From 6a79d640b64cc9477d051340458003130cdf1cfa Mon Sep 17 00:00:00 2001 From: flandre Date: Tue, 10 Jun 2025 19:22:56 +0800 Subject: [PATCH] refactor: delete legacy test --- test/legacy/avencode.py | 182 ------------------------ test/legacy/driver_pull.py | 16 --- test/legacy/drivercmd.py | 47 ------- test/legacy/kdemain.py | 53 ------- test/legacy/kill.py | 11 -- test/legacy/main.ipynb | 67 --------- test/legacy/main.py | 75 ---------- test/legacy/process_b.py | 38 ----- test/legacy/process_leagacy.py | 191 -------------------------- test/legacy/qtonly.py | 23 ---- test/legacy/qtstyles.py | 4 - test/legacy/realtimeplot.py | 44 ------ test/legacy/rtc.py | 69 ---------- test/legacy/so.py | 8 -- test/legacy/tcp.py | 6 - test/legacy/test.py | 4 - test/legacy/test.ui | 45 ------ test/legacy/test2.py | 36 ----- test/legacy/test2ui.py | 24 ---- test/legacy/testDevice.py | 32 ----- test/legacy/test_ffmpeg_stdout.py | 27 ---- test/legacy/test_process_cupy.py | 31 ----- test/legacy/test_zmq_req_clientr.py | 34 ----- test/legacy/test_zmq_req_server.py | 17 --- test/legacy/testcupy.py | 14 -- test/legacy/testdevicegui.py | 39 ------ test/legacy/testdevicerecv.py | 36 ----- test/legacy/testmiio.py | 36 ----- test/legacy/testpy.py | 114 --------------- test/legacy/testrobotremotecontrol.py | 15 -- test/legacy/winmain.py | 52 ------- test/legacy/zmqlargetest.py | 34 ----- test/legacy/zmqmyclasstest.py | 136 ------------------ 33 files changed, 1560 deletions(-) delete mode 100644 test/legacy/avencode.py delete mode 100644 test/legacy/driver_pull.py delete mode 100644 test/legacy/drivercmd.py delete mode 100644 test/legacy/kdemain.py delete mode 100644 test/legacy/kill.py delete mode 100644 test/legacy/main.ipynb delete mode 100644 test/legacy/main.py delete mode 100644 test/legacy/process_b.py delete mode 100644 test/legacy/process_leagacy.py delete mode 100644 test/legacy/qtonly.py delete mode 100644 test/legacy/qtstyles.py delete mode 100644 test/legacy/realtimeplot.py delete mode 100644 test/legacy/rtc.py delete mode 100644 test/legacy/so.py delete mode 100644 test/legacy/tcp.py delete mode 100644 test/legacy/test.py delete mode 100644 test/legacy/test.ui delete mode 100644 test/legacy/test2.py delete mode 100644 test/legacy/test2ui.py delete mode 100644 test/legacy/testDevice.py delete mode 100644 test/legacy/test_ffmpeg_stdout.py delete mode 100644 test/legacy/test_process_cupy.py delete mode 100644 test/legacy/test_zmq_req_clientr.py delete mode 100644 test/legacy/test_zmq_req_server.py delete mode 100644 test/legacy/testcupy.py delete mode 100644 test/legacy/testdevicegui.py delete mode 100644 test/legacy/testdevicerecv.py delete mode 100644 test/legacy/testmiio.py delete mode 100644 test/legacy/testpy.py delete mode 100644 test/legacy/testrobotremotecontrol.py delete mode 100644 test/legacy/winmain.py delete mode 100644 test/legacy/zmqlargetest.py delete mode 100644 test/legacy/zmqmyclasstest.py diff --git a/test/legacy/avencode.py b/test/legacy/avencode.py deleted file mode 100644 index 764a3a1..0000000 --- a/test/legacy/avencode.py +++ /dev/null @@ -1,182 +0,0 @@ -import fractions -import logging -from typing import cast - -import av -import numpy as np -from av import VideoCodecContext, VideoFrame - -# for e in av.codecs_available: -# print(e) -logging.basicConfig(level=logging.DEBUG) -logging.getLogger('libav').setLevel(logging.DEBUG) -MAX_FRAME_RATE = 60 - - -def f0(): - # input_ = av.open('asd','w') - # in_stream = input_.streams.video[0] - # libx264 - codec: VideoCodecContext = av.CodecContext.create('libx264', "w") - - codec.width = 640 - codec.height = 480 - codec.pix_fmt = 'yuv420p' # 常用格式, 大部分解码器都支持 - - # codec.width = 100 - # codec.height = 100 - # codec.bit_rate = 100000 - # codec.pix_fmt = "yuv420p" - # codec.framerate = fractions.Fraction(MAX_FRAME_RATE, 1) - # codec.time_base = fractions.Fraction(1, MAX_FRAME_RATE) - # codec.options = { - # "profile": "baseline", - # "level": "31", - # "tune": "zerolatency", - # } - codec.open() - pts = 0 - while True: - f = VideoFrame.from_ndarray(np.zeros((640, 480, 3), dtype=np.uint8)) - pts += 1 - f.pts = pts - r = codec.encode(f) - if r.