#coding=utf-8
print('>>this data reader is a dev version in 2024-01-06')
from ctypes import *
import ctypes
from threading import local
import numpy as np
import time
import os
from queue import Queue
global_aop_queue = Queue()
global_cop_queue = Queue()
result_queue = Queue()
inference_queue = Queue()
ROD_W =160
ROD_H =160
CONE_W =320
CONE_H =320
############################################################
#
# Basic data type
#
############################################################
class tianmoucData(Structure):
_fields_ = [("isRod", c_int),#1:rod,0:cone
("timestamp", c_ulonglong),
("sdl_p", POINTER(c_ubyte)),
("sdr_p", POINTER(c_ubyte)),
("td_p", POINTER(c_ubyte)),
("rgb_p", POINTER(c_float))]
############################################################
#
# A simple streaming reader
# Author: Y. Lin
# 2024 01 06
#
############################################################
[文档]
class TMstreamingDataReader():
'''
这段代码实现了一个名为TMstreamingDataReader的类，作为数据读取器。
类的初始化方法（init）中，加载了SDK库文件，并初始化了相机。
@parameter cfg_path: csv格式的配置文件
@parameter lib_path: 预编译的sdk动态链接库，ubuntu为.so，windows为.dll，macOS为,dylib
@parameter device_id: 相机的id，支持多目相机同时使用
主要函数说明：
- __init__方法：加载SDK库文件，初始化相机，准备数据包。
- setExposure方法：设置相机的曝光时间。
- __enter__方法：开始读取数据。
- __exit__方法：处理异常并停止相机。
- __call__方法：读取数据帧并返回。
这段代码的功能是通过SDK库读取相机的数据帧并进行处理，提供了读取数据和设置曝光时间的接口。
在使用该类时，可以通过with语句自动调用__enter__和__exit__方法，确保资源的正确释放。
'''
def __init__(self,cfg_path = None,lib_path = None,device_id=0):
# load sdk lib
file_path = os.path.realpath(__file__)
file_path = os.path.dirname(file_path)
if cfg_path is None:
cfg_path = os.path.join(file_path,"lib","Golden_HCG_seq.csv")
if lib_path is None:
lib_path = os.path.join(file_path,"lib","libtianmouc.so")
self.cfg_path = str(cfg_path).encode("utf-8")
tm_sdk = cdll.LoadLibrary(lib_path)
tm_sdk.tmOpenCamera.restype = ctypes.c_uint64
# init camera
cameraHandle = tm_sdk.tmOpenCamera(device_id)
print('[TMstreamingDataReader]type(cameraHandle)',type(cameraHandle),tm_sdk.tmOpenCamera.restype)
# prepare data pack
coneData = pointer(c_float(CONE_W*CONE_H*2*3))
tdData1 = pointer(c_ubyte(ROD_W*ROD_H))
sdData1 = pointer(c_ubyte(ROD_W*ROD_H))
sdData2 = pointer(c_ubyte(ROD_W*ROD_H))
idRod = c_int(1)
timestamp = c_ulonglong(1)
tianmoucDataValue = [idRod,timestamp,tdData1,sdData1,sdData2,coneData]
self.dataPack = tianmoucData(*tianmoucDataValue)
self.dataPack_p = pointer(self.dataPack)
#store data buffer and ssdk
self.tm_sdk = tm_sdk
self.cameraHandle = c_uint64(cameraHandle)
if cameraHandle > 0:
print('[TMstreamingDataReader] Tianmouc camera:',hex(cameraHandle),'is raedy')
self.tm_sdk.IICconfig_download(self.cameraHandle,self.cfg_path)
print('[TMstreamingDataReader] Tianmouc camera:',hex(cameraHandle),' configure downloaded')
else:
print('[TMstreamingDataReader] fail to get correct camera handle:',hex(cameraHandle))
def setExposure(self,aoptime,coptime,aopG=1,copG=1):
aoptime = min(max(aoptime,4),1240)
coptime = min(max(coptime,4),15000)
print(aoptime,coptime,aopG,copG)
self.tm_sdk.tmExposureSet(self.cameraHandle,aoptime,coptime,aopG,copG,8,1,1)
#1:par,8:bit
#use python-with to start reader
def __enter__(self):
# start camera
print('[TMstreamingDataReader] download',self.cfg_path)
self.tm_sdk.tmStartTransfer(self.cameraHandle)
print('[TMstreamingDataReader] Tianmouc data transfer start:',self.cameraHandle)
return self
# deal with exception
def __exit__(self, exc_type, exc_val, exc_tb):
print('[TMstreamingDataReader] catch exception:',exc_type, exc_val, exc_tb)
#stop camera
self.tm_sdk.tmCameraUninit(self.cameraHandle)
return True
# functional object
def __call__(self):
#ts = time.time()
ret = self.tm_sdk.tmGetFrame(self.cameraHandle,self.dataPack_p)
if not ret:
print('[TMstreamingDataReader] loss data or loss connection, this frame is not correct')
if self.dataPack.isRod == 1:
td_buffer = cast(self.dataPack.td_p, POINTER(c_ubyte*ROD_W*ROD_H))[0]
sdl_buffer = cast(self.dataPack.sdl_p, POINTER(c_ubyte*ROD_W*ROD_H))[0]
sdr_buffer = cast(self.dataPack.sdr_p, POINTER(c_ubyte*ROD_W*ROD_H))[0]
TD = np.frombuffer(td_buffer,dtype=np.byte, count=ROD_W*ROD_H).reshape(ROD_H,ROD_W)
SDL = np.frombuffer(sdl_buffer,dtype=np.byte, count=ROD_W*ROD_H).reshape(ROD_H,ROD_W)
SDR = np.frombuffer(sdr_buffer,dtype=np.byte, count=ROD_W*ROD_H).reshape(ROD_H,ROD_W)
isRod = self.dataPack.isRod
timestamp = self.dataPack.timestamp
return isRod, timestamp,(TD,SDL,SDR)
else:
RGB_buffer = cast(self.dataPack.rgb_p, POINTER(c_float*CONE_H*CONE_W*2*3))[0]
RGB = np.frombuffer(RGB_buffer,dtype=np.float32).reshape(CONE_H,CONE_W*2,3)
isRod = self.dataPack.isRod
timestamp = self.dataPack.timestamp
return isRod, timestamp, RGB