671 lines
23 KiB
Python
Executable File
671 lines
23 KiB
Python
Executable File
#!/usr/bin/env python3
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import sacn
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import time
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import sys
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import yaml
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import math
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import random
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from util import fprint
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import platform # For getting the operating system name
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import subprocess # For executing a shell command
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from util import win32
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import cv2
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import numpy as np
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from uptime import uptime
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class LEDSystem():
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sender = None
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debug = True
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config = None
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leds = None
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leds_size = None
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leds_normalized = None
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controllers = None
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data = None
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exactdata = None
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rings = None
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ringstatus = None
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mode = "Startup"
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firstrun = True
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changecount = 0
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animation_time = 0
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start = uptime()
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def __init__(self):
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self.start = uptime()
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#self.init()
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#return self
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def ping(self, host):
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#Returns True if host (str) responds to a ping request.
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# Option for the number of packets as a function of
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if win32:
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param1 = '-n'
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param2 = '-w'
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param3 = '250'
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else:
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param1 = '-c'
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param2 = '-W'
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param3 = '0.25'
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# Building the command. Ex: "ping -c 1 google.com"
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command = ['ping', param1, '1', param2, param3, host]
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return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
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def map(self):
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with open('config.yml', 'r') as fileread:
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#global config
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self.config = yaml.safe_load(fileread)
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self.animation_time = self.config["animation_time"]
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self.leds = list()
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self.leds_size = list()
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self.controllers = list()
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self.rings = list(range(len(self.config["position_map"])))
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self.ringstatus = list(range(len(self.config["position_map"])))
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#print(rings)
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#fprint(config["led"]["map"])
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generate_map = False
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map = list()
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for shape in self.config["led"]["map"]:
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if shape["type"] == "circle":
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if generate_map:
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map.append((shape["pos"][1],shape["pos"][0]))
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#fprint(shape["pos"])
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anglediv = 360.0 / shape["size"]
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angle = 0
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radius = shape["diameter"] / 2
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lednum = shape["start"]
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for item in self.config['position_map']:
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# Check if the current item's position matches the target position
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#print(item['pos'],(shape["pos"][1],shape["pos"][0]))
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if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
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self.rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
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self.ringstatus[item["index"]] = [None, None]
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break
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if len(self.leds) < lednum + shape["size"]:
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for x in range(lednum + shape["size"] - len(self.leds)):
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self.leds.append(None)
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self.leds_size.append(None)
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while angle < 359.999:
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tmpangle = angle + shape["angle"]
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x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1] # flip by 90 degress when we changed layout
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y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
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self.leds[lednum] = (x,y)
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lednum = lednum + 1
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angle = angle + anglediv
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elif shape["type"] == "strip":
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angle = shape["angle"]
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lednum = shape["start"]
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length = shape["length"]
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distdiv = length / shape["size"]
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dist = distdiv / 2
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xmov = math.cos(angle * (math.pi / 180.0)) * distdiv
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ymov = math.sin(angle * (math.pi / 180.0)) * distdiv
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pos = shape["pos"]
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if len(self.leds) < lednum + shape["size"]:
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for x in range(lednum + shape["size"] - len(self.leds)):
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self.leds.append(None)
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self.leds_size.append(None)
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while dist < length:
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self.leds[lednum] = (pos[0], pos[1])
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pos[0] += xmov
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pos[1] += ymov
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dist += distdiv
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lednum = lednum + 1
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if generate_map:
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map = sorted(map, key=lambda x: (-x[1], x[0]))
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print(map)
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import matplotlib.pyplot as plt
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plt.axis('equal')
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x, y = zip(*map)
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plt.scatter(x, y, s=12)
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#plt.plot(x, y, marker='o')
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#plt.scatter(*zip(*leds), s=3)
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for i, (x_pos, y_pos) in enumerate(map):
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plt.text(x_pos, y_pos, str(i), color="red", fontsize=12)
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plt.savefig("map2.png", dpi=600, bbox_inches="tight")
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data = {"map": [{"index": i, "pos": str(list(pos))} for i, pos in enumerate(map)]}
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yaml_str = yaml.dump(data, default_flow_style=False)
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print(yaml_str)
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print(self.rings)
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flag = 0
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for x in self.leds:
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if x is None:
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flag = flag + 1
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if flag > 0:
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fprint("Warning: Imperfect LED map ordering. Hiding undefined lights.")