__len__() > 0: - print(r[0].__buffer__(0).__len__()) - - -def f1(): - import av - - # 创建一个输出容器 - output = av.open('output.mp4', 'w') - - # 添加一个视频流 - stream = output.add_stream('libx264', rate=24) - stream.width = 640 - stream.height = 480 - stream.pix_fmt = 'yuv420p' - - # 编码循环 - for i in range(100): - frame = av.VideoFrame(width=640, height=480, format='rgb24') - # ... 对帧进行处理 ... - for packet in stream.encode(frame): - output.mux(packet) - - # 完成编码 - for packet in stream.encode(): - output.mux(packet) - - # 关闭输出容器 - output.close() - - -def f2(): - import av - from av import VideoFrame - from fractions import Fraction - - # 1. 创建输出容器 - output_path = 'output.mp4' - output = av.open(output_path, 'w') - - # 2. 创建视频流（使用 libx264 编码器） - stream = output.add_stream('libx264', rate=24) # 帧率 - - # 3. 设置编解码器上下文参数 - stream.width = 640 - stream.height = 480 - stream.pix_fmt = 'yuv420p' # 常用格式, 大部分解码器都支持 - stream.codec_context.time_base = Fraction(1, 24) - - # 4. 手动打开编解码器上下文 (可选, add_stream 已经完成了这一步) - stream.codec_context.open() - - # 5. 编码循环 - for i in range(100): # 生成 100 帧 - frame = av.VideoFrame(width=640, height=480, format='rgb24') - - # 生成测试数据 - # 在实际应用中，您需要从图像源获取数据 - import numpy as np - import colorsys - cx = int(640 / 100 * i) - cy = int(480 / 100 * i) - rgb = (np.array(colorsys.hsv_to_rgb(i / 100.0, 1.0, 1.0)) * 255).astype(np.uint8) - - data = np.zeros((frame.height, frame.width, 3), dtype=np.uint8) - data[cy - 10:cy + 10, cx - 10:cx + 10, :] = rgb - frame.planes[0].update(data) - - for packet in stream.encode(frame): - output.mux(packet) - - # 6. 刷新编码器 - for packet in stream.encode(): - output.mux(packet) - - # 7. 关闭容器 - output.close() - - -def f3(): - import av - from av import VideoFrame - from fractions import Fraction - - # 1. 创建输出容器 - output_path = 'output.mp4' - output = av.open(output_path, 'w') - - # 2. 获取编码器codec - codec = av.Codec('libx264', "w") - - # 3. 手动创建并配置编解码器上下文 - ctx = av.CodecContext.create(codec, mode="w") - ctx.width = 640 - ctx.height = 480 - ctx.pix_fmt = 'yuv420p' # 常用格式, 大部分解码器都支持 - ctx.time_base = Fraction(1, 24) - - # 4. 添加视频流 (使用创建好的编解码器上下文). - stream = output.add_stream('libx264', rate=24) # 使用编码器名称 - stream.codec_context = ctx # 将之前创建好的 ctx 赋值给 stream - stream.width = ctx.width # 宽度 - stream.height = ctx.height - stream.pix_fmt = ctx.pix_fmt - - # 5. 手动打开编解码器上下文 (在添加到 stream 后会自动打开) - ctx.open() - - # 6. 编码循环 - for i in range(100): # 生成 100 帧 - frame = av.VideoFrame(width=640, height=480, format='rgb24') - - # 生成测试数据 - # 在实际应用中，您需要从图像源获取数据 - import numpy as np - import colorsys - cx = int(640 / 100 * i) - cy = int(480 / 100 * i) - rgb = (np.array(colorsys.hsv_to_rgb(i / 100.0, 1.0, 1.0)) * 255).astype(np.uint8) - - data = np.zeros((frame.height, frame.width, 3), dtype=np.uint8) - data[cy - 10:cy + 10, cx - 10:cx + 10, :] = rgb - frame.planes[0].update(data) - - for packet in stream.encode(frame): - output.mux(packet) - - # 7. 刷新编码器 - for packet in stream.encode(None): - output.mux(packet) - - # 8. 关闭容器 - output.close() - - print(f"视频已保存到 {output_path}") - - -if __name__ == '__main__': - f0() diff --git a/test/legacy/driver_pull.py b/test/legacy/driver_pull.py deleted file mode 100644 index 78df05c..0000000 --- a/test/legacy/driver_pull.py +++ /dev/null @@ -1,16 +0,0 @@ -import zmq - -from flandre import C -from flandre.utils.RfFrame import b2t - -if __name__ == '__main__': - context = zmq.Context() - device_socket = context.socket(zmq.PULL) - device_socket.connect(C.live_push_socket) - last_ts = 0 - while True: - buffer = device_socket.recv() - ts, sequence_id, encoder, s = b2t(buffer) - if last_ts == ts: - print(ts) - last_ts = ts diff --git a/test/legacy/drivercmd.py b/test/legacy/drivercmd.py deleted file mode 100644 index fd72463..0000000 --- a/test/legacy/drivercmd.py +++ /dev/null @@ -1,47 +0,0 @@ -import struct -from pathlib import Path - -import zmq -import time -import sys - - -def exit(): - ctx = zmq.Context() - sock = ctx.socket(zmq.REQ) - sock.connect('tcp://11.6.1.66:5556') - # sock.send(b'file' + Path('/home/lambda/source/scarlet/flandre/config/64-1.txt').read_bytes()) - sock.send(b'exit') - - -def cmd(c: str): - ctx = zmq.Context() - sock = ctx.socket(zmq.REQ) - sock.connect('tcp://11.6.1.66:5556') - sock.send(c.encode()) - print(sock.recv().decode()) - - -def file(): - ctx = zmq.Context() - sock = ctx.socket(zmq.REQ) - sock.connect('tcp://11.6.1.66:5556') - sock.send(b'file' + Path('/home/lambda/source/scarlet/flandre/config/64-1.txt').read_bytes()) - - -def test(): - ctx = zmq.Context() - sock = ctx.socket(zmq.PULL) - sock.connect('tcp://11.6.1.66:5555') - while True: - s = sock.recv() - print(struct.unpack_from('=iqi', s)) - print(s[4 + 8 + 4:].__len__()) - break - - -if __name__ == '__main__': - if len(sys.argv) < 2: - test() - else: - globals()[sys.argv[1]](*sys.argv[2:]) diff --git a/test/legacy/kdemain.py b/test/legacy/kdemain.py deleted file mode 100644 index 64b67c7..0000000 --- a/test/legacy/kdemain.py +++ /dev/null @@ -1,53 +0,0 @@ -import logging -import multiprocessing - -from BusClient import BusClient -from nodes.Beamformer import Beamformer -from nodes.Broker import Broker -from nodes.Device import Device -from nodes.ImageCV import ImageCV -from nodes.ImageFFMPEG import ImageFFMPEG -from nodes.JoyStick import Joystick -from nodes.Loader import Loader -from nodes.Mi import Mi -from nodes.Midi import Midi -from nodes.Monitor import Monitor -from nodes.Muxer import Muxer -from nodes.Recorder import Recorder -from nodes.Robot import Robot -from qtonly import kde_pyqt6_mainui -from utils.Msg import KillMsg - -if __name__ == '__main__': - logging.basicConfig(level=logging.INFO) - multiprocessing.set_start_method('spawn') - multiprocessing.Pool() - pps = [] - ps = [ - Broker(), - kde_pyqt6_mainui, - Device(), - ImageFFMPEG(), - ImageCV(level=logging.DEBUG), - Beamformer(level=logging.DEBUG), - Loader(), - Muxer(level=logging.DEBUG), - # Midi(), - Joystick(), - Robot(), - Recorder(), - # Monitor(), - Mi(), - ] - for p in ps: - pps.append(multiprocessing.Process(target=p)) - for p in pps: - p.start() - - c = BusClient(KillMsg) - while True: - x: KillMsg = c.recv() - if x.name == '': - break - for p in pps: - p.kill() diff --git a/test/legacy/kill.py b/test/legacy/kill.py deleted file mode 100644 index 54598c7..0000000 --- a/test/legacy/kill.py +++ /dev/null @@ -1,11 +0,0 @@ -import time - - -from BusClient import BusClient -from utils.Msg import KillMsg - -if __name__ == '__main__': - c = BusClient() - time.sleep(1) - for i in range(100): - c.send(KillMsg()) diff --git a/test/legacy/main.ipynb b/test/legacy/main.ipynb deleted file mode 100644 index 9ec32fd..0000000 --- a/test/legacy/main.ipynb +++ /dev/null @@ -1,67 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "id": "initial_id", - "metadata": { - "collapsed": true, - "ExecuteTime": { - "end_time": "2025-01-12T12:27:14.384233Z", - "start_time": "2025-01-12T12:27:13.172285Z" - } - }, - "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": { - "kernelspec": { - "display_name": "Python 3", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 2 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython2", - "version": "2.7.6" - } - }, - "nbformat": 4, - "nbformat_minor": 5 -} diff --git a/test/legacy/main.py b/test/legacy/main.py deleted file mode 100644 index ec9c1df..0000000 --- a/test/legacy/main.py +++ /dev/null @@ -1,75 +0,0 @@ -import base64 -import threading -import time -from pathlib import Path - -import cv2 -import numpy as np -from tqdm import tqdm - -import zmq - -if __name__ == '__main__': - # r1 = base64.b64encode(Path('/home/lambda/Pictures/drawing.png').read_bytes()).decode() - # r1 = base64.b64encode(Path('/home/lambda/Pictures/remilia3.png').read_bytes()).decode() - # requests.post('http://localhost:12345/sendpic/test', json=dict(value='data:image/png;base64, ' + r1)) - - # for