610 lines
18 KiB
Python
610 lines
18 KiB
Python
#!/usr/bin/python3
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# -*- coding: utf-8 -*-
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# -*- mode: Python -*-
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'''
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Tracer v0.8.2
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Etherdream DACs handler on network via Redis
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LICENCE : CC
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Sam Neurohack, pclf
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Includes live conversion in etherdream coordinates, geometric corrections, color balance change, intensity limitation, grid display,...
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One tracer process is launched per requested laser by LJ. Lasers parameters in LJ.conf.
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Live I/O based on redis keys : inputs (Pointlists to draw,...) and outputs (DAC state, errors,..).
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Keys are mostly read and set at each main loop.
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This tracer include an enhanced version (support for several lasers) of the etherdream python library from j4cDAC.
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* Redis keys reference *
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- Drawing things :
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/pl/Scene/lasernumber [(x,y,color),(x1,y1,color),...] The live list of drawn pygame points. Tracer continously ask redis for key /clientkey+lasernumber
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/resampler/lasernumber [(1.0,8), (0.25,3),(0.75,3),(1.0,10)] : a string for resampling rules.
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the first tuple (1.0,8) is for short line < 4000 in etherdream space
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(0.25,3),(0.75,3),(1.0,10) for long line > 4000
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i.e (0.25,3) means go at 25% position on the line, send 3 times this position to etherdream
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/clientkey "/pl/SceneNumber/" What Scene to retrieve from redis
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/EDH/lasernumber
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- Tracer control :
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/order 0-8 Set redis key with new value then issue the order number
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0 : Draw Normal point list
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1 : Get the new EDH = reread redis key /EDH/lasernumber
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2 : Draw BLACK point list
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3 : Draw GRID point list
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4 : Resampler Change (longs and shorts lsteps)
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5 : Client Key Change = reread redis key /clientkey
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6 : Max Intensity Change = reread redis key /intensity
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7 : kpps change = reread redis key /kpps
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8 : color balance change = reread redis keys /red /green /blue
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9 : shutdown
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- Managing Etherdream DACs :
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Discrete drawing values
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/kpps 0- DAC output speed to laser, then order 7. Depends of actual angle
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/intensity 0-255 Laser output power, then order 6 (for alignement,...)
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/red 0-100 % of full red, then order 8
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/green 0-100 % of full green, then order 8
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/blue 0-100 % of full blue, then order 8
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DAC status report
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/lstt/lasernumber etherdream last_status.playback_state (0: idle 1: prepare 2: playing)
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/cap/lasernumber number of empty points sent to fill etherdream buffer (up to 1799)
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/lack/lasernumber "a": ACK "F": Full "I": invalid. 64 or 35 for no connection.
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Geometric corrections
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Doctodo
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'''
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import socket
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import time
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import struct
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#from gstt import debug
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from libs3 import gstt,log
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import math
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from itertools import cycle
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#from globalVars import *
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import pdb
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import ast
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import redis
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from libs3 import homographyp
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import numpy as np
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import binascii
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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)]
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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)]
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r = redis.StrictRedis(host=gstt.RediServerIP, port=6379, db=0)
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# r = redis.StrictRedis(host=gstt.RediServerIP , port=6379, db=0, password='-+F816Y+-')
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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 ?"}
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lstate = {'0': 'IDLE', '1': 'PREPARE', '2': "PLAYING", '64': "NOCONNECTION ?" }
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ScreenX = [-1500,1500]
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ScreenY = [-1500,1500]
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def pack_point(laser, intensity, x, y, r, g, b, i = -1, u1 = 0, u2 = 0, flags = 0):
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"""Pack some color values into a struct dac_point."""
