add us process and web

config/imaging/baby4.json

@@ -1 +1,18 @@
-{"t_end": 2026, "t_start": 1714, "v2": 1524, "dct_center": 1086, "dct_bandwidth": 915, "f_rows": 6002, "beta": 40, "tgc": 0, "g1": 23, "g2": 27, "g3": 34, "g4": 24, "g5": 23, "g6": 30, "g7": 27, "g8": 51}
+{
+  "t_end": 2026,
+  "t_start": 1714,
+  "v2": 1524,
+  "dct_center": 1086,
+  "dct_bandwidth": 915,
+  "f_rows": 6002,
+  "beta": 40,
+  "tgc": 0,
+  "g1": 23,
+  "g2": 27,
+  "g3": 34,
+  "g4": 24,
+  "g5": 23,
+  "g6": 30,
+  "g7": 27,
+  "g8": 51
+}

flandre/beamformer/process.py

@@ -2,6 +2,8 @@ import cupy as cp
 
 from flandre.beamformer.das import TFM
 from flandre.utils.Config import ImagingConfig
+from flandre.utils.Msg import ImageArgMsg
+from flandre.utils.RfMat import RfMat
 from flandre.utils.ScanData import ScanData
 
 tfm_cache = [None]
@@ -42,3 +44,16 @@ def tfm_process(s: ScanData, icfg: ImagingConfig, disable_cache: bool, tfm: TFM)
             .cpu()
             .get()
             )
+
+
+def process_pwi_v2(data: RfMat, arg: ImageArgMsg, pwi):
+    return (data
+            .dct_center(arg.dct_center, arg.dct_bandwidth)
+            .call(lambda m: m.astype(cp.int16))
+            .call(pwi)
+            .call(cp.asarray, order='C')
+            .argrelextrema()
+            .conv_guass(b=arg.beta * 0.01)
+            .crop_center(arg.t_start, arg.t_end)
+            .time_gain_compensation_global((1 - arg.g8 * (1.0 / 128)) ** 2)
+            )

flandre/nodes/Beamformer.py

@@ -12,6 +12,7 @@ from flandre.config import C
 from flandre.nodes.Node import Node
 from flandre.utils.Config import DeviceConfig
 from flandre.utils.Msg import ImageArgMsg, Msg, BeamformerMsg, RfMatMsg, RfFrameMsg, MaxMsg
+from flandre.utils.RfFrame import RfFrameFile
 from flandre.utils.RfMat import RfMat
 from flandre.utils.RfMeta import RfSequenceMeta
 
@@ -87,6 +88,7 @@ class Beamformer(Node):
         self.send(MaxMsg(mm.item()))
         last_v2 = 5900
         last_f_rows = 0
+        last_blake2b = None
         while True:
             self.muxer_req_socket.send(b'')
             r = dict(self.c.poller.poll())
@@ -103,8 +105,16 @@ class Beamformer(Node):
                 id2 = r.index(Msg.magic(), 1)
                 arg_msg: ImageArgMsg = Msg.decode_msg(r[:id2])
                 rf_frame_msg: RfFrameMsg = Msg.decode_msg(r[id2:])
+                current_frame = rf_frame_msg.rf_frame
+
+
+                if isinstance(current_frame, RfFrameFile):
+                    if current_frame.meta.blake2b is not None and current_frame.meta.blake2b == last_blake2b:
+                        continue
                 mat = RfMat.from_rf_frame(rf_frame_msg.rf_frame, 'gpu')
                 # logger.info(mat.frame_meta.blake2b)
+
+                last_blake2b = mat.frame_meta.blake2b
                 if mat is None:
                     continue
                 if arg_msg.v2 != last_v2 or arg_msg.f_rows != last_f_rows:

flandre/nodes/Loader.py

@@ -6,7 +6,7 @@ import zmq
 from flandre.config import C, ISDEV
 from flandre.nodes.Node import Node
 from flandre.utils.Msg import MoveAxisMsg, KillMsg, SetSeqMetaMsg, SeqIdMinMax, SetBaseMsg, PlaybackSeqListMsg, \
-    SeqIdList, SetSidMsg, RfFrameMsg
+    SeqIdList, SetSidMsg, RfFrameMsg, RobotRtsiMsg
 from flandre.utils.RfSequence import RfSequence
 
 logger = logging.getLogger(__name__)
@@ -29,7 +29,9 @@ class Loader(Node):
                 if msg.axis == 'S':
                     pass
             elif isinstance(msg, SetSidMsg):
-                self.send(RfFrameMsg(1, rff.frames[msg.value]))
+                selected_frame = rff.frames[msg.value]
+                self.send(RfFrameMsg(1, selected_frame))
+                self.send(RobotRtsiMsg.from_meta(selected_frame.meta))
 
             elif isinstance(msg, SetSeqMetaMsg):
                 if base is None:

flandre/nodes/Web.py

@@ -1,10 +1,13 @@
 import asyncio
 import dataclasses
 import logging
+from pathlib import Path
 from threading import Thread
 