p in tqdm(Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png')): - # r1 = base64.b64encode(p.read_bytes()).decode() - # requests.post('http://localhost:12345/sendpic/test', json=dict(value='data:image/png;base64, ' + r1)) - - # arr = [cv2.imread(str(img)).tobytes() for img in Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png')] - arr = [] - for img in tqdm(list(Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png'))): - img = cv2.imread(str(img)) - # img = cv2.resize(img, (1920 // 2, 1080 // 2)) - - img = img.reshape(1080, 1920, 3) - z = np.zeros((1080, 1920, 4), dtype=np.uint8) - z[:, :, :3] = img - img = z - img = cv2.cvtColor(img, cv2.COLOR_BGRA2RGBA) - - arr.append(img.tobytes()) - - # img = cv2.resize(img, (1920 // 4, 1080 // 4,)) - - # while True: - # for p in Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png'): - # img = cv2.imread(str(p)) - # # print(img.shape) - # input() - # socket.send(img.tobytes()) - # while True: - # for b in arr: - # input() - # socket.send(b) - lii = [0, True] - - - def t(li): - context = zmq.Context() - socket = context.socket(zmq.PUSH) - socket.connect("tcp://localhost:5555") - while True: - for i, b in enumerate(arr): - while True: - socket.send(arr[li[0]]) - time.sleep(1 / 120) - if li[1]: - li[0] = i - break - - - - - threading.Thread(target=t, args=(lii,)).start() - - # while True: - # for i, b in enumerate(arr): - # # input() - # lii[0] = i - # time.sleep(1 / 60) - while True: - input() - lii[1] = not lii[1] diff --git a/test/legacy/process_b.py b/test/legacy/process_b.py deleted file mode 100644 index d2f4249..0000000 --- a/test/legacy/process_b.py +++ /dev/null @@ -1,38 +0,0 @@ -import cupy as cp - -from flandre.beamformer.das import gen_pwi -from flandre.beamformer.dist import direct_dist -from flandre.utils.Config import DeviceConfig -from flandre.utils.Msg import ImageArgMsg -from flandre.utils.RfMat import RfMat -from flandre.utils.RfSequence import RfSequence - -if __name__ == '__main__': - arg = ImageArgMsg( - sender='', - t_end=2900, - t_start=0, - v2=1524, - dct_center=1086, - dct_bandwidth=915, - f_rows=6002, - beta=40, - tgc=0, - g8=80 - ) - - dc = DeviceConfig(v2=1540, rows=5999) - pwi, _, la = gen_pwi(direct_dist(dc, p=cp), dc) - seq = RfSequence('/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/us/baby789,S=(256 6002),M=PWI,U=120/') - for i, frame in enumerate(seq.frames): - data = RfMat.from_rf_frame(frame, device='gpu') - data = data.dct_center(arg.dct_center, arg.dct_bandwidth) - data = data.call(lambda m: m.astype(cp.int16)) - data = data.call(pwi) - data = data.call(cp.asarray, order='C') - data = data.argrelextrema() - data = data.conv_guass(b=arg.beta * 0.01) - data = data.crop(arg.t_start, arg.t_end) - data = data.time_gain_compensation_global((1 - arg.g8 * (1.0 / 128)) ** 2) - data = data.rotate90() - data.png(f'/home/lambda/source/scarlet/flandre/@DS/test/{i}.png', pre=300) diff --git a/test/legacy/process_leagacy.py b/test/legacy/process_leagacy.py deleted file mode 100644 index f298ab2..0000000 --- a/test/legacy/process_leagacy.py +++ /dev/null @@ -1,191 +0,0 @@ -import hashlib -import shutil -from pathlib import Path - -from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta -from flandre.utils.RfSequence import RfSequence -from flandre.utils.archive import to_zip - - -def f1(): - # rr = RfSequenceMeta - tempdst = Path('/mnt/16T/private_dataset/ustemp') - arr = [] - for (i, - file) in enumerate(Path('/mnt/16T/private_dataset/New Folder/steel-top/').glob('*pwi.bin')): - file = Path(file) - x, y, _ = file.name.split('_') - r = RfFrameMeta(encoder=0, robot_x=int(x) * 100, robot_y=int(y) * 100) - arr.append((file, r)) - arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x)) - - arg = [] - - for i, item in enumerate(arr): - file, meta = item - meta.sequence_id = i - print(file.name, meta.sequence_id, meta.robot_x, meta.robot_y) - pic = file.with_suffix('.png') - farr = [] - if