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add us process and web

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This commit is contained in:
flandre 2025-05-08 00:25:52 +08:00
parent 35472c5112
commit ec93302ea9
11 changed files with 272 additions and 24 deletions
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19
config/imaging/baby4.json
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@ -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
}

15
flandre/beamformer/process.py
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@ -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)
)

10
flandre/nodes/Beamformer.py
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@ -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:

6
flandre/nodes/Loader.py
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@ -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:

27
flandre/nodes/Web.py
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@ -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:
logger.warning(e)
elif isinstance(msg, SetSidMsg):
self.boardcast(msg.dict)
if __name__ == '__main__':

14
flandre/utils/Msg.py
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@ -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

14
flandre/utils/RfMat.py
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@ -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.imshow(self.m, cmap='grey')
plt.figure(figsize=figsize)
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__':

4
flandre/utils/RfMeta.py
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@ -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'

108
imaging_example.ipynb Normal file
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File diff suppressed because one or more lines are too long

38
test/process_b.py Normal file
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@ -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)

35
us.ipynb
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@ -173,23 +173,46 @@
{
"metadata": {
"ExecuteTime": {
"end_time": "2025-04-16T10:03:23.103198Z",
"start_time": "2025-04-16T10:03:23.018519Z"
"end_time": "2025-05-07T13:04:34.708223Z",
"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",
"\u001B[0;31mNameError\u001B[0m: name 'rff' is not defined"
"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 'RfSequence' is not defined"
]
}
],