diff --git a/.gitignore b/.gitignore index 0878e61..dd5c1b4 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ .venv bak __pycache__ -@DS \ No newline at end of file +@DS +*.whl \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 5c78807..2dde8bb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -16,10 +16,16 @@ dependencies = [ "tqdm>=4.67.1", "vtk>=9.4.0", "jupyter>=1.1.1", + "av", ] [tool.uv] -no-binary-package = ["av"] override-dependencies = [ "av>=14.0.0", ] + +[tool.uv.sources] +av = [ + { path = "./av-14.1.0-cp312-cp312-win_amd64.whl", marker = "sys_platform == 'win32'" }, + { path = "./av-14.1.0-cp312-cp312-linux_amd64.whl", marker = "sys_platform == 'linux'" }, +] diff --git a/src/nodes/MainUI.py b/src/nodes/MainUI.py index 44f47cf..615c2b6 100644 --- a/src/nodes/MainUI.py +++ b/src/nodes/MainUI.py @@ -1,4 +1,5 @@ import logging +import platform import sys from enum import Enum, auto from pathlib import Path @@ -14,7 +15,7 @@ from nodes.Node import Node from utils.Msg import KillMsg, Msg, ImageArgMsg, SelectSeqMsg, SeqIdMinMax, MoveAxisMsg, SeqListMsg, SetBaseMsg, \ SeqMetaMsg, SetPlayMode, DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, SetDeviceEnabledMsg, \ SetDeviceConnectedMsg, DeviceConfigListMsg, SetDeviceConfigMsg, SetRecordMsg, RobotRtsiMsg, RecordFrameMsg -from utils.RfFile import RfSequenceMeta +from utils.RfMeta import RfSequenceMeta class LinkStatus(Enum): @@ -74,6 +75,7 @@ class Adv(QMainWindow, Ui_MainWindow): self.record_size_cnt = 0 self.record_frame_cnt = 0 + self.update_device_buttons() def update_b_play_live_enabled(self): self.b_play_live.setEnabled(all([self.b1, self.b2])) @@ -336,6 +338,8 @@ class MainUI(Node): def loop(self): app = QApplication(sys.argv) + if platform.system() == 'Windows': + app.setStyle('windowsvista') MainWindow = Adv(self) # MainWindow.move(int(px), int(py)) # MainWindow.resize(int(sx), int(sy)) diff --git a/src/nodes/Robot.py b/src/nodes/Robot.py index 245aea5..64e5fc9 100644 --- a/src/nodes/Robot.py +++ b/src/nodes/Robot.py @@ -5,6 +5,7 @@ import zmq from nodes.Node import Node from utils.Msg import KillMsg, RobotRtsiMsg, Msg +from utils.network import check_port from utils.rtsi import rtsi from utils.rtsi.serialize import DataObject @@ -18,6 +19,10 @@ class Robot(Node): super(Robot, self).__init__() self.rtsi_thread_stop = False + if not check_port('11.6.1.53', 30004): + logger.warning('Robot is not running on port 11.6.1.53') + self.rtsi_thread_stop = True + return self.rt = rtsi('11.6.1.53') # 创建rtsi类 self.rt.connect() # socket链接远程rtsi self.rt.version_check() # rtsi版本协议检查 @@ -40,6 +45,8 @@ class Robot(Node): self.rt.disconnect() def loop(self): + if self.rtsi_thread_stop: + return t = threading.Thread(target=self.rtsi_thread) t.start() rtsi_pull_socket = self.context.socket(zmq.PULL) diff --git a/src/utils/RfFile.py b/src/utils/RfFile.py index fe58c97..baef95b 100644 --- a/src/utils/RfFile.py +++ b/src/utils/RfFile.py @@ -1,169 +1,12 @@ -from enum import Enum, auto from pathlib import Path -from typing import Annotated, get_type_hints import cupy as cp import numpy as np -from attr import dataclass - -@dataclass -class RfFolder: - parent: Path - D: str - L: int = 30 - C: str = 'PAR' - SHAPE = (1500, 256) - - @staticmethod - def from_path(p: Path | str) -> 'RfFolder': - p = Path(p) - D, L, C = p.name.split(',') - L = int(L.replace('L=', '')) - C = C.replace('C=', '') - return RfFolder(p.parent, D, L, C) - - @property - def name(self): - return f'{self.D},L={self.L},C={self.C}' - - @property - def path(self): - return self.parent / self.name - - @property - def all(self): - return [RfFile.from_path(f) for f in self.path.glob('*.bin')] - - -@dataclass -class RfFile: - folder: RfFolder - X: int = None - Y: int = None - Z: int = None - S: int = None - E: int = None - - @staticmethod - def from_path(p: Path | str) -> 'RfFile': - p = Path(p) - folder = RfFolder.from_path(p.parent) - return RfFile(folder, **{(c := pair.split('='))[0]: int(c[1]) for pair in p.stem.split(',')}) - - @property - def path(self): - arr = [] - d = self.