pic.exists(): - farr.append((pic, '.png')) - arg.append((file, meta, farr)) - - to_zip(arg, tempdst, Path('/mnt/16T/private_dataset/us/steel-top,U=30,M=PWI,S=(256 1502).zip')) - - -def f2(): - tempdst = Path('/mnt/16T/private_dataset/ustemp') - src = Path('/mnt/16T/private_dataset/New Folder/T1,U=30,M=FMC,S=(256 256 1502)/') - arr = [] - for (i, - file) in enumerate(Path('/mnt/16T/private_dataset/New Folder/steel-top/').glob('*pwi.bin')): - file = Path(file) - x, _ = file.name.split('_') - r = RfFrameMeta(encoder=0, robot_x=int(x) * 100, robot_y=int(y) * 100) - arr.append((file, r)) - arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x)) - print(arr) - - -WRITE_TMP = Path('/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/write_cache/') - - -def proc(src: Path | str, dst: Path | str, fx, tmp=WRITE_TMP): - src = Path(src) - dst = Path(dst) - assert not dst.exists() - shutil.rmtree(tmp) - tmp.mkdir(parents=True) - arr = fx(src) - print(arr) - # to_zip(arr, tmp, dst) - - -def f_ok(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = [] - for p in src.glob('*'): - m = RfFrameMeta.from_name(p.stem) - arr.append((p, m, [])) - arr.sort(key=lambda item: item[1].sequence_id) - return arr - - -def f_x(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = [] - for p in src.glob('*'): - m = RfFrameMeta.from_name(p.stem) - arr.append((p, m, [])) - arr.sort(key=lambda item: item[1].robot_x) - for i, a in enumerate(arr): - a[1].sequence_id = i - a[1].encoder = 0 - return arr - - -def f_xy(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = [] - for p in src.glob('*'): - m = RfFrameMeta.from_name(p.stem) - arr.append((p, m, [])) - arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x)) - for i, a in enumerate(arr): - a[1].sequence_id = i - a[1].encoder = 0 - return arr - - -def f_legacy4(src: Path, t, xx=100, yy=100) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - arr = [] - for p in src.glob(f'*{t}.bin'): - x, y, _ = p.name.split('_') - r = RfFrameMeta(encoder=0, robot_x=int(x) * xx, robot_y=int(y) * yy) - arr.append((p, r)) - arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x)) - - arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = [] - - for i, item in enumerate(arr): - file, meta = item - meta.sequence_id = i - pic = file.with_suffix('.png') - farr = [] - if pic.exists(): - farr.append((pic, '.png')) - arg.append((file, meta, farr)) - return arg - - -def f_legacy4_pwi(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - return f_legacy4(src, 'pwi') - - -def f_legacy4_tfm(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - return f_legacy4(src, 'fmc') - - -def f_legacy4_pwi_y10(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - return f_legacy4(src, 'pwi', yy=10) - - -def f_legacy4_tfm_y10(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - return f_legacy4(src, 'fmc', yy=10) - - -def f_cap(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - arr = [] - for p in src.glob(f'*parallel.bin'): - y, _ = p.name.split('_') - r = RfFrameMeta(encoder=0, robot_y=int(y) * 100) - arr.append((p, r)) - arr.sort(key=lambda item: item[1].robot_y) - - arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = [] - - for i, item in enumerate(arr): - file, meta = item - meta.sequence_id = i - arg.append((file, meta, [])) - return arg - - -def f_legacy_unknown(src: Path, t) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]: - arr = [] - for p in src.glob(f'*{t}.bin'): - x, y, _ = p.name.split('_') - r = RfFrameMeta(encoder=0, robot_x=int(x) * xx, robot_y=int(y) * yy) - arr.append((p, r)) - arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x)) - - arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = [] - - for i, item in enumerate(arr): - file, meta = item - meta.sequence_id = i - pic = file.with_suffix('.png') - farr = [] - if pic.exists(): - farr.append((pic, '.png')) - arg.append((file, meta, farr)) - return arg - - -if __name__ == '__main__': - b2b = hashlib.blake2b( - Path('/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/c1/remilia/cap1/34_4040_fmc.bin').read_bytes(), - digest_size=4).hexdigest() - print(b2b) - print('--') - for