#!/usr/bin/python3 # -*- coding: utf-8 -*- # -*- mode: Python -*- ''' Tracer v0.8.2 Etherdream DACs handler on network via Redis LICENCE : CC Sam Neurohack, pclf Includes live conversion in etherdream coordinates, geometric corrections, color balance change, intensity limitation, grid display,... One tracer process is launched per requested laser by LJ. Lasers parameters in LJ.conf. Live I/O based on redis keys : inputs (Pointlists to draw,...) and outputs (DAC state, errors,..). Keys are mostly read and set at each main loop. This tracer include an enhanced version (support for several lasers) of the etherdream python library from j4cDAC. * Redis keys reference * - Drawing things : /pl/Scene/lasernumber [(x,y,color),(x1,y1,color),...] The live list of drawn pygame points. Tracer continously ask redis for key /clientkey+lasernumber /resampler/lasernumber [(1.0,8), (0.25,3),(0.75,3),(1.0,10)] : a string for resampling rules. the first tuple (1.0,8) is for short line < 4000 in etherdream space (0.25,3),(0.75,3),(1.0,10) for long line > 4000 i.e (0.25,3) means go at 25% position on the line, send 3 times this position to etherdream /clientkey "/pl/SceneNumber/" What Scene to retrieve from redis /EDH/lasernumber - Tracer control : /order 0-8 Set redis key with new value then issue the order number 0 : Draw Normal point list 1 : Get the new EDH = reread redis key /EDH/lasernumber 2 : Draw BLACK point list 3 : Draw GRID point list 4 : Resampler Change (longs and shorts lsteps) 5 : Client Key Change = reread redis key /clientkey 6 : Max Intensity Change = reread redis key /intensity 7 : kpps change = reread redis key /kpps 8 : color balance change = reread redis keys /red /green /blue - Managing Etherdream DACs : Discrete drawing values /kpps 0- DAC output speed to laser, then order 7. Depends of actual angle /intensity 0-255 Laser output power, then order 6 (for alignement,...) /red 0-100 % of full red, then order 8 /green 0-100 % of full green, then order 8 /blue 0-100 % of full blue, then order 8 DAC status report /lstt/lasernumber etherdream last_status.playback_state (0: idle 1: prepare 2: playing) /cap/lasernumber number of empty points sent to fill etherdream buffer (up to 1799) /lack/lasernumber "a": ACK "F": Full "I": invalid. 64 or 35 for no connection. Geometric corrections Doctodo ''' import socket import time import struct # from gstt import debug from libs3 import gstt, log import math import ast from libs3 import homographyp import numpy as np from .tracer_common import * # @todo this needs normallization ackstate = {'61': 'ACK', '46': 'FULL', '49': "INVALID", '21': 'STOP', '64': "NO CONNECTION ?", '35': "NO CONNECTION ?", '97': 'ACK', '70': 'FULL', '73': "INVALID", '33': 'STOP', '100': "NOCONNECTION", '48': "NOCONNECTION", 'a': 'ACK', 'F': 'FULL', 'I': "INVALID", '!': 'STOP', 'd': "NO CONNECTION ?", '0': "NO CONNECTION ?"} black_points = [(278.0, 225.0, 0), (562.0, 279.0, 0), (401.0, 375.0, 0), (296.0, 454.0, 0), (298.0, 165.0, 0)] grid_points = [(300.0, 200.0, 0), (500.0, 200.0, 65280), (500.0, 400.0, 65280), (300.0, 400.0, 65280), (300.0, 200.0, 65280), (300.0, 200.0, 0), (200.0, 100.0, 0), (600.0, 100.0, 65280), (600.0, 500.0, 65280), (200.0, 500.0, 65280), (200.0, 100.0, 65280)] class TracerEtherdream(Tracer): """A connection to a DAC.""" # "Laser point List" Point generator # each points is yielded : Getpoints() call n times OnePoint() def __init__(self, mylaser, PL, redis, port=7765): """Connect to the DAC over TCP.""" socket.setdefaulttimeout(2) self.redis = redis self.mylaser = mylaser self.clientkey = self.redis.get("/clientkey").decode('ascii') # log.info("Tracer "+str(self.mylaser)+" connecting to "+ gstt.lasersIPS[mylaser]) # print("DAC", self.mylaser, "Handler process, connecting