big fix not done

config/device/AA256,U=30,M=PWI,S=(256 1502).txt

@@ -0,0 +1,138 @@
+[Root]
+VersionDriverOEMPA=1.3.0.0
+CycleCount=1
+EnableFMC=1
+FMCElementStart=0
+FMCElementStop=255
+FMCElementStep=1
+DisableUSB3=1
+AscanBitSize=14Bits
+Enable256=0
+
+[Cycle:0]
+GainDigital=0.000000 dB
+BeamCorrection=0.0 dB
+Start=0.000000 us
+Range=30.000000 us
+TimeSlot=1495.900000 us
+PointFactor=2
+CompressionType=Decimation
+Rectification=Signed
+FilterIndex=0
+GainAnalog=40.000000 dB
+GateCount=0
+
+[Cycle:0\Pulser]
+WedgeDelay=0.0 us
+Element.count=256
+Element_0=0;1;2;3;4;5;6;7
+Element_8=8;9;10;11;12;13;14;15
+Element_16=16;17;18;19;20;21;22;23
+Element_24=24;25;26;27;28;29;30;31
+Element_32=32;33;34;35;36;37;38;39
+Element_40=40;41;42;43;44;45;46;47
+Element_48=48;49;50;51;52;53;54;55
+Element_56=56;57;58;59;60;61;62;63
+Element_64=64;65;66;67;68;69;70;71
+Element_72=72;73;74;75;76;77;78;79
+Element_80=80;81;82;83;84;85;86;87
+Element_88=88;89;90;91;92;93;94;95
+Element_96=96;97;98;99;100;101;102;103
+Element_104=104;105;106;107;108;109;110;111
+Element_112=112;113;114;115;116;117;118;119
+Element_120=120;121;122;123;124;125;126;127
+Element_128=128;129;130;131;132;133;134;135
+Element_136=136;137;138;139;140;141;142;143
+Element_144=144;145;146;147;148;149;150;151
+Element_152=152;153;154;155;156;157;158;159
+Element_160=160;161;162;163;164;165;166;167
+Element_168=168;169;170;171;172;173;174;175
+Element_176=176;177;178;179;180;181;182;183
+Element_184=184;185;186;187;188;189;190;191
+Element_192=192;193;194;195;196;197;198;199
+Element_200=200;201;202;203;204;205;206;207
+Element_208=208;209;210;211;212;213;214;215
+Element_216=216;217;218;219;220;221;222;223
+Element_224=224;225;226;227;228;229;230;231
+Element_232=232;233;234;235;236;237;238;239
+Element_240=240;241;242;243;244;245;246;247
+Element_248=248;249;250;251;252;253;254;255
+Delay.count=256;1
+Delay_0=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_8=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_16=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_24=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_32=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_40=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_48=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_56=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_64=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_72=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_80=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_88=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_96=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_104=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_112=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_120=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_128=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_136=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_144=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_152=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_160=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_168=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_176=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_184=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_192=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_200=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_208=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_216=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_224=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_232=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_240=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_248=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Width.count=256
+Width_0=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_8=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_16=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_24=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_32=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_40=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_48=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_56=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_64=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_72=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_80=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_88=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_96=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_104=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_112=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_120=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_128=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_136=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_144=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_152=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_160=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_168=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_176=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_184=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_192=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_200=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_208=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_216=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_224=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_232=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_240=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+Width_248=0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000;0.100000 us
+
+[Cycle:0\Receiver]
+WedgeDelay=0.0 us
+Element.count=1
+Element=0
+Focusing=Standard
+Delay.count=1;1
+Delay=0.0 us
+Gain.count=1
+Gain=0.0 dB
+FocalTimeOfFlight.count=1
+FocalTimeOfFlight=0.0 us
+

pyproject.toml

@@ -3,7 +3,7 @@ name = "flandre"
 version = "0.1.0"
 description = "Add your description here"
 readme = "README.md"
-requires-python = ">=3.12"
+requires-python = ">=3.12,<3.13"
 dependencies = [
     "aiohttp-cors>=0.7.0",
     "aiortc>=1.9.0",
@@ -17,6 +17,7 @@ dependencies = [
     "vtk>=9.4.0",
     "jupyter>=1.1.1",
     "av",
+    "python-miio>=0.5.12",
 ]
 