f in Path('/mnt/16T/private_dataset/us/').glob('*.zip'): - m = RfSequenceMeta.from_path(f) - if m.mode == RfSequenceMeta.RfSequenceMode.TFM and m.us == 30: - for f in RfSequence(f).frames: - print(m.commit, f.meta.sequence_id, f.meta.encoder, f.meta.robot_x, f.meta.robot_y, f.meta.blake2b) - - # RfSequence() - - # proc( - # '/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/c2/Desktop/New folder/4d/cap1', - # '/mnt/16T/private_dataset/us/cap1,U=30,M=PWI,S=(256 1502).zip', - # f_legacy_unknown, - # ) diff --git a/test/legacy/qtonly.py b/test/legacy/qtonly.py deleted file mode 100644 index 42954d7..0000000 --- a/test/legacy/qtonly.py +++ /dev/null @@ -1,23 +0,0 @@ -import logging -import logging -import os -import subprocess - -from PyQt6 import QtWidgets - -from nodes.MainUI import MainUI - - -def kde_pyqt6_mainui(): - subprocess.run(['python', __file__], - env=dict(XDG_CURRENT_DESKTOP="KDE", - XDG_RUNTIME_DIR="/run/user/1000", - XDG_SESSION_TYPE="wayland", - PYTHONPATH=os.environ['PYTHONPATH']) - ) - - -if __name__ == '__main__': - print(QtWidgets.QStyleFactory.keys()) - logging.basicConfig(level=logging.INFO) - MainUI()() diff --git a/test/legacy/qtstyles.py b/test/legacy/qtstyles.py deleted file mode 100644 index fccd93a..0000000 --- a/test/legacy/qtstyles.py +++ /dev/null @@ -1,4 +0,0 @@ -import PyQt6.QtWidgets as QtWidgets - -if __name__ == '__main__': - print(QtWidgets.QStyleFactory.keys()) diff --git a/test/legacy/realtimeplot.py b/test/legacy/realtimeplot.py deleted file mode 100644 index 68bac1b..0000000 --- a/test/legacy/realtimeplot.py +++ /dev/null @@ -1,44 +0,0 @@ -import struct -from pathlib import Path - -import numpy as np -import zmq -import time -import sys - -from matplotlib import pyplot as plt - -def test(): - ctx = zmq.Context() - sock = ctx.socket(zmq.PULL) - sock.bind('tcp://0.0.0.0:5555') - - li = [] - cnt = 0 - while True: - s = sock.recv_pyobj() - cnt += 1 - if cnt == 1: - cnt = 0 - li.append(s) - if li.__len__() > 100: - li = li[1:] - # print(li.__len__()) - aa = np.array(li) - plt.cla() - # plt.plot(aa[:,0]) - # plt.plot(aa[:,1]) - plt.plot(aa[:,2]*1000) - plt.plot(aa[:,3]) - plt.pause(0.0001) - - # plt.axis([0, 10, 0, 1]) - # for i in range(10): - # y = np.random.random() - # plt.scatter(i, y) - # plt.pause(0.05) - - - -if __name__ == '__main__': - test() diff --git a/test/legacy/rtc.py b/test/legacy/rtc.py deleted file mode 100644 index 248af81..0000000 --- a/test/legacy/rtc.py +++ /dev/null @@ -1,69 +0,0 @@ -import asyncio -import json -import logging -import os - -import aiohttp_cors -from aiohttp import web -from aiortc import MediaStreamTrack, RTCPeerConnection, RTCSessionDescription, RTCConfiguration, RTCRtpCodecCapability -from aiortc.contrib.media import MediaBlackhole, MediaPlayer, MediaRecorder, MediaRelay - -ROOT = os.path.dirname(__file__) - -web.WebSocketResponse() -logger = logging.getLogger(__name__) - -pcs = set() - - -async def offer(request): - params = await request.json_str() - offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"]) - pc = RTCPeerConnection(RTCConfiguration([])) - pcs.add(pc) - player = MediaPlayer(os.path.join(ROOT, "demo-instruct.wav")) - rc = pc.addTransceiver(player.video, '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__': - 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 - ) diff --git a/test/legacy/so.py b/test/legacy/so.py deleted file mode 100644 index 96b9042..0000000 --- a/test/legacy/so.py +++ /dev/null @@ -1,8 +0,0 @@ -import cupy as cp -from ctypes import CDLL - -if __name__ == '__main__': - # libc = CDLL("libnvrtc.alt.so.12") - libc = CDLL("libnvrtc.so.12") - cp.zeros(1) + 1 - # print(libc.