Deleted test script and TI's example script
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# ****************************************************************************
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# * (C) Copyright 2020, Texas Instruments Incorporated. - www.ti.com
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# ****************************************************************************
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# *
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# * Redistribution and use in source and binary forms, with or without
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# * modification, are permitted provided that the following conditions are
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# * met:
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# *
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# * Redistributions of source code must retain the above copyright notice,
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# * this list of conditions and the following disclaimer.
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# *
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# * Redistributions in binary form must reproduce the above copyright
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# * notice, this list of conditions and the following disclaimer in the
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# * documentation and/or other materials provided with the distribution.
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# *
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# * Neither the name of Texas Instruments Incorporated nor the names of its
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# * contributors may be used to endorse or promote products derived from
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# * this software without specific prior written permission.
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# *
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# * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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# * PARTICULAR TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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# * A PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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# * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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# * EXEMPLARY, ORCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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# * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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# * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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# * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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# * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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# * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# *
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# ****************************************************************************
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# ****************************************************************************
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# Sample mmW demo UART output parser script - should be invoked using python3
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# ex: python3 mmw_demo_example_script.py <recorded_dat_file_from_Visualizer>.dat
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#
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# Notes:
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# 1. The parser_mmw_demo script will output the text version
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# of the captured files on stdio. User can redirect that output to a log file, if desired
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# 2. This example script also outputs the detected point cloud data in mmw_demo_output.csv
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# to showcase how to use the output of parser_one_mmw_demo_output_packet
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# ****************************************************************************
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import os
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import sys
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# import the parser function
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from parser_mmw_demo import parser_one_mmw_demo_output_packet
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##################################################################################
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# INPUT CONFIGURATION
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##################################################################################
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# get the captured file name (obtained from Visualizer via 'Record Start')
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if (len(sys.argv) > 1):
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capturedFileName=sys.argv[1]
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else:
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print ("Error: provide file name of the saved stream from Visualizer for OOB demo")
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exit()
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##################################################################################
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# USE parser_mmw_demo SCRIPT TO PARSE ABOVE INPUT FILES
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##################################################################################
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# Read the entire file
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fp = open(capturedFileName,'rb')
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readNumBytes = os.path.getsize(capturedFileName)
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print("readNumBytes: ", readNumBytes)
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allBinData = fp.read()
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print("allBinData: ", allBinData[0], allBinData[1], allBinData[2], allBinData[3])
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fp.close()
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# init local variables
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totalBytesParsed = 0;
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numFramesParsed = 0;
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# parser_one_mmw_demo_output_packet extracts only one complete frame at a time
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# so call this in a loop till end of file
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while (totalBytesParsed < readNumBytes):
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# parser_one_mmw_demo_output_packet function already prints the
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# parsed data to stdio. So showcasing only saving the data to arrays
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# here for further custom processing
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parser_result, \
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headerStartIndex, \
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totalPacketNumBytes, \
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numDetObj, \
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numTlv, \
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subFrameNumber, \
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detectedX_array, \
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detectedY_array, \
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detectedZ_array, \
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detectedV_array, \
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detectedRange_array, \
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detectedAzimuth_array, \
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detectedElevation_array, \
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detectedSNR_array, \
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detectedNoise_array = parser_one_mmw_demo_output_packet(allBinData[totalBytesParsed::1], readNumBytes-totalBytesParsed)
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# Check the parser result
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print ("Parser result: ", parser_result)
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if (parser_result == 0):
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totalBytesParsed += (headerStartIndex+totalPacketNumBytes)
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numFramesParsed+=1
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print("totalBytesParsed: ", totalBytesParsed)
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##################################################################################
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# TODO: use the arrays returned by above parser as needed.