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for x in range(len(self.leds)):
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if self.leds[x] is None:
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self.leds[x] = (0, 0)
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#leds = tmpleds.reverse()
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#fprint(leds)
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# controller mapping
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for ctrl in self.config["led"]["controllers"]:
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if len(self.controllers) < ctrl["universe"]+1:
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for x in range(ctrl["universe"]+1 - len(self.controllers)):
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self.controllers.append(None)
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self.controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
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for x in range(ctrl["ledstart"],ctrl["ledend"]+1):
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self.leds_size[x] = len(ctrl["mode"])
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#fprint(controllers)
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if(self.debug):
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import matplotlib.pyplot as plt
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plt.axis('equal')
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for ctrl in self.controllers:
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plt.scatter(*zip(*self.leds[ctrl[0]:ctrl[1]]), s=2)
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#plt.scatter(*zip(*leds), s=3)
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plt.savefig("map.png", dpi=600, bbox_inches="tight")
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leds_adj = [(x-min([led[0] for led in self.leds]), # push to zero start
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y-min([led[1] for led in self.leds]) )
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for x, y in self.leds]
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self.leds_normalized = [(x / max([led[0] for led in leds_adj]),
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y / max([led[1] for led in leds_adj]))
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for x, y in leds_adj]
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#return leds, controllers
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def init(self):
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self.map()
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self.sender = sacn.sACNsender(fps=self.config["led"]["fps"], universeDiscovery=False)
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self.sender.start() # start the sending thread
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"""for x in range(len(self.controllers)):
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print("Waiting for the controller at", self.controllers[x][2], "to be online...", end="")
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count = 0
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while not ping(self.controllers[x][2]):
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count = count + 1
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if count >= self.config["led"]["timeout"]:
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fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
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break
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if count < self.config["led"]["timeout"]:
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fprint(" done")"""
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for x in range(len(self.controllers)):
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print("Activating controller", x, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
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self.sender.activate_output(x+1) # start sending out data
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self.sender[x+1].destination = self.controllers[x][2]
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self.sender.manual_flush = True
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# initialize global pixel data list
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self.data = list()
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self.exactdata = list()
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for x in range(len(self.leds)):
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if self.leds_size[x] == 3:
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self.exactdata.append(None)
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self.data.append((20,20,127))
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elif self.leds_size[x] == 4:
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self.exactdata.append(None)
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self.data.append((50,50,255,0))
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else:
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self.exactdata.append(None)
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self.data.append((0,0,0))
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self.sendall(self.data)
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#time.sleep(50000)
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fprint("Running start-up test sequence...")
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for y in range(1):
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for x in range(len(self.leds)):
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self.setpixel(0,60,144,x)
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self.sendall(self.data)
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#time.sleep(2)
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self.alloffsmooth()
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def sendall(self, datain):
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# send all LED data to all controllers
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# data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
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self.sender.manual_flush = True
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for x in range(len(self.controllers)):
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self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
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self.sender.flush()
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time.sleep(0.002)
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#sender.flush() # 100% reliable with 2 flushes, often fails with 1
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#time.sleep(0.002)
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#sender.flush()
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def fastsendall(self, datain):
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# send all LED data to all controllers