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#print("Tracer", laser,":", r,g,b,"intensity", intensity, "i", i)
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if r > intensity:
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r = intensity
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if g > intensity:
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g = intensity
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if b > intensity:
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b = intensity
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if max(r, g, b) == 0:
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i = 0
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else:
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i = intensity
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x = int(x)
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y = int(y)
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#print("Tracer ", laser, ": packing", x, y, r, g, b, "intensity", intensity, "i", i)
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if x < -32767:
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if gstt.debug >1:
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log.err("Tracer "+ str(laser) +" : x coordinates " + str(x) + " was below -32767")
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x = -32700
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if x > 32767:
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if gstt.debug >1:
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log.err("Tracer "+ str(laser) +" : x coordinates "+ str(x) + " was bigger than 32767")
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x = 32700
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if y < -32767:
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if gstt.debug >1:
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log.err("Tracer "+ str(laser) +" : y coordinates "+ str(y) + " was below -32767")
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y = -32700
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if y > 32767:
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if gstt.debug >1:
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log.err("Tracer "+ str(laser) +" : y coordinates "+ str(y) + " was bigger than 32767")
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y = 32700
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return struct.pack("<HhhHHHHHH", flags, x, y, r, g, b, i, u1, u2)
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#return struct.pack("<HhhHHHHHH", flags, round(x), round(y), r, g, b, i, u1, u2)
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class ProtocolError(Exception):
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"""Exception used when a protocol error is detected."""
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pass
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class Status(object):
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"""Represents a status response from the DAC."""
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def __init__(self, data):
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"""Initialize from a chunk of data."""
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self.protocol_version, self.le_state, self.playback_state, \
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self.source, self.le_flags, self.playback_flags, \
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self.source_flags, self.fullness, self.point_rate, \
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self.point_count = \
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struct.unpack("<BBBBHHHHII", data)
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def dump(self, prefix = " - "):
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"""Dump to a string."""
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lines = [
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""
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"Host ",
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"Light engine: state %d, flags 0x%x" %
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(self.le_state, self.le_flags),
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"Playback: state %d, flags 0x%x" %
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(self.playback_state, self.playback_flags),
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"Buffer: %d points" %
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(self.fullness, ),
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"Playback: %d kpps, %d points played" %
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(self.point_rate, self.point_count),
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"Source: %d, flags 0x%x" %
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(self.source, self.source_flags)
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]
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if gstt.debug == 2:
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print()
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for l in lines:
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print(prefix + l)
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class BroadcastPacket(object):
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"""Represents a broadcast packet from the DAC."""
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def __init__(self, st):
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"""Initialize from a chunk of data."""
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self.mac = st[:6]
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self.hw_rev, self.sw_rev, self.buffer_capacity, \
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self.max_point_rate = struct.unpack("<HHHI", st[6:16])
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self.status = Status(st[16:36])
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def dump(self, prefix = " - "):
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"""Dump to a string."""
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lines = [
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"MAC: " + ":".join(
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"%02x" % (ord(o), ) for o in self.mac),
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"HW %d, SW %d" %
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(self.hw_rev, self.sw_rev),
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"Capabilities: max %d points, %d kpps" %
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(self.buffer_capacity, self.max_point_rate)
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]
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print()
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for l in lines:
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print(prefix + l)
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if gstt.debug > 1:
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self.status.dump(prefix)
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class DAC(object):
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"""A connection to a DAC."""
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# "Laser point List" Point generator
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# each points is yielded : Getpoints() call n times OnePoint()
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def OnePoint(self):
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while True:
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#pdb.set_trace()
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for indexpoint,currentpoint in enumerate(self.pl):
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#print indexpoint, currentpoint
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xyc = [currentpoint[0],currentpoint[1],currentpoint[2]]
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self.xyrgb = self.EtherPoint(xyc)
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#print(self.xyrgb[2:])
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rgb = (round(self.xyrgb[2:][0] *self.intred/100), round(self.xyrgb[2:][1] *self.intgreen/100), round(self.xyrgb[2:][2] *self.intblue/100))
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#print("rgb :", rgb)
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#round(*self.intred/100)
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#round(*self.intgreen/100)
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#round(*self.intblue/100)
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delta_x, delta_y = self.xyrgb[0] - self.xyrgb_prev[0], self.xyrgb[1] - self.xyrgb_prev[1]
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#test adaptation selon longueur ligne
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if math.hypot(delta_x, delta_y) < 4000:
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# For glitch art : decrease lsteps
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#l_steps = [ (1.0, 8)]
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l_steps = gstt.stepshortline
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else:
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# For glitch art : decrease lsteps
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#l_steps = [ (0.25, 3), (0.75, 3), (1.0, 10)]
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l_steps = gstt.stepslongline
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for e in l_steps:
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step = e[0]
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for i in range(0,e[1]):
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self.xyrgb_step = (self.xyrgb_prev[0] + step*delta_x, self.xyrgb_prev[1] + step*delta_y) + rgb # + self.xyrgb_prev[2:]# + rgb
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#print(self.xyrgb_step)
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yield self.xyrgb_step
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self.xyrgb_prev = self.xyrgb
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def GetPoints(self, n):
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d = [next(self.newstream) for i in range(n)]
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#print d
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return d
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# Etherpoint all transform in one matrix, with warp !!