+from fastapi import FastAPI, Response
 from flandre.nodes.Node import Node
-from flandre.utils.Msg import ImageArgMsg, RobotRtsiMsg
+from flandre.utils.Msg import ImageArgMsg, RobotRtsiMsg, SetSidMsg
+from flandre.utils.RfSequence import RfSequence
 
 logger = logging.getLogger(__name__)
 
@@ -70,7 +73,7 @@ app = FastAPI()
 
 
 class Web(Node):
-    topics = [ImageArgMsg, RobotRtsiMsg]
+    topics = [ImageArgMsg, RobotRtsiMsg, SetSidMsg]
 
     def __init__(self, level=logging.INFO):
         super(Web, self).__init__(level=level)
@@ -81,10 +84,22 @@ class Web(Node):
         self.router = APIRouter()
         self.router.add_api_route("/hello", self.hello, methods=["GET"])
         self.router.add_websocket_route("/ws", self.websocket_endpoint)
+        self.router.add_api_route("/p", self.get_image, response_class=Response, responses={
+            200: {
+                "content": {"image/png": {}}
+            }
+        })
 
     def hello(self):
         return {"Hello": 'asd'}
 
+    def get_image(self, i: int):
+        rfs = RfSequence()
+        f = rfs.frames[i]
+
+        image_bytes: bytes = b''
+        return Response(content=image_bytes, media_type="image/png")
+
     async def websocket_endpoint(self, websocket: WebSocket):
         await websocket.accept()
         self.wss.append(websocket)
@@ -101,8 +116,11 @@ class Web(Node):
             self.wss.remove(websocket)
 
     def boardcast(self, data: dict):
+        try:
             for ws in self.wss:
                 asyncio.run(ws.send_json(data))
+        except Exception as e:
+            logger.warning(e)
 
     def wst(self):
         app = FastAPI()
@@ -118,10 +136,9 @@ class Web(Node):
                     self.arg = msg
                     self.boardcast(msg.dict)
             elif isinstance(msg, RobotRtsiMsg):
-                try:
                 self.boardcast(msg.dict)
-                except Exception as e:
+            elif isinstance(msg, SetSidMsg):
-                    logger.warning(e)
+                self.boardcast(msg.dict)
 
 
 if __name__ == '__main__':

flandre/utils/Msg.py

@@ -378,6 +378,7 @@ class RfFrameMsg(HeaderByteMsg):
 
     @classmethod
     def decode(cls, data: bytes) -> 'RfFrameMsg':
+        # return RfFrameMemory(RfFrameMeta(),RfSequenceMeta(),b'')
         msg = super(RfFrameMsg, cls).decode(data)
         if msg.header['type'] == 'RfFrameFile':
             return RfFrameMsg(
@@ -523,6 +524,19 @@ class RobotRtsiMsg(Msg):
     pos: tuple[int, int, int, int, int, int]
     force: tuple[int, int, int, int, int, int]
 
+    @staticmethod
+    def from_meta(meta: RfFrameMeta):
+        return RobotRtsiMsg(
+            pos=(
+                meta.robot_x, meta.robot_y, meta.robot_z,
+                meta.robot_roll, meta.robot_pitch, meta.robot_yal,
+            ),
+            force=(
+                meta.robot_force_x, meta.robot_force_y, meta.robot_force_z,
+                meta.robot_force_roll, meta.robot_force_pitch, meta.robot_force_yal
+            )
+        )
+
 
 class RequestRfFrameMsg(Msg):
     pass

flandre/utils/RfMat.py

@@ -1,4 +1,5 @@
 import inspect
+from pathlib import Path
 
 import cupyx
 import cv2
@@ -415,10 +416,17 @@ class RfMat:
         self.m = self.m.astype(np.int64)
         return self
 
-    def jupyter(self):
+    def jupyter(self, figsize=(40, 20), aspect=None):
         from matplotlib import pyplot as plt
-        plt.figure(figsize=(40, 20))
+        plt.figure(figsize=figsize)
-        plt.imshow(self.m, cmap='grey')
+        plt.imshow(self.m, cmap='grey', aspect=aspect)
+
+    def png(self, path: Path, color=(255, 0, 0), pre=0):
+        canvas = np.zeros((self.h, self.w, 4), dtype=np.uint8)
+        canvas[:, :, 0:3] = color
+        canvas[:, :, 3] = self.grey().cpu().m[:, :]
+        canvas[:pre, :, 3] = 0
+        cv2.imwrite(str(path), canvas)
 
 
 if __name__ == '__main__':

flandre/utils/RfMeta.py

@@ -1,12 +1,8 @@
-import dataclasses
-import json
 from dataclasses import dataclass
 from enum import Enum, auto
 from pathlib import Path
 from typing import Annotated, get_type_hints
 