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# data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
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self.sender.manual_flush = False
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print(datain[self.controllers[0][0]:self.controllers[0][1]])
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for x in range(len(self.controllers)):
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self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
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self.sender.flush()
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def senduniverse(self, datain, lednum):
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# send all LED data for 1 controller/universe
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# data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
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for x in range(len(self.controllers)):
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if lednum >= self.controllers[x][0] and lednum < self.controllers[x][1]:
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self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
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self.sender.flush()
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time.sleep(0.004)
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#sender.flush() # 100% reliable with 2 flushes, often fails with 1
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#time.sleep(0.002)
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#sender.flush()
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def alloff(self):
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tmpdata = list()
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for x in range(len(self.leds)):
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if self.leds_size[x] == 3:
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tmpdata.append((0,0,0))
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elif self.leds_size[x] == 4:
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tmpdata.append((0,0,0,0))
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else:
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tmpdata.append((0,0,0))
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self.sendall(tmpdata)
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#sendall(tmpdata)
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#sendall(tmpdata) #definitely make sure it's off
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return self
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def allon(self):
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self.sendall(self.data)
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return self
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def alloffsmooth(self):
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tmpdata = self.data
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for x in range(256):
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for x in range(len(self.data)):
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self.setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
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self.sendall(tmpdata)
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self.alloff()
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return self
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def setpixelnow(self, r, g, b, num):
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# slight optimization: send only changed universe
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# unfortunately no way to manual flush data packets to only 1 controller with this sACN library
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self.setpixel(r,g,b,num)
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self.senduniverse(self.data, num)
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return self
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def setmode(self, stmode, r=0,g=0,b=0):
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if stmode is not None:
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if self.mode != stmode:
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self.firstrun = True
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self.mode = stmode
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return self
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def setring(self, r,g,b,idx):
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ring = self.rings[idx]
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for pixel in range(ring[2],ring[3]):
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self.setpixel(r,g,b,pixel)
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#global data
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#senduniverse(data, ring[2])
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return self
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def runmodes(self, ring = -1, speed = 1):
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fprint("Mode: " + str(self.mode))
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if self.mode == "Startup":
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# loading animation. cable check
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if self.firstrun:
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self.changecount = self.animation_time * 3
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firstrun = False
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for x in range(len(self.ringstatus)):
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self.ringstatus[x] = [True, self.animation_time]
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if self.changecount > 0:
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fprint(self.changecount)
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self.changecount = self.fadeorder(0,len(self.leds), self.changecount, 0,50,100)
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else:
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self.setmode("Startup2")
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elif self.mode == "Startup2":
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if self.firstrun:
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self.firstrun = False
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else:
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for x in range(len(self.ringstatus)):
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if self.ringstatus[x][0]:
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self.setring(0, 50, 100, x)
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else:
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self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 100,0,0) # not ready
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elif self.mode == "StartupCheck":
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if self.firstrun:
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self.firstrun = False
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for x in range(len(self.ringstatus)):
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self.ringstatus[x] = [False, self.animation_time]
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else:
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for x in range(len(self.ringstatus)):
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if self.ringstatus[x][0]:
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self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 0,50,100) # ready
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else:
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self.setring(100, 0, 0, x)
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elif self.mode == "GrabA":
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if self.firstrun:
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self.firstrun = False
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self.changecount = self.animation_time # 100hz
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if self.changecount > 0:
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self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 100,0,0)
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else:
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self.setring(100,0,0,ring)
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self.setmode("GrabB")
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elif self.mode == "GrabB":
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if self.firstrun:
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self.firstrun = False
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self.changecount = self.animation_time # 100hz
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if self.changecount > 0:
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self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
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else:
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self.setring(0,100,0,ring)
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self.setmode("idle")
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elif self.mode == "GrabC":
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if self.firstrun:
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self.firstrun = False
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self.changecount = self.animation_time # 100hz
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if self.changecount > 0:
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self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,50,100)
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else:
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self.setring(0,50,100,ring)
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self.setmode("idle")
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elif self.mode == "idle":
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time.sleep(0)
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self.sendall(self.data)
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return self
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def fadeall(self, idxa,idxb,sizerem,r,g,b):
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if sizerem < 1:
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return 0
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sum = 0
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for x in range(idxa,idxb):
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if self.exactdata[x] is None:
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self.exactdata[x] = self.data[x]
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old = self.exactdata[x]
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dr = (r - old[0])/sizerem
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sum += abs(dr)
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dr += old[0]
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dg = (g - old[1])/sizerem
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sum += abs(dg)
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dg += old[1]
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db = (b - old[2])/sizerem
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db += old[2]
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sum += abs(db)
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self.exactdata[x] = (dr, dg, db)
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#print(new)
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self.setpixel(dr, dg, db, x)
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if sizerem == 1:
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self.exactdata[x] = None
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if sum == 0 and sizerem > 2:
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sizerem = 2
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return sizerem - 1
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def fadeorder(self, idxa,idxb,sizerem,r,g,b):
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if sizerem < 1:
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return 0
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drs = 0
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dgs = 0
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dbs = 0
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sum = 0
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for x in range(idxa,idxb):
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if self.exactdata[x] is None:
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self.exactdata[x] = self.data[x]
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old = self.exactdata[x]
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dr = (r - old[0])
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dg = (g - old[1])
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db = (b - old[2])
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drs += dr
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dgs += dg
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dbs += db
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drs /= sizerem
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dgs /= sizerem
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dbs /= sizerem
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sum += abs(drs) + abs(dgs) + abs(dbs)
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print(drs,dgs,dbs)
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for x in range(idxa,idxb):
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old = self.exactdata[x]
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new = list(old)
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if drs > 0:
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if old[0] + drs > r:
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new[0] = r
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drs -= r - old[0]
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else:
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new[0] = old[0] + drs
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drs = 0
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if dgs > 0:
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if old[1] + dgs > g:
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new[1] = g
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dgs -= g - old[1]
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else:
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new[1] = old[1] + dgs
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dgs = 0
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if dbs > 0:
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if old[2] + dbs > b:
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new[2] = b
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dbs -= b - old[2]
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else:
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new[2] = old[2] + dbs
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dbs = 0
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if drs < 0:
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if old[0] + drs < r:
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new[0] = r
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drs -= r - old[0]
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else:
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new[0] = old[0] + drs
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drs = 0
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if dgs < 0:
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if old[1] + dgs < g:
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new[1] = g
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dgs -= g - old[1]
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else:
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new[1] = old[1] + dgs
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dgs = 0
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if dbs < 0:
|
|
if old[2] + dbs < b:
|
|
new[2] = b
|
|
dbs -= b - old[2]
|
|
else:
|
|
new[2] = old[2] + dbs
|
|
dbs = 0
|
|
|
|
if drs != 0 or dgs != 0 or dbs != 0:
|
|
self.exactdata[x] = new
|
|
self.setpixel(new[0],new[1],new[2],x)
|
|
|
|
if sizerem == 1:
|
|
self.exactdata[x] = None
|
|
|
|
if sum == 0 and sizerem > 2:
|
|
sizerem = 2
|
|
return sizerem - 1
|
|
|
|
|
|
def setpixel(self, r, g, b, num):
|
|
# constrain values
|
|
if r < 0:
|
|
r = 0
|
|
elif r > 255:
|
|
r = 255
|
|
if g < 0:
|
|
g = 0
|
|
elif g > 255:
|
|
g = 255
|
|
if b < 0:
|
|
b = 0
|
|
elif b > 255:
|
|
b = 255
|
|
|
|
if self.leds_size[num] == 3:
|
|
self.data[num] = (int(r), int(g), int(b))
|
|
elif self.leds_size[num] == 4: # cut out matching white and turn on white pixel instead
|
|
self.data[num] = (( int(r) - int(min(r,g,b)), int(g) - int(min(r,g,b)), int(b) - int(min(r,g,b)), int(min(r,g,b))) )
|
|
else:
|
|
self.data[num] = (int(r), int(g), int(b))
|
|
return self
|
|
|
|
def close(self):
|
|
time.sleep(0.5)
|
|
self.sender.stop()
|
|
return self
|
|
|
|
def mapimage(self, image, fps=90):
|
|
while uptime() - self.start < 1/fps:
|
|
time.sleep(0.00001)
|
|
fprint(1 / (uptime() - self.start))
|
|
self.start = uptime()
|
|
minsize = min(image.shape[0:2])
|
|
leds_normalized2 = [(x * minsize,
|
|
y * minsize)
|
|
for x, y in self.leds_normalized]
|
|
|
|
cv2.imshow("video", image)
|
|
cv2.waitKey(1)
|
|
|
|
|
|
#im_rgb = image #cv2.cvtColor(image, cv2.COLOR_BGR2RGB) # OpenCV uses BGR format by default
|
|
avgx = 0
|
|
avgy = 0
|
|
for xx in range(len(leds_normalized2)):
|
|
led = leds_normalized2[xx]
|
|
x, y = int(round(led[0])), int(round(led[1]))
|
|
|
|
if x < image.shape[1] and y < image.shape[0]:
|
|
#avgx += x
|
|
#avgy += y
|
|
color = tuple(image[y, x])
|
|
self.setpixel(color[2]/2,color[1]/2,color[0]/2,xx) # swap b & r
|
|
#print(color)
|
|
else:
|
|
#avgx += x
|
|
#avgy += y
|
|
self.setpixel(0,0,0,xx)
|
|
#avgx /= len(leds)
|
|
#avgy /= len(leds)
|
|
#print((avgx,avgy, max([led[0] for led in leds_adj]), max([led[1] for led in leds_adj]) , min(image.shape[0:2]) ))
|
|
self.fastsendall(self.data)
|
|
return self
|
|
|
|
def mainloop(self, stmode, ring = -1, fps = 100, preview = False):
|
|
while uptime() - self.start < 1/fps:
|
|
time.sleep(0.00001)
|
|
fprint(1 / (uptime() - self.start))
|
|
self.start = uptime()
|
|
if self.mode is not None:
|
|
self.setmode(stmode)
|
|
self.runmodes(ring)
|
|
if preview:
|
|
self.drawdata()
|
|
return self
|
|
|
|
def drawdata(self):
|
|
#tmp = list()
|
|
#for x in len(leds):
|
|
# led = leds[x]
|
|
# tmp.append((led[0], led[1], data[x]))
|
|
|
|
x = [led[0] for led in self.leds]
|
|
y = [led[1] for led in self.leds]
|
|
colors = self.data
|
|
colors_normalized = [(x[0]/255, x[1]/255, x[2]/255) for x in colors]
|
|
# Plot the points
|
|
plt.scatter(x, y, c=colors_normalized)
|
|
|
|
# Optional: add grid, title, and labels
|
|
plt.grid(True)
|
|
plt.title('Colored Points')
|
|
plt.xlabel('X')
|
|
plt.ylabel('Y')
|
|
plt.show()
|
|
plt.savefig("map3.png", dpi=50, bbox_inches="tight")
|
|
plt.clf()
|
|
return self
|
|
|
|
def startup_animation(self, show):
|
|
|
|
|
|
stmode = "Startup"
|
|
self.mainloop(stmode, preview=show)
|
|
while self.mode == "Startup":
|
|
self.mainloop(None, preview=show)
|
|
for x in range(54):
|
|
self.ringstatus[x][0] = False
|
|
self.mainloop(None, preview=show)
|
|
|
|
for x in range(self.animation_time):
|
|
self.mainloop(None, preview=show)
|
|
self.clear_animations()
|
|
stmode = "StartupCheck"
|
|
self.mainloop(stmode, preview=show)
|
|
self.clear_animations()
|
|
return self
|
|
|
|
def clear_animations(self):
|
|
for x in range(len(self.leds)):
|
|
self.exactdata[x] = None
|
|
return self
|
|
|
|
def do_animation(self, stmode, ring=-1):
|
|
self.mainloop(stmode, ring, preview=show)
|
|
self.wait_for_animation(ring)
|
|
return self
|
|
|
|
def start_animation(self, stmode, ring=-1):
|
|
self.mainloop(stmode, ring, preview=show)
|
|
return self
|
|
|
|
def wait_for_animation(self, ring=-1):
|
|
while self.mode != "idle":
|
|
self.mainloop(None, ring, preview=show)
|
|
return self
|
|
|
|
if __name__ == "__main__":
|
|
|
|
import matplotlib.pyplot as plt
|
|
"""cap = cv2.VideoCapture('badapple.mp4')
|
|
while cap.isOpened():
|
|
ret, frame = cap.read()
|
|
if not ret:
|
|
break
|
|
mapimage(frame, fps=30)"""
|
|
show = False
|
|
ring = 1
|
|
ledsys = LEDSystem()
|
|
ledsys.startup_animation(show)
|
|
for x in range(54):
|
|
ledsys.ringstatus[x][0] = True
|
|
ledsys.mainloop(None, preview=show)
|
|
for x in range(ledsys.animation_time):
|
|
ledsys.mainloop(None, preview=show)
|
|
|
|
ledsys.do_animation("GrabA", 1)
|
|
|
|
ledsys.do_animation("GrabA", 5)
|
|
ledsys.start_animation("GrabC", 1)
|
|
|
|
ledsys.wait_for_animation(1)
|
|
ledsys.do_animation("GrabC", 5)
|
|
|
|
ledsys.close()
|
|
#sys.exit(0)
|
|
|
|
|
|
# blue : default
|
|
# green : target
|
|
# yellow : crosshair
|
|
# red : missing
|
|
# uninitialized : red/purple? |