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# xyc : x y color
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def EtherPoint(self,xyc):
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c = xyc[2]
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#print("")
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#print("pygame point",[(xyc[0],xyc[1],xyc[2])])
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#gstt.EDH[self.mylaser]= np.array(ast.literal_eval(r.get('/EDH/'+str(self.mylaser))))
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position = homographyp.apply(gstt.EDH[self.mylaser],np.array([(xyc[0],xyc[1])]))
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#print("etherdream point",position[0][0], position[0][1], ((c >> 16) & 0xFF) << 8, ((c >> 8) & 0xFF) << 8, (c & 0xFF) << 8)
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return (position[0][0], position[0][1], ((c >> 16) & 0xFF) << 8, ((c >> 8) & 0xFF) << 8, (c & 0xFF) << 8)
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def read(self, l):
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"""Read exactly length bytes from the connection."""
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while l > len(self.buf):
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self.buf += self.conn.recv(4096)
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obuf = self.buf
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self.buf = obuf[l:]
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return obuf[:l]
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def readresp(self, cmd):
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"""Read a response from the DAC."""
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data = self.read(22)
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response = data[0]
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gstt.lstt_dacanswers[self.mylaser] = response
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cmdR = chr(data[1])
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status = Status(data[2:])
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r.set('/lack/'+str(self.mylaser), response)
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if cmdR != cmd:
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raise ProtocolError("expected resp for %r, got %r"
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% (cmd, cmdR))
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if response != ord('a'):
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raise ProtocolError("expected ACK, got %r"
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% (response, ))
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self.last_status = status
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return status
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def __init__(self, mylaser, PL, port = 7765):
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"""Connect to the DAC over TCP."""
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socket.setdefaulttimeout(2)
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self.mylaser = mylaser
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self.clientkey = r.get("/clientkey").decode('ascii')
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#log.info("Tracer "+str(self.mylaser)+" connecting to "+ gstt.lasersIPS[mylaser])
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#print("DAC", self.mylaser, "Handler process, connecting to", gstt.lasersIPS[mylaser] )
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self.conn = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.connstatus = self.conn.connect_ex((gstt.lasersIPS[mylaser], port))
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if self.connstatus == 35 or self.connstatus == 64:
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log.err("Tracer "+ str(self.mylaser)+" ("+ gstt.lasersIPS[mylaser]+"): "+ackstate[str(self.connstatus)])
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else:
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print("Tracer "+ str(self.mylaser)+" ("+ gstt.lasersIPS[mylaser]+"): "+ackstate[str(self.connstatus)])
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# ipconn state is -1 at startup (see gstt) and modified here
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r.set('/lack/'+str(self.mylaser), self.connstatus)
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gstt.lstt_ipconn[self.mylaser] = self.connstatus
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self.buf = b''
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# Upper case PL is the Point List number
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self.PL = PL
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# Lower case pl is the actual point list coordinates
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#pdb.set_trace()
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self.pl = ast.literal_eval(r.get(self.clientkey + str(self.mylaser)).decode('ascii'))
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if r.get('/EDH/'+str(self.mylaser)) == None:
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#print("Laser",self.mylaser,"NO EDH !! Computing one...")
