Split the Python application into a recording part and a visualiser part. Add matplotlib for creating a 3D scatter plot.
This commit is contained in:
HellaJanssen
parent
2a50334473
commit
cccc73ba71
5 changed files with 113 additions and 175 deletions
2
.gitignore
vendored
2
.gitignore
vendored
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@ -194,4 +194,4 @@ cython_debug/
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.cursorindexingignore
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# Project specific
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sensor_data.bin
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sensor_recording.bin
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6
Pipfile
6
Pipfile
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@ -4,14 +4,8 @@ verify_ssl = true
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name = "pypi"
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[packages]
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numpy = "*"
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scipy = "*"
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pyserial = "*"
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pymmwave = "*"
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pyqtgraph = "*"
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pyside6 = "*"
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matplotlib = "*"
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pyqt5 = "*"
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[dev-packages]
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166
Pipfile.lock
generated
166
Pipfile.lock
generated
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@ -1,7 +1,7 @@
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{
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"_meta": {
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"hash": {
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"sha256": "b640a95abf45b1c849908790d83bba056b5090f594b378c220dd83eb80a7383c"
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"sha256": "d229dbac1fe37f1d8e0763868a9de994be21c0ecf18cfc716da2ac5fa127446d"
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},
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"pipfile-spec": 6,
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"requires": {
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@ -321,7 +321,6 @@
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"sha256:fe27749d33bb772c80dcd84ae7e8df2adc920ae8297400dabec45f0dedb3f6de",
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"sha256:fee4236c876c4e8369388054d02d0e9bb84821feb1a64dd59e137e6511a551f8"
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],
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"index": "pypi",
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"markers": "python_version >= '3.10'",
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"version": "==2.2.6"
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},
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@ -420,14 +419,6 @@
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"markers": "python_version >= '3.9'",
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"version": "==11.2.1"
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},
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"pymmwave": {
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"hashes": [
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"sha256:d622466271beeb3875ed8961589ae0bcb45e00134baec87bff46d49c501222eb"
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],
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"index": "pypi",
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"markers": "python_version >= '3.10'",
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"version": "==1.1.2"
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},
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"pyparsing": {
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"hashes": [
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"sha256:a749938e02d6fd0b59b356ca504a24982314bb090c383e3cf201c95ef7e2bfcf",
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@ -436,63 +427,6 @@
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"markers": "python_version >= '3.9'",
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"version": "==3.2.3"
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},
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"pyqt5": {
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"hashes": [
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"sha256:6cd75628f6e732b1ffcfe709ab833a0716c0445d7aec8046a48d5843352becb6",
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"sha256:fda45743ebb4a27b4b1a51c6d8ef455c4c1b5d610c90d2934c7802b5c1557c52"
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],
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"index": "pypi",
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"markers": "python_version >= '3.8'",
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"version": "==5.15.11"
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},
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"pyqt5-qt5": {
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"hashes": [
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"sha256:b018f75d1cc61146396fa5af14da1db77c5d6318030e5e366f09ffdf7bd358d8",
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],
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"version": "==5.15.17"
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},
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"pyqt5-sip": {
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"hashes": [
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"sha256:023466ae96f72fbb8419b44c3f97475de6642fa5632520d0f50fc1a52a3e8200",
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"sha256:8c4bc535bae0dfa764e8534e893619fe843ce5a2e25f901c439bcb960114f686",
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"sha256:b0ff280b28813e9bfd3a4de99490739fc29b776dc48f1c849caca7239a10fc8b",
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"sha256:c7a7ff355e369616b6bcb41d45b742327c104b2bf1674ec79b8d67f8f2fa9543",
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"sha256:d65a9c1b4cbbd8e856254609f56e897d2cb5c903f77b75fb720cb3a32c76b92b",