__dir__()) diff --git a/test/legacy/tcp.py b/test/legacy/tcp.py deleted file mode 100644 index e3fc840..0000000 --- a/test/legacy/tcp.py +++ /dev/null @@ -1,6 +0,0 @@ -import subprocess - -if __name__ == '__main__': - code = subprocess.run(['curl', '-m', '1', 'http://11.6.1.66:5556'], stderr=subprocess.DEVNULL, - stdout=subprocess.DEVNULL).returncode - print(code) diff --git a/test/legacy/test.py b/test/legacy/test.py deleted file mode 100644 index 245fdf2..0000000 --- a/test/legacy/test.py +++ /dev/null @@ -1,4 +0,0 @@ -if __name__ == '__main__': - print(tuple(str((1, 2, 3)))) - print([1,2,3][-1:1]) - print([1,2,3][1:]) diff --git a/test/legacy/test.ui b/test/legacy/test.ui deleted file mode 100644 index e29867c..0000000 --- a/test/legacy/test.ui +++ /dev/null @@ -1,45 +0,0 @@ - - - MainWindow - - - - 0 - 0 - 800 - 600 - - - - MainWindow - - - - - - 330 - 230 - 301 - 251 - - - - PushButton - - - - - - - 0 - 0 - 800 - 30 - - - - - - - - diff --git a/test/legacy/test2.py b/test/legacy/test2.py deleted file mode 100644 index 4237f44..0000000 --- a/test/legacy/test2.py +++ /dev/null @@ -1,36 +0,0 @@ -# Form implementation generated from reading ui file 'test.ui' -# -# Created by: PyQt6 UI code generator 6.8.0 -# -# WARNING: Any manual changes made to this file will be lost when pyuic6 is -# run again. Do not edit this file unless you know what you are doing. - - -from PyQt6 import QtCore, QtGui, QtWidgets - - -class Ui_MainWindow(object): - def setupUi(self, MainWindow): - MainWindow.setObjectName("MainWindow") - MainWindow.resize(800, 600) - self.centralwidget = QtWidgets.QWidget(parent=MainWindow) - self.centralwidget.setObjectName("centralwidget") - self.b_test = QtWidgets.QPushButton(parent=self.centralwidget) - self.b_test.setGeometry(QtCore.QRect(330, 230, 301, 251)) - self.b_test.setObjectName("b_test") - MainWindow.setCentralWidget(self.centralwidget) - self.menubar = QtWidgets.QMenuBar(parent=MainWindow) - self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 30)) - self.menubar.setObjectName("menubar") - MainWindow.setMenuBar(self.menubar) - self.statusbar = QtWidgets.QStatusBar(parent=MainWindow) - self.statusbar.setObjectName("statusbar") - MainWindow.setStatusBar(self.statusbar) - - self.retranslateUi(MainWindow) - QtCore.QMetaObject.connectSlotsByName(MainWindow) - - def retranslateUi(self, MainWindow): - _translate = QtCore.QCoreApplication.translate - MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) - self.b_test.setText(_translate("MainWindow", "PushButton")) diff --git a/test/legacy/test2ui.py b/test/legacy/test2ui.py deleted file mode 100644 index 0cb79a2..0000000 --- a/test/legacy/test2ui.py +++ /dev/null @@ -1,24 +0,0 @@ -import sys - -from PyQt6.QtCore import pyqtSlot -from PyQt6.QtWidgets import QApplication, QMainWindow - -from test2 import Ui_MainWindow - - -class Adv(QMainWindow, Ui_MainWindow): - def __init__(self, parent=None): - super(Adv, self).__init__(parent) - self.setupUi(self) - - @pyqtSlot(bool) - def on_b_test_clicked(self,a): - print('on_b_test',a) - - -if __name__ == '__main__': - app = QApplication(sys.argv) - app.setDesktopFileName('TestTest') - MainWindow = Adv() - MainWindow.show() - app.exec() diff --git a/test/legacy/testDevice.py b/test/legacy/testDevice.py deleted file mode 100644 index b6cc20a..0000000 --- a/test/legacy/testDevice.py +++ /dev/null @@ -1,32 +0,0 @@ -import time -from pathlib import Path - -from nodes.Device import Device - - -def test1(): - d = Device() - d.setup() - d.connect() - d.enable() - print(d.setfile( - Path('/home/lambda/source/scarlet/flandre/config/device/AA256,U=30,M=PWI,S=(256 1502).txt').read_text())) - d.disable() - d.disconnect() - - -def test2(): - d = Device() - d.setup() - # d.connect() - # d.enable() - # d.setfile(Path('/home/lambda/source/scarlet/flandre/config/device/AA256,U=30,M=PWI,S=(256 1502).txt').read_text()) - # time.sleep(2) - r = d.get_data() - print(r.