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# For array dimensions, see help(parser_one_mmw_demo_output_packet)
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# help(parser_one_mmw_demo_output_packet)
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##################################################################################
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# For example, dump all S/W objects to a csv file
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import csv
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if (numFramesParsed == 1):
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democsvfile = open('mmw_demo_output.csv', 'w', newline='')
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demoOutputWriter = csv.writer(democsvfile, delimiter=',',
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quotechar='', quoting=csv.QUOTE_NONE)
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demoOutputWriter.writerow(["frame","DetObj#","x","y","z","v","snr","noise"])
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for obj in range(numDetObj):
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demoOutputWriter.writerow([numFramesParsed-1, obj, detectedX_array[obj],\
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detectedY_array[obj],\
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detectedZ_array[obj],\
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detectedV_array[obj],\
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detectedSNR_array[obj],\
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detectedNoise_array[obj]])
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else:
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# error in parsing; exit the loop
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break
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# All processing done; Exit
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print("numFramesParsed: ", numFramesParsed)
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111
test.py
111
test.py
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import serial
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import time
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import matplotlib.pyplot as plt
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from mpl_toolkits.mplot3d.axes3d import Axes3D
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from parser_mmw_demo import parser_one_mmw_demo_output_packet
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# Turning interactive mode on for plotting
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plt.ion()
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fig = plt.figure()
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# Change the configuration file name
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configFileName = 'hedgehog.cfg'
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# ------------------------------------------------------------------
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# Function to configure the serial ports and send the data from
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# the configuration file to the radar
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def serialConfig(configFileName):
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# Serial device ports
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CLIport = serial.Serial('/dev/ttyACM0', 115200)
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Dataport = serial.Serial('/dev/ttyACM1', 921600)
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# Read the configuration file and send it to the board
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with open(configFileName, mode="rt", encoding="utf-8") as config_file:
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for line in config_file:
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line = line.rstrip("\r\n")
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print(f"[CONFIG] writing: '{line}'")
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CLIport.write((line + "\n").encode())
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time.sleep(0.01)
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return CLIport, Dataport
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# ------------------------- MAIN -----------------------------------------
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# Configurate the serial port
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CLIport, Dataport = serialConfig(configFileName) # Enable when reading from sensor
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# Dataport = open("sensor_data.bin", mode="rb") # Enable when reading from file
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# parser_one_mmw_demo_output_packet extracts only one complete frame at a time
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# so call this in a loop till end of file
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def parse_frames():
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ax = fig.add_subplot(projection="3d")
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# making the plot axis constant
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ax.set_xlim(0, 1)
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ax.set_ylim(0, 1)
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ax.set_zlim(0, 1)
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plt.show()
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sensor_data = bytearray()
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bytes_parsed = 0
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while True:
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read_data = Dataport.read(256)
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with open("sensor_data.bin", mode="ab") as fp:
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fp.write(read_data)
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sensor_data += bytearray(read_data)
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# parser_one_mmw_demo_output_packet function already prints the
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# parsed data to stdio. So showcasing only saving the data to arrays
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# here for further custom processing
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parser_result, \
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headerStartIndex, \
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totalPacketNumBytes, \
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numDetObj, \
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numTlv, \
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subFrameNumber, \
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detectedX_array, \
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detectedY_array, \
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detectedZ_array, \
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detectedV_array, \
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detectedRange_array, \
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detectedAzimuth_array, \
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detectedElevation_array, \
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detectedSNR_array, \
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detectedNoise_array = parser_one_mmw_demo_output_packet(sensor_data[bytes_parsed::1], len(sensor_data) - bytes_parsed)
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ax.clear()
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# Setting axis labels
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ax.set_xlabel("X label")
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ax.set_ylabel("Y label")
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ax.set_zlabel("Z label")
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ax.set_autoscale_on(False)
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ax.scatter(detectedX_array, detectedY_array, detectedZ_array)
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plt.pause(0.01)
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# Check the parser result
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print ("Parser result: ", parser_result)
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if (parser_result == 0):
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bytes_parsed += (headerStartIndex+totalPacketNumBytes)
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print("totalBytesParsed: ", bytes_parsed)
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else:
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# bytes_parsed += 1
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continue
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if __name__ == "__main__":
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try:
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parse_frames()
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except KeyboardInterrupt:
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CLIport.write("sensorStop\n".encode()) # Enable when reading from sensor
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# Dataport.close() # Enable when reading from file
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exit(0)
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