 [tool.uv]
@@ -27,5 +28,5 @@ override-dependencies = [
 [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_x86_64.whl", marker = "sys_platform == 'linux'" },
+  { path = "./av-14.2.0rc1-cp312-cp312-linux_x86_64.whl", marker = "sys_platform == 'linux'" },
 ]

src/BusClient.py

@@ -23,7 +23,7 @@ class BusClient:
         if sub:
             self.sub = self.ctx.socket(zmq.SUB)
             for msg in msgs:
-                self.sub.setsockopt(zmq.SUBSCRIBE, msg.eid())
+                self.sub.setsockopt(zmq.SUBSCRIBE, msg.magic() + msg.eid())
             if conflare:
                 self.sub.setsockopt(zmq.CONFLATE, 1)
             self.sub.connect(f'tcp://127.0.0.1:{self.bp}')

src/config.py

@@ -6,13 +6,18 @@ from PIL.TiffImagePlugin import SOFTWARE
 
 PLAYBACK_SOCKET_PORT = 5003
 PLAYBACK_SOCKET = f'127.0.0.1:{PLAYBACK_SOCKET_PORT}'
-LIVE_SOCKET_IP = '11.6.1.66'
+LIVE_SOCKET_IP = '11.6.1.71'
 LIVE_REP_SOCKET_PORT = 5556
 LIVE_SOCKET = f'{LIVE_SOCKET_IP}:5555'
 LIVE_REP_SOCKET = f'{LIVE_SOCKET_IP}:{LIVE_REP_SOCKET_PORT}'
 VIDEO_HEIGHT = 1920
 VIDEO_WIDTH = 1080
 
+SWITCH1_IP = 'c1'
+SWITCH1_TOKEN = '7ad51e0016e7a9d22f753d5110f76c7d'
+SWITCH2_IP = 'c2'
+SWITCH2_TOKEN = 'bf5a7b77a1ba3761ea63fafd8427b7d6'
+
 BASE = Path(__file__).parent.parent
 DS = BASE / '@DS'
 DOC = BASE / 'doc'

src/main.py

@@ -8,6 +8,7 @@ from nodes.Device import Device
 from nodes.ImageCV import ImageCV
 from nodes.Loader import Loader
 from nodes.MainUI import MainUI
+from nodes.Muxer import Receiver
 from nodes.Robot import Robot
 from nodes.WebRTC import WebRTC
 from utils.Msg import KillMsg
@@ -25,6 +26,7 @@ if __name__ == '__main__':
         ImageCV(),
         Beamformer(),
         Loader(),
+        Receiver(),
         Robot(),
     ]
     for p in ps:

src/nodes/Beamformer.py

@@ -11,7 +11,7 @@ import zmq
 from config import PLAYBACK_SOCKET, VIDEO_WIDTH, VIDEO_HEIGHT, LIVE_SOCKET, IMAGING_CONFIG
 from nodes.Node import Node
 from utils.Msg import BMMsg, ImageArgMsg, KillMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, \
-    RecordFrameMsg, ImagingConfigNameListMsg
+    RecordFrameMsg, ImagingConfigNameListMsg, Msg, RfFrameMsg
 from utils.RfFile import RfFrame, RfSequenceMeta
 from utils.RfMat import RfMat
 from utils.RfMeta import RfFrameMeta
@@ -20,23 +20,16 @@ logger = logging.getLogger(__name__)
 
 
 class Beamformer(Node):
-    topics = [ImageArgMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg]
+    topics = [RfFrameMsg]
 
     def __init__(self, level=logging.INFO):
         super(Beamformer, self).__init__(level=level)
-        self.arg = ImageArgMsg('', t_start=0, t_end=1499)
-        self.seq_meta_live = None
-        self.seq_meta_playback = None
-        self.record_enable = False
-        self.record_commit = None
-        self.record_path: Path | None = None
-        self.play_mode = None
 
-    def process(self, data: RfMat):
+    def process(self, data: RfMat, arg: ImageArgMsg):
         if data is None:
             return
         d2 = (data
-              .crop(self.arg.t_start, self.arg.t_end)
+              .crop(arg.t_start, arg.t_end)
               .rotate90()
               .grey()
               .cpu()
@@ -46,84 +39,25 @@ class Beamformer(Node):
               )
         self.send(BMMsg(0, d2.__bytes__()))
 
