t, Enum):
c.__setattr__(p, t[v])
elif issubclass(t, tuple):
c.__setattr__(p, tuple(int(i) for i in v[1:-1].split(' ')))
else:
c.__setattr__(p, t(v))
return c
class RfFrame:
@dataclass
class RfFrameMeta(SM):
encoder: Annotated[int, 'E'] = None
sequence_id: Annotated[int, 'S'] = None # test3
robot_x: Annotated[int, 'X'] = None
robot_y: Annotated[int, 'Y'] = None
robot_z: Annotated[int, 'Z'] = None
def __init__(self, data: bytes | Path, meta: RfFrameMeta):
self.data = data
self.meta = meta
def save(self, folder: Path):
(folder / self.meta.name).write_bytes(self.bytes)
@property
def bytes(self):
if isinstance(self.data, bytes):
return self.data
if isinstance(self.data, Path):
return self.data.read_bytes()
@dataclass
class RfSequenceMeta(SM):
class RfSequenceMode(Enum):
PWI = auto()
TFM = auto()
commit: Annotated[int, COMMIT_KEY] = None
shape: Annotated[tuple, 'S'] = None
mode: Annotated[RfSequenceMode, 'M'] = RfSequenceMode.PWI
us: Annotated[int, 'U'] = None
class RfSequence:
def __init__(self, frames: list[RfFrame], meta: RfSequenceMeta):
self.frames = frames
self.meta = meta
@classmethod
def from_folder(cls, folder: Path | str) -> 'RfSequence':
folder = Path(folder)
meta = RfSequenceMeta.from_name(folder.name)
arr = []
for f in folder.glob('*.bin'):
arr.append(RfFrame(f, RfFrame.RfFrameMeta.from_name(f.name)))
return RfSequence(arr, meta)
@property
def all(self):
pass
def query(self):
pass
if __name__ == '__main__':
test2()
t = (1, 2)
f = RfSequenceMeta.from_name('123123,U=321,S=(1 2 3),M=PWI')
# print(f.commit)
print(f.name)
# print(RfSequence.RfSequenceMeta.p2t)
# f = RfFrame.RfFrameMeta(123, 345)
# print(f.name)
rs = RfSequence([], RfSequenceMeta())

2
test/kill.py
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@ -2,7 +2,7 @@ import time
from BusClient import BusClient
from Msg import KillMsg
from utils.Msg import KillMsg
if __name__ == '__main__':
c = BusClient()

38
test/main.ipynb
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@ -2,15 +2,45 @@
"cells": [
{
"cell_type": "code",
"execution_count": null,
"id": "initial_id",
"metadata": {
"collapsed": true
"collapsed": true,
"ExecuteTime": {
"end_time": "2025-01-12T12:27:14.384233Z",
"start_time": "2025-01-12T12:27:13.172285Z"
}
},
"outputs": [],
"source": [
""
"from beamformer.process import pwi_process\n",
"from utils.RfFile import RfFile\n",
"from utils.ScanData import ScanData\n",
"\n",
"f = RfFile.from_path('/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/cap4/trim/R1,L=30,C=PAR/S=1063,E=4.bin')\n",
"s = ScanData.from_file(f)\n",
"pwi_process()"
],
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"/home/lambda/source/scarlet/flandre/.venv/lib/python3.12/site-packages/cupyx/jit/_interface.py:173: FutureWarning: cupyx.jit.rawkernel is experimental. The interface can change in the future.\n",
" cupy._util.experimental('cupyx.jit.rawkernel')\n"
]
},
{
"ename": "TypeError",
"evalue": "ScanData.from_file() missing 1 required positional argument: 'shape'",
"output_type": "error",
"traceback": [
"\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
"\u001B[0;31mTypeError\u001B[0m Traceback (most recent call last)",
"Cell \u001B[0;32mIn[2], line 6\u001B[0m\n\u001B[1;32m 3\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mutils\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mScanData\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m ScanData\n\u001B[1;32m 5\u001B[0m f \u001B[38;5;241m=\u001B[39m RfFile\u001B[38;5;241m.\u001B[39mfrom_path(\u001B[38;5;124m'\u001B[39m\u001B[38;5;124m/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/cap4/trim/R1,L=30,C=PAR/S=1063,E=4.bin\u001B[39m\u001B[38;5;124m'\u001B[39m)\n\u001B[0;32m----> 6\u001B[0m s \u001B[38;5;241m=\u001B[39m \u001B[43mScanData\u001B[49m\u001B[38;5;241;43m.\u001B[39;49m\u001B[43mfrom_file\u001B[49m\u001B[43m(\u001B[49m\u001B[43mf\u001B[49m\u001B[43m)\u001B[49m\n\u001B[1;32m 7\u001B[0m pwi_process()\n",
"\u001B[0;31mTypeError\u001B[0m: ScanData.from_file() missing 1 required positional argument: 'shape'"
]
}
],
"execution_count": 2
}
],
"metadata": {

2
test/test.py
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@ -0,0 +1,2 @@
if __name__ == '__main__':
print(tuple(str((1, 2, 3))))

3
test/zmqmyclasstest.py
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@ -10,12 +10,11 @@ from tqdm import tqdm
from nodes.Beamformer import Beamformer
from nodes.Broker import Broker
from nodes.ImageCV import ImageCV
from nodes.ImageQt import ImageQt
from nodes.Loader import Loader
from nodes.MainUI import MainUI
from nodes.Node import Node
from BusClient import BusClient
from Msg import Msg1, Msg2, BMMsg, TickMsg, StrMsg, KillMsg
from utils.Msg import Msg1, Msg2, BMMsg, TickMsg, StrMsg, KillMsg
from nodes.WebRTC import WebRTC

1212
uv.lock
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