to", gstt.lasersIPS[mylaser] ) self.conn = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.connstatus = self.conn.connect_ex((gstt.lasersIPS[mylaser], port)) if self.connstatus == 35 or self.connstatus == 64: log.err( "Tracer " + str(self.mylaser) + " (" + gstt.lasersIPS[mylaser] + "): " + ackstate[str(self.connstatus)]) else: print( "Tracer " + str(self.mylaser) + " (" + gstt.lasersIPS[mylaser] + "): " + ackstate[str(self.connstatus)]) # ipconn state is -1 at startup (see gstt) and modified here self.redis.set('/lack/' + str(self.mylaser), self.connstatus) gstt.lstt_ipconn[self.mylaser] = self.connstatus self.buf = b'' # Upper case PL is the Point List number self.PL = PL # Lower case pl is the actual point list coordinates # pdb.set_trace() self.pl = ast.literal_eval(self.redis.get(self.clientkey + str(self.mylaser)).decode('ascii')) if self.redis.get('/EDH/' + str(self.mylaser)) == None: # print("Laser",self.mylaser,"NO EDH !! Computing one...") homographyp.newEDH(self.mylaser) else: gstt.EDH[self.mylaser] = np.array(ast.literal_eval(self.redis.get('/EDH/' + str(self.mylaser)).decode('ascii'))) # print("Laser",self.mylaser,"found its EDH in redis") # print gstt.EDH[self.mylaser] self.xyrgb = self.xyrgb_prev = (0, 0, 0, 0, 0) self.intensity = 65280 self.intred = 100 self.intgreen = 100 self.intblue = 100 self.newstream = self.OnePoint() self.prev_x = 0 self.prev_y = 0 if gstt.debug > 0: print("Tracer", self.mylaser, "init asked for ckey", self.clientkey + str(self.mylaser)) if self.connstatus != 0: # print("" log.err("Connection ERROR " + str(self.connstatus) + " with laser " + str(mylaser) + " : " + str( gstt.lasersIPS[mylaser])) # print("first 10 points in PL",self.PL, self.GetPoints(10) else: print("Connection status for DAC " + str(self.mylaser) + " : " + str(self.connstatus)) # Reference points # Read the "hello" message first_status = self.readresp("?") first_status.dump() position = [] def before_loop(self): # print("laser", self.laser_id, "Pb : ",self.last_status.playback_state) # error if DAC is already playing state (from other source) if self.last_status.playback_state == 2: raise Exception("already playing?!") # if idle go to prepare state elif self.last_status.playback_state == 0: self.prepare() def get_points_capacity(self): cap = 1799 - self.last_status.fullness if cap < 100: time.sleep(0.001) cap += 150 return def read(self, l): """Read exactly length bytes from the connection.""" while l > len(self.buf): self.buf += self.conn.recv(4096) obuf = self.buf self.buf = obuf[l:] return obuf[:l] def readresp(self, cmd): """Read a response from the DAC.""" data = self.read(22) response = data[0] gstt.lstt_dacanswers[self.mylaser] = response cmdR = chr(data[1]) status = Status(data[2:]) self.redis.set('/lack/' + str(self.mylaser), response) if cmdR != cmd: raise ProtocolError("expected resp for %r, got %r" % (cmd, cmdR)) if response != ord('a'): raise ProtocolError("expected ACK, got %r" % (response,)) self.last_status = status return status def begin(self, lwm, rate): cmd = struct.pack("> 16) & 0xFF) << 8, ((c >> 8) & 0xFF) << 8, (c & 0xFF) << 8) return position[0][0], position[0][1] def prepare(self): self.conn.sendall(b'p') return self.readresp('p') def stop(self): self.conn.sendall('s') return self.readresp('s') def estop(self): self.conn.sendall("\xFF") return self.readresp("\xFF") def clear_estop(self): self.conn.sendall("c") return self.readresp("c") def ping(self): self.conn.sendall('?') return self.readresp('?') def play_stream(self): # print("laser", self.mylaser, "Pb : ",self.last_status.playback_state) # error if etherdream is already playing state (from other source) if self.last_status.playback_state == 2: raise Exception("already playing?!") # if idle go to prepare