-    @property
-    def current_seq_meta(self):
-        seq_meta = None
-        match self.play_mode:
-            case 'live':
-                seq_meta = self.seq_meta_live
-            case 'playback':
-                seq_meta = self.seq_meta_playback
-        return seq_meta
-
     def loop(self):
-        device_socket = self.context.socket(zmq.PULL)
+        req_socket = self.context.socket(zmq.REQ)
-        device_socket.setsockopt(zmq.CONFLATE, 1)
+        req_socket.connect('tcp://127.0.0.1:5559')
-        self.c.poller.register(device_socket, zmq.POLLIN)
-        mat = None
         time.sleep(1)
-        self.send(ImagingConfigNameListMsg([path.stem for path in IMAGING_CONFIG.glob('*.json')]))
         while True:
-            socks = dict(self.c.poller.poll())
+            req_socket.send(b'')
-            if device_socket in socks and socks[device_socket] == zmq.POLLIN:
+            r = req_socket.recv()
-                buffer = device_socket.recv()
+            if r.__len__() > 0:
-                logger.debug(f'device receive {buffer.__len__()}')
+                id2 = r.index(Msg.magic(), 1)
-                _, sequence_id, encoder = struct.unpack_from('=iqi', buffer)
+                id3 = r.index(Msg.magic(), id2 + 1)
-                s = buffer[4 + 8 + 4:]
+                print(id2, id3)
-                logger.debug(f'live meta {self.seq_meta_live}, playback meta {self.seq_meta_playback}')
+                seq_msg: SetSeqMetaMsg = Msg.decode_msg(r[:id2])
-                seq_meta: RfSequenceMeta | None = {
+                arg_msg: ImageArgMsg = Msg.decode_msg(r[id2:id3])
-                    "live": self.seq_meta_live,
+                b_msg: RfFrameMsg = Msg.decode_msg(r[id3:])
-                    "playback": self.seq_meta_playback,
+                s = b_msg.data
-                }.get(self.play_mode, None)
+                fb1 = cp.frombuffer(s, dtype=cp.int16)
-                if seq_meta is not None:
+                seq_meta = RfSequenceMeta.from_name(seq_msg.name)
-                    fb1 = cp.frombuffer(s, dtype=cp.int16)
+                mat = RfMat(fb1.reshape(seq_meta.shape), RfFrameMeta(
-                    if fb1.shape[0] == np.prod(seq_meta.shape):
+                    encoder=b_msg.encoder,
-                        mat = RfMat(fb1.reshape(seq_meta.shape), RfFrameMeta(
+                    sequence_id=b_msg.sequence_id,
-                            encoder=encoder,
+                ), seq_meta)
-                            sequence_id=sequence_id,
+                self.process(mat, arg_msg)
-                        ), seq_meta)
-                        if self.record_enable:
-                            bs = mat.__bytes__()
-                            (self.record_path / mat.frame_meta.filename).write_bytes(bs)
-                            self.send(RecordFrameMsg(bs.__len__(), sequence_id))
-
-            if self.c.sub in socks and socks[self.c.sub] == zmq.POLLIN:
-                msg = self.recv()
-                if isinstance(msg, KillMsg):
-                    if msg.name == '':
-                        return
-                if isinstance(msg, SetSeqMetaMsg):
-                    match msg.target:
-                        case 'live':
-                            self.seq_meta_live = RfSequenceMeta.from_name(msg.name)
-                        case 'playback':
-                            self.seq_meta_playback = RfSequenceMeta.from_name(msg.name)
-                if isinstance(msg, ImageArgMsg):
-                    self.arg = msg
-                if isinstance(msg, SetPlayMode):
-                    logger.debug(f'set playmode {msg}')
-                    self.play_mode = msg.value
-                    if msg.value == 'live':
-                        try:
-                            device_socket.disconnect(f"tcp://{PLAYBACK_SOCKET}")
-                        except:
-                            pass
-                        device_socket.connect(f"tcp://{LIVE_SOCKET}")
-                    elif msg.value == 'playback':
-                        try:
-                            device_socket.disconnect(f"tcp://{LIVE_SOCKET}")
-                        except:
-                            pass
-                        device_socket.connect(f"tcp://{PLAYBACK_SOCKET}")
-                        logger.debug('connect to playback')
-                if isinstance(msg, SetRecordMsg):
-                    self.record_enable = msg.enable
-                    if msg.enable:
-                        seq_meta = self.current_seq_meta
-                        self.record_commit = msg.commit
-                        seq_meta.commit = msg.commit
-                        p = Path(msg.base) / seq_meta.name
-                        p.mkdir(parents=True, exist_ok=True)
-                        self.record_path = p
-
-            self.process(mat)

src/nodes/Device.py

@@ -96,15 +96,6 @@ class Device(Node):
             case _:
                 logger.error(f"Device msg: {rb}")
 
