#!/usr/bin/env python import sys import usb.core import usb.util import struct import numpy as np from PIL import Image import time import StringIO __dev = None # VID/PID __VID=0xf055 __PID=0x9800 # Debug __INTERFACE __INTERFACE = 0 __ALTSETTING = 1 __IN_EP =0x81 __OUT_EP =0x01 __TIMEOUT =1000 __FB_HDR_SIZE =12 # USB Debug commands __USBDBG_FRAME_SIZE=1 __USBDBG_FRAME_DUMP=2 __USBDBG_FRAME_READY=3 __USBDBG_SCRIPT_EXEC=4 __USBDBG_SCRIPT_STOP=5 __USBDBG_SCRIPT_SAVE=6 __USBDBG_TEMPLATE_SAVE=7 __USBDBG_ATTR_READ=8 __USBDBG_ATTR_WRITE=9 ATTR_CONTRAST=0 ATTR_BRIGHTNESS=1 ATTR_SATURATION=2 ATTR_GAINCEILING=3 def init(): global __dev # find USB __device __dev = usb.core.find(idVendor=__VID, idProduct=__PID) if __dev is None: raise ValueError('__device not found') # detach kernel driver if __dev.is_kernel_driver_active(__INTERFACE): __dev.detach_kernel_driver(__INTERFACE) # claim __INTERFACE usb.util.claim_interface(__dev, __INTERFACE) # set FB debug alt setting __dev.set_interface_altsetting(__INTERFACE, __ALTSETTING) def release(): global __dev # release __INTERFACE usb.util.release_interface(__dev, __INTERFACE) # reattach kernel driver #__dev.attach_kernel_driver(__INTERFACE) def fb_to_arr(buff, bpp): if bpp == 1: r = np.fromstring(buff, dtype=np.uint8) g = np.fromstring(buff, dtype=np.uint8) b = np.fromstring(buff, dtype=np.uint8) return np.column_stack((r,g,b)) else: arr = np.fromstring(buff, dtype=np.uint16).newbyteorder('S') r = (((arr & 0xF800) >>11)*255.0/31.0).astype(np.uint8) g = (((arr & 0x07E0) >>5) *255.0/63.0).astype(np.uint8) b = (((arr & 0x001F) >>0) *255.0/31.0).astype(np.uint8) return np.column_stack((r,g,b)) def fb_size(): global __dev # read fb header buf = __dev.ctrl_transfer(0xC1, __USBDBG_FRAME_SIZE, 0, __INTERFACE, __FB_HDR_SIZE, __TIMEOUT) size = struct.unpack("III", buf) return size def fb_ready(): global __dev buf = __dev.ctrl_transfer(0xC1, __USBDBG_FRAME_READY, 0, __INTERFACE, 1, __TIMEOUT) return struct.unpack("B", buf)[0] def fb_dump(): global __dev if (fb_ready() == 0): return None size = fb_size() if (size[2] > 2): #JPEG num_bytes = size[2] else: num_bytes = size[0]*size[1]*size[2] # read fb data __dev.ctrl_transfer(0xC1, __USBDBG_FRAME_DUMP, num_bytes, __INTERFACE, 0, __TIMEOUT) buff = __dev.read(__IN_EP, num_bytes, __INTERFACE, __TIMEOUT) #print size, num_bytes if (size[2] > 2): try: #img = Image.frombytes("RGB", (size[0], size[1]), buff, "jpeg", "RGB", "") __write_img(buff, "swap.jpeg") img = Image.open("swap.jpeg") buff = np.fromstring(img.tobytes(), dtype=np.uint8) except Exception, e: print "JPEG decode error (%s)"%e sys.exit(0) return (size[0], size[1], buff) else: return (size[0], size[1], fb_to_arr(buff, size[2])) def exec_script(buf): __dev.ctrl_transfer(0x41, __USBDBG_SCRIPT_EXEC, len(buf), __INTERFACE, None, __TIMEOUT) __dev.write(__OUT_EP, buf, __INTERFACE, __TIMEOUT) def stop_script(): __dev.ctrl_transfer(0x41, __USBDBG_SCRIPT_STOP, 0, __INTERFACE, None, __TIMEOUT) def save_template(x, y, w, h, name): buf = struct.pack("IIII", x, y, w, h) __dev.ctrl_transfer(0x41, __USBDBG_TEMPL_SAVE, len(buf), __INTERFACE, None, __TIMEOUT) __dev.write(__OUT_EP, buf, __INTERFACE, __TIMEOUT) def set_attr(attr, value): buf = struct.unpack(">H", struct.pack("bb", attr, value))[0] __dev.ctrl_transfer(0x41, __USBDBG_ATTR_WRITE, buf, __INTERFACE, None, __TIMEOUT) def get_attr(attr): return 0 if __name__ == '__main__': if len(sys.argv)!= 2: print 'usage: openmv.py