state elif self.last_status.playback_state == 0: self.prepare() started = 0 while True: # print("laser", self.mylaser, "Pb : ",self.last_status.playback_state) order = int(self.redis.get('/order/' + str(self.mylaser)).decode('ascii')) # print("tracer", str(self.mylaser),"order", order, type(order) if order == 0: # USER point list # self.pl = ast.literal_eval(self.redis.get(self.clientkey+str(self.mylaser)).decode('ascii')) # print("Tracer : laser", self.mylaser, " order 0 : pl : ",len(self.pl)) # si la clef est vide utiliser les points noirs ? -> syntax error -> black points. try: # newpl = "" # newpl = self.redis.get(self.clientkey+str(self.mylaser)) # self.pl = ast.literal_eval(newpl.decode('ascii')) self.pl = ast.literal_eval(self.redis.get(self.clientkey + str(self.mylaser)).decode('ascii')) except SyntaxError: print("BAD POINTLIST on Tracer : laser", self.mylaser, " order 0 : pl : ", self.pl) self.pl = black_points # print("Tracer : laser", self.mylaser, " order 0 : pl : ",len(self.pl)) else: # Get the new EDH if order == 1: print("Tracer", self.mylaser, "new EDH ORDER in redis") gstt.EDH[self.mylaser] = np.array( ast.literal_eval(self.redis.get('/EDH/' + str(self.mylaser)).decode('ascii'))) # Back to user point list self.redis.set('/order/' + str(self.mylaser), 0) # BLACK point list if order == 2: print("Tracer", self.mylaser, "BLACK ORDER in redis") self.pl = black_points # GRID point list if order == 3: print("Tracer", self.mylaser, "GRID ORDER in redis") self.pl = grid_points # Resampler Change if order == 4: self.resampler = ast.literal_eval(self.redis.get('/resampler/' + str(self.mylaser)).decode('ascii')) print("Tracer", self.mylaser, " : resetting lsteps for", self.resampler) gstt.stepshortline = self.resampler[0] gstt.stepslongline[0] = self.resampler[1] gstt.stepslongline[1] = self.resampler[2] gstt.stepslongline[2] = self.resampler[3] # Back to user point list order self.redis.set('/order/' + str(self.mylaser), 0) # Client Key change if order == 5: print("Tracer", self.mylaser, "new clientkey") self.clientkey = self.redis.get('/clientkey') # Back to user point list order self.redis.set('/order/' + str(self.mylaser), 0) # Intensity change if order == 6: self.intensity = int(self.redis.get('/intensity/' + str(self.mylaser)).decode('ascii')) << 8 print("Tracer", self.mylaser, "new Intensity", self.intensity) gstt.intensity[self.mylaser] = self.intensity self.redis.set('/order/' + str(self.mylaser), "0") # kpps change if order == 7: gstt.kpps[self.mylaser] = int(self.redis.get('/kpps/' + str(self.mylaser)).decode('ascii')) print("Tracer", self.mylaser, "new kpps", gstt.kpps[self.mylaser]) self.update(0, gstt.kpps[self.mylaser]) self.redis.set('/order/' + str(self.mylaser), "0") # color balance change if order == 8: self.intred = int(self.redis.get('/red/' + str(self.mylaser)).decode('ascii')) self.intgreen = int(self.redis.get('/green/' + str(self.mylaser)).decode('ascii')) self.intblue = int(self.redis.get('/blue/' + str(self.mylaser)).decode('ascii')) print("Tracer", self.mylaser, "new color balance", self.intred, "% ", self.intgreen, "% ", self.intblue, "% ") self.redis.set('/order/' + str(self.mylaser), "0") self.redis.set('/lstt/' + str(self.mylaser), self.last_status.playback_state) # pdb.set_trace() # How much room? cap = 1799 - self.last_status.fullness points = self.GetPoints(cap) self.redis.set('/cap/' + str(self.mylaser), cap) if cap < 100: time.sleep(0.001) cap += 150 # print("Writing %d points" % (cap, )) # t0 = time.time() # if self.mylaser == 2: # print(points) self.write(points) # t1 = time.time() # print("Took %f" % (t1 - t0, ) if not started: print("Tracer", self.mylaser, "starting with", gstt.kpps[self.mylaser], "kpps") self.begin(0, gstt.kpps[self.mylaser]) started = 1