-# from attr import dataclass
-
 COMMIT_KEY = 'COMMIT'
 
 

test/process_b.py

@@ -0,0 +1,38 @@
+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)

us.ipynb

@@ -173,23 +173,46 @@
   {
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2025-04-16T10:03:23.103198Z",
+     "end_time": "2025-05-07T13:04:34.708223Z",
-     "start_time": "2025-04-16T10:03:23.018519Z"
+     "start_time": "2025-05-07T13:04:34.699244Z"
     }
    },
    "cell_type": "code",
-   "source": "",
+   "source": [
+    "from flandre.utils.Msg import ImageArgMsg\n",
+    "\n",
+    "arg = ImageArgMsg(\n",
+    "    sender='',\n",
+    "    t_start=0,\n",
+    "    t_end=1,\n",
+    ")\n",
+    "rff = RfSequence('/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/us/baby789,S=(256 6002),M=PWI,U=120')\n",
+    "\n",
+    "dc = DeviceConfig(v2=1540, rows=1490)\n",
+    "pwi, _ = gen_pwi(direct_dist(dc, p=cp), dc)\n",
+    "\n",
+    "data = RfMat.from_rf_frame(rff.frames[0])\n",
+    "data = data.dct_center(arg.dct_center, arg.dct_bandwidth)\n",
+    "data = data.call(lambda m: m.astype(cp.int16))\n",
+    "data = data.call(pwi)\n",
+    "data = data.call(cp.asarray, order='C')\n",
+    "data = data.argrelextrema()\n",
+    "data = data.conv_guass(b=arg.beta * 0.01)\n",
+    "data = data.crop_center(arg.t_start, arg.t_end)\n",
+    "data = data.time_gain_compensation_global((1 - arg.g8 * (1.0 / 128)) ** 2)\n",
+    "data.jupyter()\n"
+   ],
    "id": "75e9c5f82736241",
    "outputs": [
     {
      "ename": "NameError",
-     "evalue": "name 'rff' is not defined",
+     "evalue": "name 'RfSequence' is not defined",
      "output_type": "error",
      "traceback": [
       "\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
       "\u001B[0;31mNameError\u001B[0m                                 Traceback (most recent call last)",
-      "Cell \u001B[0;32mIn[2], line 1\u001B[0m\n\u001B[0;32m----> 1\u001B[0m RfMat\u001B[38;5;241m.\u001B[39mfrom_rf_frame(\u001B[43mrff\u001B[49m\u001B[38;5;241m.\u001B[39mframes[\u001B[38;5;241m0\u001B[39m])\u001B[38;5;241m.\u001B[39mjupyter()\n",
+      "Cell \u001B[0;32mIn[2], line 8\u001B[0m\n\u001B[1;32m      1\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mflandre\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mutils\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mMsg\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m ImageArgMsg\n\u001B[1;32m      3\u001B[0m arg \u001B[38;5;241m=\u001B[39m ImageArgMsg(\n\u001B[1;32m      4\u001B[0m     sender\u001B[38;5;241m=\u001B[39m\u001B[38;5;124m'\u001B[39m\u001B[38;5;124m'\u001B[39m,\n\u001B[1;32m      5\u001B[0m     t_start\u001B[38;5;241m=\u001B[39m\u001B[38;5;241m0\u001B[39m,\n\u001B[1;32m      6\u001B[0m     t_end\u001B[38;5;241m=\u001B[39m\u001B[38;5;241m1\u001B[39m,\n\u001B[1;32m      7\u001B[0m )\n\u001B[0;32m----> 8\u001B[0m rff \u001B[38;5;241m=\u001B[39m \u001B[43mRfSequence\u001B[49m(\u001B[38;5;124m'\u001B[39m\u001B[38;5;124m/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/us/baby789,S=(256 6002),M=PWI,U=120\u001B[39m\u001B[38;5;124m'\u001B[39m)\n\u001B[1;32m     10\u001B[0m dc \u001B[38;5;241m=\u001B[39m DeviceConfig(v2\u001B[38;5;241m=\u001B[39m\u001B[38;5;241m1540\u001B[39m, rows\u001B[38;5;241m=\u001B[39m\u001B[38;5;241m1490\u001B[39m)\n\u001B[1;32m     11\u001B[0m pwi, _ \u001B[38;5;241m=\u001B[39m gen_pwi(direct_dist(dc, p\u001B[38;5;241m=\u001B[39mcp), dc)\n",
-      "\u001B[0;31mNameError\u001B[0m: name 'rff' is not defined"
+      "\u001B[0;31mNameError\u001B[0m: name 'RfSequence' is not defined"
      ]
     }
    ],