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Deleted test script and TI's example script

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HellaJanssen 2025-06-17 22:06:31 +02:00
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134
mmw_demo_example_script.py
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# ****************************************************************************
# * (C) Copyright 2020, Texas Instruments Incorporated. - www.ti.com
# ****************************************************************************
# *
# * Redistribution and use in source and binary forms, with or without
# * modification, are permitted provided that the following conditions are
# * met:
# *
# * Redistributions of source code must retain the above copyright notice,
# * this list of conditions and the following disclaimer.
# *
# * Redistributions in binary form must reproduce the above copyright
# * notice, this list of conditions and the following disclaimer in the
# * documentation and/or other materials provided with the distribution.
# *
# * Neither the name of Texas Instruments Incorporated nor the names of its
# * contributors may be used to endorse or promote products derived from
# * this software without specific prior written permission.
# *
# * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
# * PARTICULAR TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
# * A PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
# * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
# * EXEMPLARY, ORCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
# * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
# * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
# * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
# *
# ****************************************************************************
# ****************************************************************************
# Sample mmW demo UART output parser script - should be invoked using python3
# ex: python3 mmw_demo_example_script.py <recorded_dat_file_from_Visualizer>.dat
#
# Notes:
# 1. The parser_mmw_demo script will output the text version
# of the captured files on stdio. User can redirect that output to a log file, if desired
# 2. This example script also outputs the detected point cloud data in mmw_demo_output.csv
# to showcase how to use the output of parser_one_mmw_demo_output_packet
# ****************************************************************************
import os
import sys
# import the parser function
from parser_mmw_demo import parser_one_mmw_demo_output_packet
##################################################################################
# INPUT CONFIGURATION
##################################################################################
# get the captured file name (obtained from Visualizer via 'Record Start')
if (len(sys.argv) > 1):
capturedFileName=sys.argv[1]
else:
print ("Error: provide file name of the saved stream from Visualizer for OOB demo")
exit()
##################################################################################
# USE parser_mmw_demo SCRIPT TO PARSE ABOVE INPUT FILES
##################################################################################
# Read the entire file
fp = open(capturedFileName,'rb')
readNumBytes = os.path.getsize(capturedFileName)
print("readNumBytes: ", readNumBytes)
allBinData = fp.read()
print("allBinData: ", allBinData[0], allBinData[1], allBinData[2], allBinData[3])
fp.close()
# init local variables
totalBytesParsed = 0;
numFramesParsed = 0;
# parser_one_mmw_demo_output_packet extracts only one complete frame at a time
# so call this in a loop till end of file
while (totalBytesParsed < readNumBytes):
# parser_one_mmw_demo_output_packet function already prints the
# parsed data to stdio. So showcasing only saving the data to arrays
# here for further custom processing
parser_result, \
headerStartIndex, \
totalPacketNumBytes, \
numDetObj, \
numTlv, \
subFrameNumber, \
detectedX_array, \
detectedY_array, \
detectedZ_array, \
detectedV_array, \
detectedRange_array, \
detectedAzimuth_array, \
detectedElevation_array, \
detectedSNR_array, \
detectedNoise_array = parser_one_mmw_demo_output_packet(allBinData[totalBytesParsed::1], readNumBytes-totalBytesParsed)
# Check the parser result
print ("Parser result: ", parser_result)
if (parser_result == 0):
totalBytesParsed += (headerStartIndex+totalPacketNumBytes)
numFramesParsed+=1
print("totalBytesParsed: ", totalBytesParsed)
##################################################################################
# TODO: use the arrays returned by above parser as needed.
# For array dimensions, see help(parser_one_mmw_demo_output_packet)
# help(parser_one_mmw_demo_output_packet)
##################################################################################
# For example, dump all S/W objects to a csv file
import csv
if (numFramesParsed == 1):
democsvfile = open('mmw_demo_output.csv', 'w', newline='')
demoOutputWriter = csv.writer(democsvfile, delimiter=',',
quotechar='', quoting=csv.QUOTE_NONE)
demoOutputWriter.writerow(["frame","DetObj#","x","y","z","v","snr","noise"])
for obj in range(numDetObj):
demoOutputWriter.writerow([numFramesParsed-1, obj, detectedX_array[obj],\
detectedY_array[obj],\
detectedZ_array[obj],\
detectedV_array[obj],\
detectedSNR_array[obj],\
detectedNoise_array[obj]])
else:
# error in parsing; exit the loop
break
# All processing done; Exit
print("numFramesParsed: ", numFramesParsed)

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test.py
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import serial
import time
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d.axes3d import Axes3D
from parser_mmw_demo import parser_one_mmw_demo_output_packet
# Turning interactive mode on for plotting
plt.ion()
fig = plt.figure()
# Change the configuration file name
configFileName = 'hedgehog.cfg'
# ------------------------------------------------------------------
# Function to configure the serial ports and send the data from
# the configuration file to the radar
def serialConfig(configFileName):
# Serial device ports
CLIport = serial.Serial('/dev/ttyACM0', 115200)
Dataport = serial.Serial('/dev/ttyACM1', 921600)
# Read the configuration file and send it to the board
with open(configFileName, mode="rt", encoding="utf-8") as config_file:
for line in config_file:
line = line.rstrip("\r\n")
print(f"[CONFIG] writing: '{line}'")
CLIport.write((line + "\n").encode())
time.sleep(0.01)
return CLIport, Dataport
# ------------------------- MAIN -----------------------------------------
# Configurate the serial port
CLIport, Dataport = serialConfig(configFileName) # Enable when reading from sensor
# Dataport = open("sensor_data.bin", mode="rb") # Enable when reading from file
# parser_one_mmw_demo_output_packet extracts only one complete frame at a time
# so call this in a loop till end of file
def parse_frames():
ax = fig.add_subplot(projection="3d")
# making the plot axis constant
ax.set_xlim(0, 1)
ax.set_ylim(0, 1)
ax.set_zlim(0, 1)
plt.show()
sensor_data = bytearray()
bytes_parsed = 0
while True:
read_data = Dataport.read(256)
with open("sensor_data.bin", mode="ab") as fp:
fp.write(read_data)
sensor_data += bytearray(read_data)
# parser_one_mmw_demo_output_packet function already prints the
# parsed data to stdio. So showcasing only saving the data to arrays
# here for further custom processing
parser_result, \
headerStartIndex, \
totalPacketNumBytes, \
numDetObj, \
numTlv, \
subFrameNumber, \
detectedX_array, \
detectedY_array, \
detectedZ_array, \
detectedV_array, \
detectedRange_array, \
detectedAzimuth_array, \
detectedElevation_array, \
detectedSNR_array, \
detectedNoise_array = parser_one_mmw_demo_output_packet(sensor_data[bytes_parsed::1], len(sensor_data) - bytes_parsed)
ax.clear()
# Setting axis labels
ax.set_xlabel("X label")
ax.set_ylabel("Y label")
ax.set_zlabel("Z label")
ax.set_autoscale_on(False)
ax.scatter(detectedX_array, detectedY_array, detectedZ_array)
plt.pause(0.01)
# Check the parser result
print ("Parser result: ", parser_result)
if (parser_result == 0):
bytes_parsed += (headerStartIndex+totalPacketNumBytes)
print("totalBytesParsed: ", bytes_parsed)
else:
# bytes_parsed += 1
continue
if __name__ == "__main__":
try:
parse_frames()
except KeyboardInterrupt:
CLIport.write("sensorStop\n".encode()) # Enable when reading from sensor
# Dataport.close() # Enable when reading from file
exit(0)