__dict__.copy() - # print(d) - d.__delitem__('folder') - for k in d: - if d[k] is not None: - arr.append(f'{k}={d[k]}') - filename = ','.join(arr) + '.bin' - # 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) - if v is not None: - arr.append(f'{p2a[p]}={vs}') - return ",".join(arr) - - @property - def filename(self): - return self.name + '.bin' - - @classmethod - def from_path(clz, path: Path | str): - path = Path(path) - if not path.exists(): - raise FileNotFoundError(path) - if path.is_file(): - return clz.from_name(path.stem) - elif path.is_dir(): - return clz.from_name(path.name) - else: - raise FileNotFoundError - - @classmethod - def from_name(clz, name: str): - p2t = clz.p2t - a2p = clz.a2p - c = clz() - sp = name.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 +from utils.RfMeta import RfFrameMeta, RfSequenceMeta 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, seq: 'RfSequence' = None): self.data = data self.meta = meta @@ -195,18 +38,6 @@ class RfFrame: return RfMat(arr.reshape(self.seq.meta.shape), frame_meta=self.meta, seq_meta=self.seq.meta) -@dataclass -class RfSequenceMeta(SM): - class RfSequenceMode(Enum): - PWI = auto() - TFM = auto() - - commit: Annotated[str, 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 @@ -220,7 +51,7 @@ class RfSequence: meta = RfSequenceMeta.from_path(folder) rs = RfSequence([], meta) for f in folder.glob('*.bin'): - rs.frames.append(RfFrame(f, RfFrame.RfFrameMeta.from_path(f), seq=rs)) + rs.frames.append(RfFrame(f, RfFrameMeta.from_path(f), seq=rs)) return rs @property @@ -232,7 +63,7 @@ class RfSequence: @property def seq_id_minmax(self): - mmin = 2**32 + mmin = 2 ** 32 mmax = 0 for f in self.frames: mmin = min(mmin, f.meta.sequence_id) diff --git a/src/utils/RfMat.py b/src/utils/RfMat.py index ea4418c..dbcb8d6 100644 --- a/src/utils/RfMat.py +++ b/src/utils/RfMat.py @@ -3,6 +3,7 @@ import numpy as np import cupy as cp from utils.RfFile import RfFrame, RfSequenceMeta +from utils.RfMeta import RfFrameMeta def bypass(f): @@ -21,7 +22,7 @@ def bypass(f): class RfMat: def __init__(self, data: cp.ndarray, - frame_meta: RfFrame.RfFrameMeta = None, + frame_meta: RfFrameMeta = None, seq_meta: RfSequenceMeta = None, ): self.m = data diff --git a/src/utils/RfMeta.py b/src/utils/RfMeta.py new file mode 100644 index 0000000..017c76a --- /dev/null +++ b/src/utils/RfMeta.py @@ -0,0 +1,104 @@ +from enum import Enum, auto +from pathlib import Path +from typing import Annotated, get_type_hints + +from attr import dataclass + +COMMIT_KEY = 'COMMIT' + +class RfMeta: + @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) + if v is not None: + arr.append(f'{p2a[p]}={vs}') + return ",".join(arr) + + @property + def filename(self): + return self.name + '.bin' + + @classmethod + def from_path(clz, path: Path | str): + path = Path(path) + if not path.exists(): + raise FileNotFoundError(path) + if path.is_file(): + return clz.from_name(path.stem) + elif path.is_dir(): + return clz.from_name(path.name) + else: + raise FileNotFoundError + + @classmethod + def from_name(clz, name: str): + p2t = clz.p2t + a2p = clz.a2p + c = clz() + sp = name.