-    def setfile00(self, s: str):
-        self.device_rep_socket.send(b'file' + s.encode())
-        rb = self.device_rep_socket.recv()
-        if rb == self.ok:
-            pass
-            # self.send(DeviceConnectedMsg(True))
-        else:
-            logger.error(f"Device msg: {rb}")
-
     def setfile(self, config_str: str):
         if self.enabled():
             self.disable()
@@ -124,10 +115,16 @@ class Device(Node):
             logger.error(f"Device msg: {rb}")
             return False
 
-    def loop(self):
+    def data(self):
-        arr = []
+        self.device_rep_socket.send(b'data')
+        return self.device_rep_socket.recv()
+
+    def custom_setup(self):
         self.device_rep_socket = self.context.socket(zmq.REQ)
         self.device_rep_socket.connect(f"tcp://{LIVE_REP_SOCKET}")
+
+    def loop(self):
+        arr = []
         time.sleep(1)
         if self.online():
             self.connected()

src/nodes/Muxer.py

@@ -0,0 +1,126 @@
+import logging
+import struct
+import time
+from pathlib import Path
+
+import cupy as cp
+import cv2
+import numpy as np
+import zmq
+
+from config import PLAYBACK_SOCKET, VIDEO_WIDTH, VIDEO_HEIGHT, LIVE_SOCKET, IMAGING_CONFIG
+from nodes.Node import Node
+from utils.Msg import BMMsg, ImageArgMsg, KillMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, \
+    RecordFrameMsg, ImagingConfigNameListMsg, RfFrameMsg
+from utils.RfFile import RfFrame, RfSequenceMeta
+from utils.RfMat import RfMat
+from utils.RfMeta import RfFrameMeta
+
+logger = logging.getLogger(__name__)
+
+
+class Muxer(Node):
+    topics = [SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg]
+
+    def __init__(self, level=logging.INFO):
+        super(Muxer, self).__init__(level=level)
+        self.seq_meta = None
+        self.seq_meta_live = None
+        self.seq_meta_playback = None
+        self.record_enable = False
+        self.record_commit = None
+        self.record_path: Path | None = None
+        self.play_mode = None
+
+    @property
+    def current_seq_meta(self):
+        seq_meta = None
+        match self.play_mode:
+            case 'live':
+                seq_meta = self.seq_meta_live
+            case 'playback':
+                seq_meta = self.seq_meta_playback
+        return seq_meta
+
+    def loop(self):
+        device_socket = self.context.socket(zmq.PULL)
+        device_socket.setsockopt(zmq.CONFLATE, 1)
+        rep_socket = self.context.socket(zmq.REP)
+        rep_socket.bind('tcp://*:5559')
+        self.arg = ImageArgMsg('', t_start=0, t_end=1499)
+        self.c.poller.register(device_socket, zmq.POLLIN)
+        self.c.poller.register(rep_socket, zmq.POLLIN)
+        rfframemsg: RfFrameMsg | None = None
+        time.sleep(1)
+        self.send(ImagingConfigNameListMsg([path.stem for path in IMAGING_CONFIG.glob('*.json')]))
+        while True:
+            socks = dict(self.c.poller.poll())
+            if device_socket in socks and socks[device_socket] == zmq.POLLIN:
+                buffer = device_socket.recv()
+                device_socket.disconnect(f"tcp://{LIVE_SOCKET}")
+                device_socket.connect(f"tcp://{LIVE_SOCKET}")
+                logger.debug(f'device receive {buffer.__len__()}')
+                _, sequence_id, encoder = struct.unpack_from('=iqi', buffer)
+                buf = buffer[4 + 8 + 4:]
+                logger.debug(f'live meta {self.seq_meta_live}, playback meta {self.seq_meta_playback}')
+                seq_meta: RfSequenceMeta | None = {
+                    "live": self.seq_meta_live,
+                    "playback": self.seq_meta_playback,
+                }.get(self.play_mode, None)
+                if seq_meta is not None:
+                    if (buf.__len__() // 2) == np.prod(seq_meta.shape):
+                        self.seq_meta = seq_meta
+                        rfframemsg = RfFrameMsg(sequence_id, encoder, buf)
+                        fm = RfFrameMeta(
+                            encoder=encoder,
+                            sequence_id=sequence_id,
+                        )
+                        if self.record_enable:
+                            (self.record_path / fm.filename).write_bytes(buf)
+                            self.send(RecordFrameMsg(buf.__len__(), sequence_id))
+            if rep_socket in socks and socks[rep_socket] == zmq.POLLIN:
+                rep_socket.recv()
+                if rfframemsg is None or self.seq_meta is None:
+                    rep_socket.send(b'')
+                else:
+                    rep_socket.send(SetSeqMetaMsg('any', self.seq_meta.name).encode_msg() +
+                                    self.arg.encode_msg() +
+                                    rfframemsg.encode_msg())
+            if self.c.sub in socks and socks[self.c.sub] == zmq.POLLIN:
+                msg = self.recv()
+                if isinstance(msg, KillMsg):
+                    if msg.name == '':
+                        return
+                if isinstance(msg, ImageArgMsg):
+                    self.arg = msg
+                if isinstance(msg, SetSeqMetaMsg):
+                    match msg.target:
+                        case 'live':
+                            self.seq_meta_live = RfSequenceMeta.from_name(msg.name)
+                        case 'playback':
+                            self.seq_meta_playback = RfSequenceMeta.from_name(msg.name)
+                if isinstance(msg, SetPlayMode):
+                    logger.debug(f'set playmode {msg}')
+                    self.play_mode = msg.value
+                    if msg.value == 'live':
+                        try:
+                            device_socket.disconnect(f"tcp://{PLAYBACK_SOCKET}")
+                        except:
+                            pass
+                        device_socket.connect(f"tcp://{LIVE_SOCKET}")
+                    elif msg.value == 'playback':
+                        try:
+                            device_socket.disconnect(f"tcp://{LIVE_SOCKET}")
+                        except:
+                            pass
+                        device_socket.connect(f"tcp://{PLAYBACK_SOCKET}")
+                        logger.debug('connect to playback')
+                if isinstance(msg, SetRecordMsg):
+                    self.record_enable = msg.enable
+                    if msg.enable:
+                        seq_meta = self.current_seq_meta
+                        self.record_commit = msg.commit
+                        seq_meta.commit = msg.commit
+                        p = Path(msg.base) / seq_meta.name
+                        p.mkdir(parents=True, exist_ok=True)
+                        self.record_path = p