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homographyp.newEDH(self.mylaser)
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else:
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gstt.EDH[self.mylaser] = np.array(ast.literal_eval(r.get('/EDH/'+str(self.mylaser)).decode('ascii')))
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#print("Laser",self.mylaser,"found its EDH in redis")
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#print gstt.EDH[self.mylaser]
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self.xyrgb = self.xyrgb_prev = (0,0,0,0,0)
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self.intensity = 65280
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self.intred = 100
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self.intgreen = 100
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self.intblue = 100
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self.newstream = self.OnePoint()
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if gstt.debug >0:
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print("Tracer",self.mylaser,"init asked for ckey", self.clientkey+str(self.mylaser))
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if self.connstatus != 0:
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#print(""
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log.err("Connection ERROR " +str(self.connstatus)+" with laser "+str(mylaser)+" : "+str(gstt.lasersIPS[mylaser]))
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#print("first 10 points in PL",self.PL, self.GetPoints(10)
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else:
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print("Connection status for DAC "+str(self.mylaser)+" : "+ str(self.connstatus))
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# Reference points
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# Read the "hello" message
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first_status = self.readresp("?")
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first_status.dump()
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position = []
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def begin(self, lwm, rate):
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cmd = struct.pack("<cHI", b'b', lwm, rate)
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print("Tracer", str(self.mylaser), "begin with PL : ", str(self.PL))
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self.conn.sendall(cmd)
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return self.readresp("b")
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def update(self, lwm, rate):
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print(("update", lwm, rate))
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cmd = struct.pack("<cHI", b'u', lwm, rate)
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self.conn.sendall(cmd)
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return self.readresp("u")
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def encode_point(self, point):
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return pack_point(self.mylaser, self.intensity, *point)
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def write(self, points):
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epoints = list(map(self.encode_point, points))
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cmd = struct.pack("<cH", b'd', len(epoints))
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self.conn.sendall(cmd + b''.join(epoints))
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return self.readresp('d')
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def prepare(self):
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self.conn.sendall(b'p')
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return self.readresp('p')
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def stop(self):
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self.conn.sendall('s')
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return self.readresp('s')
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def estop(self):
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self.conn.sendall("\xFF")
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return self.readresp("\xFF")
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def clear_estop(self):
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self.conn.sendall("c")
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return self.readresp("c")
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def ping(self):
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self.conn.sendall('?')
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return self.readresp('?')
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def play_stream(self):
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#print("laser", self.mylaser, "Pb : ",self.last_status.playback_state)
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# error if etherdream is already playing state (from other source)
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if self.last_status.playback_state == 2:
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raise Exception("already playing?!")
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# if idle go to prepare state
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elif self.last_status.playback_state == 0:
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self.prepare()
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started = 0
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while True:
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#print("laser", self.mylaser, "Pb : ",self.last_status.playback_state)
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order = int(r.get('/order/'+str(self.mylaser)).decode('ascii'))
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#print("tracer", str(self.mylaser),"order", order, type(order)
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if order == 0:
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# USER point list
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#self.pl = ast.literal_eval(r.get(self.clientkey+str(self.mylaser)).decode('ascii'))
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#print("Tracer : laser", self.mylaser, " order 0 : pl : ",len(self.pl))
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# si la clef est vide utiliser les points noirs ? -> syntax error -> black points.