__len__()) - # d.disable() - # d.disconnect() - - -if __name__ == '__main__': - test2() diff --git a/test/legacy/test_ffmpeg_stdout.py b/test/legacy/test_ffmpeg_stdout.py deleted file mode 100644 index d84a3c0..0000000 --- a/test/legacy/test_ffmpeg_stdout.py +++ /dev/null @@ -1,27 +0,0 @@ -import subprocess - -import cv2 -import numpy as np - -cv2.namedWindow('video', cv2.WINDOW_AUTOSIZE) - - -def f1(): - p = subprocess.Popen([ - 'ffmpeg', - '-loglevel', 'quiet', - '-flags', 'low_delay', - '-fflags', 'nobuffer', - '-i', 'rtsp://admin:ab12ab12@11.6.2.4:554/h264/ch1/main/av_stream', - '-pix_fmt', 'rgb24', - '-f', 'rawvideo', - '-' - ], stdout=subprocess.PIPE, stderr=subprocess.STDOUT) - while True: - b = p.stdout.read(1920 * 1080 * 3) - cv2.imshow('video', np.frombuffer(b, dtype=np.uint8).reshape((1080, 1920, 3))) - cv2.waitKey(1) - - -if __name__ == '__main__': - f1() diff --git a/test/legacy/test_process_cupy.py b/test/legacy/test_process_cupy.py deleted file mode 100644 index 37fe711..0000000 --- a/test/legacy/test_process_cupy.py +++ /dev/null @@ -1,31 +0,0 @@ -import multiprocessing -from multiprocessing import Process -from threading import Thread - -import cupy as cp - -class TestProcessCupy: - def __init__(self): - pass - def t1(self): - print(cp.zeros((10, 10, 10))) - def __call__(self, *args, **kwargs): - print(cp.zeros((10, 10, 10))) - -def p1(): - # import cupy as cp - print(cp.zeros((10, 10, 10))) - # print(cp.asarray(z)) -if __name__ == '__main__': - def ff(): - print(cp.zeros((10, 10, 10))) - tpc = TestProcessCupy() - - - p2 = p1 - z = cp.zeros((10, 10, 10)) - multiprocessing.set_start_method('spawn') - # p = Process(target=p2) - p = Process(target=tpc) - p.start() - p.join() diff --git a/test/legacy/test_zmq_req_clientr.py b/test/legacy/test_zmq_req_clientr.py deleted file mode 100644 index b4fcc8e..0000000 --- a/test/legacy/test_zmq_req_clientr.py +++ /dev/null @@ -1,34 +0,0 @@ -import zmq -import time - - -class MyReqClient: - def __init__(self, s, context=None, timeout=4000): - if context is None: - context = zmq.Context() - self.context = context - self.timeout = timeout - self.socket = context.socket(zmq.REQ) - self.socket.connect(s) - self.s = s - - def recv(self): - r = self.socket.poll(self.timeout) - print(r) - if r == 1: - return self.socket.recv() - self.socket.close() - self.socket = self.context.socket(zmq.REQ) - self.socket.connect(self.s) - - def send(self, data): - self.socket.send(data) - - def request(self, data: bytes): - self.socket.send(data) - return self.recv() - - -c = MyReqClient(f"tcp://127.0.0.1:5555") -while True: - print(c.request(b'asd')) diff --git a/test/legacy/test_zmq_req_server.py b/test/legacy/test_zmq_req_server.py deleted file mode 100644 index bcfa7ea..0000000 --- a/test/legacy/test_zmq_req_server.py +++ /dev/null @@ -1,17 +0,0 @@ -import time - -import zmq - -c = zmq.Context() -s = c.socket(zmq.REP) -# s.setsockopt(zmq.HEARTBEAT_IVL, 1000) -# s.setsockopt(zmq.HEARTBEAT_TTL, 1000) -# s.setsockopt(zmq.HEARTBEAT_TIMEOUT, 1000) -s.bind('tcp://127.0.0.1:5555') -while True: - s.recv() - print('recv') - time.sleep(2) - print('send') - s.send(b'hello') - # break diff --git a/test/legacy/testcupy.py b/test/legacy/testcupy.py deleted file mode 100644 index 0f12e81..0000000 --- a/test/legacy/testcupy.py +++ /dev/null @@ -1,14 +0,0 @@ -import json - -import cupy as cp - -import numpy as np - -if __name__ == '__main__': - arr = np.array([ - [1, 2, 3], - [1, 2, 3], - ]) - print(type(arr.shape)) - print(np.frombuffer(arr.tobytes(), dtype=np.dtype(str(arr.dtype))).reshape(arr.shape)) - diff --git a/test/legacy/testdevicegui.py b/test/legacy/testdevicegui.py deleted file mode 100644 index 43a0585..0000000 --- a/test/legacy/testdevicegui.py +++ /dev/null @@ -1,39 +0,0 @@ -import struct -import time - -import cv2 -import numpy as np -import zmq - -from flandre import C -from flandre.nodes.Device import Device, DeviceCmd -from flandre.nodes.Mi import Mi - -def t1(): - context = zmq.Context() - req_driver_socket = context.socket(zmq.REQ) - req_driver_socket.connect(C.live_rep_socket) - magic = 7355608 - cmd = DeviceCmd.GetData - cv2.namedWindow("test", cv2.WINDOW_AUTOSIZE) - while True: - req_driver_socket.send(struct.pack('i', magic) + struct.pack('i', cmd.value)) - b = req_driver_socket.recv() - print(b[4:12]) - print(struct.unpack('