src/nodes/Node.py

@@ -28,12 +28,22 @@ class Node:
     def loop(self):
         pass
 
-    def __call__(self, *args, **kwargs):
+    def setup(self):
+        self.base_setup()
+        self.custom_setup()
+
+    def custom_setup(self):
+        pass
+
+    def base_setup(self):
         FORMAT = '[%(asctime)s] p%(process)s {%(pathname)s:%(lineno)d} %(levelname)s - %(message)s'
         FORMAT = '"%(pathname)s:%(lineno)d" %(levelname)s - %(message)s'
         logging.basicConfig(level=self.level, format=FORMAT)
         self.context = zmq.Context()
         if self.enable_init:
             self.c = BusClient(*([KillMsg] + self.topics), poller=True, conflare=self.conflare)
+
+    def __call__(self, *args, **kwargs):
+        self.setup()
         self.loop()
         print(self.__class__.__name__, 'exiting')

src/utils/Msg.py

@@ -33,36 +33,40 @@ class BG(Enum):
     SetWindowVisibleMsg = auto()
     SetSidMsg = auto()
     ImagingConfigNameListMsg = auto()
+    RfFrameMsg = auto()
 
 
 class Msg:
+    MAGIC = 1919810
 
     @classmethod
-    def decode_base(clz, data: bytes) -> 'Msg':
+    def decode_base(cls, data: bytes) -> 'Msg':
-        # c = clz()
+        return cls(**json.loads(data.decode()))
-        # c.__dict__.update(json.loads(data.decode()))
-        # return c
-        return clz(**json.loads(data.decode()))
 
     def encode(self) -> bytes:
         return json.dumps(self.__dict__).encode()
 
     @classmethod
-    def decode(self, data: bytes) -> 'Msg':
+    def decode(cls, data: bytes) -> 'Msg':
-        return self.decode_base(data)
+        return cls.decode_base(data)
 