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"sha256:ea08341c8a5da00c81df0d689ecd4ee47a95e1ecad9e362581c92513f2068005",
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"sha256:ec47914cc751608e587c1c2fdabeaf4af7fdc28b9f62796c583bea01c1a1aa3e",
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"sha256:fb565469d08dcb0a427def0c45e722323beb62db79454260482b6948bfd52d47"
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],
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"markers": "python_version >= '3.9'",
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"version": "==12.17.0"
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},
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"pyqtgraph": {
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"hashes": [
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"sha256:64f84f1935c6996d0e09b1ee66fe478a7771e3ca6f3aaa05f00f6e068321d9e3",
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"sha256:7754edbefb6c367fa0dfb176e2d0610da3ada20aa7a5318516c74af5fb72bf7a"
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],
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"index": "pypi",
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"markers": "python_version >= '3.9'",
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"version": "==0.13.7"
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},
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"pyserial": {
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"hashes": [
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"sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb",
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@ -501,40 +435,6 @@
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"index": "pypi",
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"version": "==3.5"
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},
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"pyside6": {
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"hashes": [
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"sha256:0103e5d161696db40d75bfbf4e4b7d4f3372903c1b400c4e3379377b62c50290",
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"sha256:09239d1b808f18efccd3803db874d683917efcdebfdf0e8dec449cf50e74e7aa",
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"sha256:1a176409dd0dd12b72d2c78b776e5051f569071ec52b7aaadd0a5b3333493c24",
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"sha256:846fbccf0b3501eb31cf0791a46e137615efba6ce540da2b426d79fa3e7762c4",
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"sha256:b8f286a1bd143f3b2bdf08367b9362b13f469d26986c25700af9c4c68f79213e"
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],
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"index": "pypi",
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"markers": "python_version < '3.14' and python_version >= '3.9'",
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"version": "==6.9.0"
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},
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"pyside6-addons": {
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"hashes": [
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"sha256:260a56da59539f476c1635a3ff13591e10f1b04d92155c0617129bc53ca8b5f8",
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"sha256:8cf54065b3d1b4698448fad825378a25c10ef52017d9dff48cead03200636d8d",
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"sha256:98f9ad4b65820736e12d49c18db2e570eac63727407fbb59a62ac753e89dc201",
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"sha256:d8a650644e0b9d1e7a092f6bcd11f25a63706d12f77d442b6ace75d346ab5d30",
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"sha256:fc9dcd63a0ce7565f238cb11c44494435a50eb6cb72b8dbce3b709618989c3dc"
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],
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"markers": "python_version < '3.14' and python_version >= '3.9'",
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"version": "==6.9.0"
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},
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"pyside6-essentials": {
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"hashes": [
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"sha256:45eaf7f17688d1991f39680dbfd3c41674f3cbb78f278aa10fe0b5f2f31c1989",
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"sha256:69aedfad77119c5bec0005ca31d5620e9bac8ba5ae66c7389160530cfd698ed8",
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"sha256:94a0096d6bb1d3e5cef29ca4a5366d0f229d42480fbb17aa25ad85d72b1b7947",
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"sha256:b18e3e01b507e8a57481fe19792eb373d5f10a23a50702ce540da1435e722f39",
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"sha256:d2dc45536f2269ad111991042e81257124f1cd1c9ed5ea778d7224fd65dc9e2b"
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],
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"markers": "python_version < '3.14' and python_version >= '3.9'",
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"version": "==6.9.0"
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},
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"python-dateutil": {
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"hashes": [
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"sha256:37dd54208da7e1cd875388217d5e00ebd4179249f90fb72437e91a35459a0ad3",
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@ -543,70 +443,6 @@
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"markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2'",
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"version": "==2.9.0.post0"
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},
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"scipy": {
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"hashes": [
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"sha256:05dc6abcd105e1a29f95eada46d4a3f251743cfd7d3ae8ddb4088047f24ea477",
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"sha256:18aaacb735ab38b38db42cb01f6b92a2d0d4b6aabefeb07f02849e47f8fb3594",
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"sha256:1c832e1bd78dea67d5c16f786681b28dd695a8cb1fb90af2e27580d3d0967e92",
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|
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"sha256:ae48a786a28412d744c62fd7816a4118ef97e5be0bee968ce8f0a2fba7acf3bb",