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 + + +@dataclass +class RfFrameMeta(RfMeta): + 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 + +@dataclass +class RfSequenceMeta(RfMeta): + class RfSequenceMode(Enum): + PWI = auto() + TFM = auto() + + commit: Annotated[str, COMMIT_KEY] = None + shape: Annotated[tuple, 'S'] = None + mode: Annotated[RfSequenceMode, 'M'] = RfSequenceMode.PWI + us: Annotated[int, 'U'] = None \ No newline at end of file diff --git a/src/utils/network.py b/src/utils/network.py new file mode 100644 index 0000000..6c8a27f --- /dev/null +++ b/src/utils/network.py @@ -0,0 +1,15 @@ +import socket + +def check_port(host, port): + try: + with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: + s.settimeout(2) # 设置超时时间为2秒 + result = s.connect_ex((host, port)) + # 返回True如果连接成功（result为0） + return result == 0 + except socket.gaierror: + print(f"错误：无法解析主机名 '{host}'") + return False + except socket.error as e: + print(f"连接过程中发生错误: {e}") + return False \ No newline at end of file diff --git a/test/qtstyles.py b/test/qtstyles.py new file mode 100644 index 0000000..fccd93a --- /dev/null +++ b/test/qtstyles.py @@ -0,0 +1,4 @@ +import PyQt6.QtWidgets as QtWidgets + +if __name__ == '__main__': + print(QtWidgets.QStyleFactory.keys()) diff --git a/test/winmain.py b/test/winmain.py new file mode 100644 index 0000000..b4a491e --- /dev/null +++ b/test/winmain.py @@ -0,0 +1,52 @@ +import os +import platform + +if platform.system() == 'Windows': + os.add_dll_directory(r'C:\Users\lambda\source\scarlet\ffmpeg-n7.0.1-221-g0ab20b5788-win64-gpl-shared-7.0\bin') +import logging +import multiprocessing +from BusClient import BusClient + +from nodes.WebRTC import WebRTC + +from nodes.Beamformer import Beamformer +from nodes.Loader import Loader +from nodes.Broker import Broker +from nodes.Device import Device +from nodes.ImageCV import ImageCV +from nodes.MainUI import MainUI +from nodes.Robot import Robot +from utils.Msg import KillMsg + + +def main(): + logging.basicConfig(level=logging.INFO) + multiprocessing.set_start_method('spawn') + multiprocessing.Pool() + pps = [] + ps = [ + Broker(), + WebRTC(), + MainUI(), + Device(level=logging.DEBUG), + ImageCV(), + Beamformer(), + Loader(), + Robot(), + ] + 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() + + +if __name__ == '__main__': + main() diff --git a/uv.lock b/uv.lock index 2a96d8f..ceb04d6 100644 --- a/uv.lock +++ b/uv.lock @@ -3,11 +3,17 @@ requires-python = ">=3.12" resolution-markers = [ "sys_platform == 'darwin'", "platform_machine == 'aarch64' and sys_platform == 'linux'", - "(platform_machine != 'aarch64' and sys_platform == 'linux') or (sys_platform != 'darwin' and sys_platform != 'linux')", + "sys_platform == 'win32'", + "platform_machine != 'aarch64' and sys_platform == 'linux'", + "sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] [manifest] -overrides = [{ name = "av", specifier = ">=14.0.0" }] +overrides = [ + { name = "av", marker = "sys_platform != 'linux' and sys_platform != 'win32'", specifier = ">=14.0.0" }, + { name = "av", marker = "sys_platform == 'linux'", path = "av-14.1.0-cp312-cp312-linux_amd64.whl" }, + { name = "av", marker = "sys_platform == 'win32'", path = "av-14.1.0-cp312-cp312-win_amd64.whl" }, +] [[package]] name = "aiohappyeyeballs" @@ -96,7 +102,9 @@ version = "1.9.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aioice" }, - { name = "av" }, + { name = "av", version = "14.1.0", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux' and sys_platform != 'win32'" }, + { name = "av", version = "14.1.0", source = { path = "av-14.1.0-cp312-cp312-linux_amd64.whl" }, marker = "sys_platform == 'linux'" }, + { name = "av", version = 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