-    @staticmethod
+    @classmethod
-    def decode_msg(msg):
+    def decode_msg(cls, msg: bytes):
-        eid = struct.unpack('I', msg[:4])[0]
+        magic, eid = struct.unpack('II', msg[:8])
+        assert magic == cls.MAGIC
         class_: 'Msg' = globals()[BG(eid).name]
-        return class_.decode(msg[4:])
+        return class_.decode(msg[8:])
 
     @classmethod
     def eid(cls):
         return struct.pack('I', BG[cls.__name__].value)
 
+    @classmethod
+    def magic(cls):
+        return struct.pack('I', cls.MAGIC)
+
     def encode_msg(self):
-        return self.eid() + self.encode()
+        return self.magic() + self.eid() + self.encode()
 
 
 @dataclasses.dataclass
@@ -224,13 +228,34 @@ class BMMsg(Msg):
         return struct.pack('I', self.t) + self.data
 
     @classmethod
-    def decode(clz, data: bytes) -> 'Msg':
+    def decode(cls, data: bytes) -> 'Msg':
-        return clz(
+        return cls(
             struct.unpack('I', data[:4])[0],
             data[4:]
         )
 
 
+class RfFrameMsg(Msg):
+    def __init__(self, sequence_id: int, encoder: int, data: bytes):
+        self.sequence_id = sequence_id
+        self.encoder = encoder
+        self.data = data
+
+    def encode(self) -> bytes:
+        return struct.pack(
+            'II',
+            self.sequence_id,
+            self.encoder,
+        ) + self.data
+
+    @classmethod
+    def decode(cls, data: bytes) -> 'Msg':
+        return cls(
+            *struct.unpack('II', data[:8]),
+            data[8:]
+        )
+
+
 @dataclasses.dataclass
 class RobotRtsiMsg(Msg):
     pos: tuple[float, float, float, float, float, float]

src/utils/mi.py

@@ -0,0 +1,55 @@
+from miio.miioprotocol import MiIOProtocol
+
+from config import SWITCH1_IP, SWITCH1_TOKEN, SWITCH2_IP, SWITCH2_TOKEN
+
+
+def c1():
+    return MiIOProtocol(
+        SWITCH1_IP, SWITCH1_TOKEN,
+    )
+
+
+def c2():
+    return MiIOProtocol(
+        SWITCH2_IP, SWITCH2_TOKEN,
+    )
+
+
+def c1_set_connect(status: bool):
+    c1().send('set_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1, 'value': status}])
+
+
+def c1_connect():
+    c1_set_connect(True)
+
+
+def c1_disconnect():
+    c1_set_connect(False)
+
+
+def c1_connected():
+    return c1().send('get_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1}])[0]['value']
+
+
+def c1_power():
+    return c1().send('get_properties', [{'did': '845778715', 'siid': 11, 'piid': 2}])[0]['value']
+
+
+def c2_set_connect(status: bool):
+    c2().send('set_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1, 'value': status}])
+
+
+def c2_connect():
+    c2_set_connect(True)
+
+
+def c2_disconnect():
+    c2_set_connect(False)
+
+
+def c2_connected():
+    return c2().send('get_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1}])[0]['value']
+
+
+if __name__ == '__main__':
+    print(c2_connect())

test/kdemain.py

@@ -7,6 +7,7 @@ from nodes.Broker import Broker
 from nodes.Device import Device
 from nodes.ImageCV import ImageCV
 from nodes.Loader import Loader
+from nodes.Muxer import Receiver
 from nodes.Robot import Robot
 from nodes.WebRTC import WebRTC
 from qtonly import kde_pyqt6_mainui
@@ -25,6 +26,7 @@ if __name__ == '__main__':
         ImageCV(level=logging.DEBUG),
         Beamformer(),
         Loader(),
+        Receiver(),
         Robot(),
     ]
     for p in ps:

test/so.py

@@ -1,6 +1,8 @@
+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__())

test/testDevice.py

@@ -0,0 +1,33 @@
+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)
+    while True:
+        d.data()
+        print(1)
+    # d.disable()
+    # d.disconnect()
+
+
+if __name__ == '__main__':
+    test2()

test/testmiio.py

@@ -0,0 +1,10 @@
+from miio.miioprotocol import MiIOProtocol
+from config import SWITCH1_IP, SWITCH1_TOKEN, SWITCH2_IP, SWITCH2_TOKEN
+from miio import Device
+
+if __name__ == '__main__':
+    m = MiIOProtocol(
+        SWITCH1_IP, SWITCH1_TOKEN,
+    )
+    r = m.send('get_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1}])
+    print(r[0]['value'])