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try:
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#newpl = ""
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#newpl = r.get(self.clientkey+str(self.mylaser))
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#self.pl = ast.literal_eval(newpl.decode('ascii'))
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self.pl = ast.literal_eval(r.get(self.clientkey+str(self.mylaser)).decode('ascii'))
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except SyntaxError:
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print("BAD POINTLIST on Tracer : laser", self.mylaser, " order 0 : pl : ", self.pl)
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self.pl = black_points
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#print("Tracer : laser", self.mylaser, " order 0 : pl : ",len(self.pl))
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else:
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# Get the new EDH
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if order == 1:
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print("Tracer",self.mylaser,"new EDH ORDER in redis")
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gstt.EDH[self.mylaser]= np.array(ast.literal_eval(r.get('/EDH/'+str(self.mylaser)).decode('ascii')))
|
|
# Back to user point list
|
|
r.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(r.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
|
|
r.set('/order/'+str(self.mylaser), 0)
|
|
|
|
# Client Key change
|
|
if order == 5:
|
|
print("Tracer", self.mylaser, "new clientkey")
|
|
self.clientkey = r.get('/clientkey')
|
|
# Back to user point list order
|
|
r.set('/order/'+str(self.mylaser), 0)
|
|
|
|
# Intensity change
|
|
if order == 6:
|
|
self.intensity = int(r.get('/intensity/' + str(self.mylaser)).decode('ascii')) << 8
|
|
print("Tracer" , self.mylaser, "new Intensity", self.intensity)
|
|
gstt.intensity[self.mylaser] = self.intensity
|
|
r.set('/order/'+str(self.mylaser), "0")
|
|
|
|
# kpps change
|
|
if order == 7:
|
|
gstt.kpps[self.mylaser] = int(r.get('/kpps/' + str(self.mylaser)).decode('ascii'))
|
|
print("Tracer",self.mylaser,"new kpps", gstt.kpps[self.mylaser])
|
|
self.update(0, gstt.kpps[self.mylaser])
|
|
r.set('/order/'+str(self.mylaser), "0")
|
|
|
|
# color balance change
|
|
if order == 8:
|
|
self.intred = int(r.get('/red/' + str(self.mylaser)).decode('ascii'))
|
|
self.intgreen = int(r.get('/green/' + str(self.mylaser)).decode('ascii'))
|
|
self.intblue = int(r.get('/blue/' + str(self.mylaser)).decode('ascii'))
|
|
print("Tracer", self.mylaser, "new color balance", self.intred,"% ", self.intgreen, "% ",self.intblue,"% ")
|
|
r.set('/order/'+str(self.mylaser), "0")
|
|
|
|
|
|
r.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)
|
|
|
|
r.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
|
|
|
|
# not used in LJ.
|
|
def find_dac():
|
|
"""Listen for broadcast packets."""
|
|
|
|
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
s.bind(("0.0.0.0", 7654))
|
|
|
|
while True:
|
|
data, addr = s.recvfrom(1024)
|
|
bp = BroadcastPacket(data)
|
|
|
|
print(("Packet from %s: " % (addr, )))
|
|
bp.dump()
|
|
|
|
|
|
'''
|
|
#Laser order bit 0 = 0
|
|
if not order & (1 << (self.mylaser*2)):
|
|
#print("laser",mylaser,"bit 0 : 0")
|
|
|
|
# Laser bit 0 = 0 and bit 1 = 0 : USER PL
|
|
if not order & (1 << (1+self.mylaser*2)):
|
|
#print("laser",mylaser,"bit 1 : 0")
|
|
self.pl = ast.literal_eval(r.get('/pl/'+str(self.mylaser)))
|
|
|
|
else:
|
|
# Laser bit 0 = 0 and bit 1 = 1 : New EDH
|
|
#print("laser",mylaser,"bit 1 : 1" )
|
|
print("Laser",self.mylaser,"new EDH ORDER in redis"
|
|
gstt.EDH[self.mylaser]= np.array(ast.literal_eval(r.get('/EDH/'+str(self.mylaser))))
|
|
# Back to USER PL
|
|
order = r.get('/order')
|
|
neworder = order & ~(1<< self.mylaser*2)
|
|
neworder = neworder & ~(1<< 1+ self.mylaser*2)
|
|
r.set('/order', str(neworder))
|
|
else:
|
|
|
|
# Laser bit 0 = 1
|
|
print("laser",mylaser,"bit 0 : 1")
|
|
|
|
# Laser bit 0 = 1 and bit 1 = 0 : Black PL
|
|
if not order & (1 << (1+self.mylaser*2)):
|
|
#print("laser",mylaser,"bit 1 : 0")
|
|
self.pl = black_points
|
|
|
|
else:
|
|
# Laser bit 0 = 1 and bit 1 = 1 : GRID PL
|
|
#print("laser",mylaser,"bit 1 : 1" )
|
|
self.pl = grid_points
|
|
'''
|