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"sha256:aef683a9ae6eb00728a542b796f52a5477b78252edede72b8327a886ab63293f",
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"sha256:b90ab29d0c37ec9bf55424c064312930ca5f4bde15ee8619ee44e69319aab163",
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"sha256:c05045d8b9bfd807ee1b9f38761993297b10b245f012b11b13b91ba8945f7e45",
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"sha256:c9deabd6d547aee2c9a81dee6cc96c6d7e9a9b1953f74850c179f91fdc729cb7",
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"sha256:dde4fc32993071ac0c7dd2d82569e544f0bdaff66269cb475e0f369adad13f11",
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"sha256:eae3cf522bc7df64b42cad3925c876e1b0b6c35c1337c93e12c0f366f55b0eaf",
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"sha256:ed7284b21a7a0c8f1b6e5977ac05396c0d008b89e05498c8b7e8f4a1423bba0e",
|
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"sha256:f77f853d584e72e874d87357ad70f44b437331507d1c311457bed8ed2b956126"
|
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],
|
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"index": "pypi",
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"markers": "python_version >= '3.10'",
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"version": "==1.15.3"
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},
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"shiboken6": {
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"hashes": [
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"sha256:121ea290ed1afa5ad6abf690b377612693436292b69c61b0f8e10b1f0850f935",
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"sha256:24f53857458881b54798d7e35704611d07f6b6885bcdf80f13a4c8bb485b8df2",
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"sha256:3f585caae5b814a7e23308db0a077355a7dc20c34d58ca4c339ff7625e9a1936",
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"sha256:b61579b90bf9c53ecc174085a69429166dfe57a0b8b894f933d1281af9df6568",
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"sha256:c4d8e3a5907154ac4789e52c77957db95bcf584238c244d7743cb39e9b66dd26"
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],
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"markers": "python_version < '3.14' and python_version >= '3.9'",
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"version": "==6.9.0"
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},
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"six": {
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"hashes": [
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"sha256:4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274",
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94
recorder.py
Normal file
94
recorder.py
Normal file
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@ -0,0 +1,94 @@
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import serial
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import time
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import datetime
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import pickle
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from pathlib import Path
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from parser_mmw_demo import parser_one_mmw_demo_output_packet
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def configure_sensor(config_file: Path, config_device: serial.Serial):
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with config_file.open(mode="rt", encoding="utf-8") as config_fp:
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for line in config_fp:
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line = line.rstrip("\r\n")
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print(f"[CONFIG] writing: '{line}'")
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config_device.write((line + "\n").encode())
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time.sleep(0.01)
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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(data_device: serial.Serial, record_file: Path = Path("sensor_recording.bin")):
|
||||
sensor_data = bytearray()
|
||||
bytes_parsed = 0
|
||||
|
||||
with record_file.open(mode="wb") as fp:
|
||||
while True:
|
||||
read_data = data_device.read(256)
|
||||
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)
|
||||
|
||||
pickle.dump({
|
||||
"timestamp": datetime.now(),
|
||||
"parser_result": parser_result,
|
||||
"header_start_index": headerStartIndex,
|
||||
"total_packet_size": totalPacketNumBytes,
|
||||
"detected_objects": numDetObj,
|
||||
"tlv_count": numTlv,
|
||||
"sub_frame_number": subFrameNumber,
|
||||
"detected_points": (detectedX_array,
|
||||
detectedY_array,
|
||||
detectedZ_array,
|
||||
detectedV_array,
|
||||
detectedRange_array,
|
||||
detectedAzimuth_array,
|
||||
detectedElevation_array,
|
||||
detectedSNR_array,
|
||||
detectedNoise_array),
|
||||
|
||||
}, fp)
|
||||
|
||||
# Check the parser result
|
||||
print ("Parser result: ", parser_result)
|
||||
if (parser_result == 0):
|
||||
bytes_parsed += (headerStartIndex+totalPacketNumBytes)
|
||||
print("totalBytesParsed: ", bytes_parsed)
|
||||
|
||||
|
||||
def main():
|
||||
config_device = serial.Serial('/dev/ttyACM0', 115200)
|
||||
data_device = serial.Serial('/dev/ttyACM1', 921600)
|
||||
|
||||
configure_sensor(Path("hedgehog.cfg"), config_device)
|
||||
|
||||
try:
|
||||
parse_frames(data_device)
|
||||
except:
|
||||
config_device.write("sensorStop\n".encode())
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
main()
|
||||
except KeyboardInterrupt:
|
||||
exit(0)
|
||||
20
test.py
20
test.py
|
|
@ -2,6 +2,7 @@ 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
|
||||
|
||||
|
|
@ -44,7 +45,13 @@ CLIport, Dataport = serialConfig(configFileName) # Enable when reading from sens
|
|||
|
||||
def parse_frames():
|
||||
|
||||
ax = fig.add_subplot(projection='3d')
|
||||
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()
|
||||
|
|
@ -76,8 +83,15 @@ def parse_frames():
|
|||
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(0.1)
|
||||
plt.pause(0.01)
|
||||
|
||||
# Check the parser result
|
||||
print ("Parser result: ", parser_result)
|
||||
|
|
@ -85,7 +99,7 @@ def parse_frames():
|
|||
bytes_parsed += (headerStartIndex+totalPacketNumBytes)
|
||||
print("totalBytesParsed: ", bytes_parsed)
|
||||
else:
|
||||
bytes_parsed += 1
|
||||
# bytes_parsed += 1
|
||||
continue
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue