mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
168 lines
4.5 KiB
Python
Executable File
168 lines
4.5 KiB
Python
Executable File
#!/usr/bin/env python
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import sys
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import usb.core
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import usb.util
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import struct
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import numpy as np
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from PIL import Image
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import time
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import StringIO
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__dev = None
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# VID/PID
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__VID=0xf055
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__PID=0x9800
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# Debug __INTERFACE
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__INTERFACE = 0
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__ALTSETTING = 1
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__IN_EP =0x81
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__OUT_EP =0x01
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__TIMEOUT =3000
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__FB_HDR_SIZE =12
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# USB Debug commands
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__USBDBG_FRAME_SIZE=1
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__USBDBG_FRAME_DUMP=2
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__USBDBG_FRAME_LOCK=3
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__USBDBG_FRAME_UPDATE=4
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__USBDBG_SCRIPT_EXEC=5
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__USBDBG_SCRIPT_STOP=6
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__USBDBG_SCRIPT_SAVE=7
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__USBDBG_TEMPLATE_SAVE=8
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__USBDBG_DESCRIPTOR_SAVE=9
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__USBDBG_ATTR_READ=10
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__USBDBG_ATTR_WRITE=11
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ATTR_CONTRAST=0
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ATTR_BRIGHTNESS=1
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ATTR_SATURATION=2
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ATTR_GAINCEILING=3
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def init():
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global __dev
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# find USB __device
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__dev = usb.core.find(idVendor=__VID, idProduct=__PID)
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if __dev is None:
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raise ValueError('__device not found')
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# detach kernel driver
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if __dev.is_kernel_driver_active(__INTERFACE):
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__dev.detach_kernel_driver(__INTERFACE)
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# claim __INTERFACE
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usb.util.claim_interface(__dev, __INTERFACE)
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# set FB debug alt setting
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__dev.set_interface_altsetting(__INTERFACE, __ALTSETTING)
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def release():
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global __dev
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try:
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# release __INTERFACE
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usb.util.release_interface(__dev, __INTERFACE)
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# reattach kernel driver
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#__dev.attach_kernel_driver(__INTERFACE)
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except:
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pass
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def fb_to_arr(buff, bpp):
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if bpp == 1:
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r = np.fromstring(buff, dtype=np.uint8)
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g = np.fromstring(buff, dtype=np.uint8)
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b = np.fromstring(buff, dtype=np.uint8)
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return np.column_stack((r,g,b))
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else:
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arr = np.fromstring(buff, dtype=np.uint16).newbyteorder('S')
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r = (((arr & 0xF800) >>11)*255.0/31.0).astype(np.uint8)
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g = (((arr & 0x07E0) >>5) *255.0/63.0).astype(np.uint8)
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b = (((arr & 0x001F) >>0) *255.0/31.0).astype(np.uint8)
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return np.column_stack((r,g,b))
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def fb_size():
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global __dev
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# read fb header
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buf = __dev.ctrl_transfer(0xC1, __USBDBG_FRAME_SIZE, 0, __INTERFACE, __FB_HDR_SIZE, __TIMEOUT)
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size = struct.unpack("III", buf)
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return size
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def fb_lock():
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global __dev
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buf = __dev.ctrl_transfer(0xC1, __USBDBG_FRAME_LOCK, 0, __INTERFACE, 1, __TIMEOUT)
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return struct.unpack("B", buf)[0]
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def fb_dump():
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global __dev
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if (fb_lock() == 0):
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return None
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size = fb_size()
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if (size[2] > 2): #JPEG
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num_bytes = size[2]
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else:
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num_bytes = size[0]*size[1]*size[2]
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# read fb data
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__dev.ctrl_transfer(0xC1, __USBDBG_FRAME_DUMP, num_bytes/4, __INTERFACE, 0, __TIMEOUT)
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buff = __dev.read(__IN_EP, num_bytes, __INTERFACE, __TIMEOUT)
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if (size[2] > 2):
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try:
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#print(size[0], size[1], size[2])
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#__write_img(buff, "/tmp/swap.jpeg")
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img = Image.frombuffer("RGB", (size[0], size[1]), buff, "jpeg", "RGB", "")
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buff = np.fromstring(img.tostring(), dtype=np.uint8)
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except Exception, e:
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print "JPEG decode error (%s)"%e
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sys.exit(0)
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if (buff.size != (size[0]*size[1]*3)):
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return None
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return (size[0], size[1], buff)
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else:
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return (size[0], size[1], fb_to_arr(buff, size[2]))
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def fb_update():
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__dev.ctrl_transfer(0x41, __USBDBG_FRAME_UPDATE, 0, __INTERFACE, None, __TIMEOUT)
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def exec_script(buf):
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__dev.ctrl_transfer(0x41, __USBDBG_SCRIPT_EXEC, len(buf), __INTERFACE, None, __TIMEOUT)
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__dev.write(__OUT_EP, buf, __INTERFACE, __TIMEOUT)
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def stop_script():
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__dev.ctrl_transfer(0x41, __USBDBG_SCRIPT_STOP, 0, __INTERFACE, None, __TIMEOUT)
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def save_template(x, y, w, h, path):
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buf = struct.pack("IIII", x, y, w, h) + path
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__dev.ctrl_transfer(0x41, __USBDBG_TEMPLATE_SAVE, len(buf), __INTERFACE, None, __TIMEOUT)
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__dev.write(__OUT_EP, buf, __INTERFACE, __TIMEOUT)
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def save_descriptor(x, y, w, h, path):
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buf = struct.pack("IIII", x, y, w, h) + path
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__dev.ctrl_transfer(0x41, __USBDBG_DESCRIPTOR_SAVE, len(buf), __INTERFACE, None, __TIMEOUT)
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__dev.write(__OUT_EP, buf, __INTERFACE, __TIMEOUT)
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def set_attr(attr, value):
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buf = struct.unpack(">H", struct.pack("bb", attr, value))[0]
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__dev.ctrl_transfer(0x41, __USBDBG_ATTR_WRITE, buf, __INTERFACE, None, __TIMEOUT)
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def get_attr(attr):
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return 0
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if __name__ == '__main__':
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if len(sys.argv)!= 2:
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print 'usage: openmv.py <script>'
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sys.exit(1)
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with open(sys.argv[1], 'r') as fin:
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buf = fin.read()
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init()
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exec_script(buf)
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def __write_img(buff, path):
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with open(path, "wb") as f:
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f.write(buff)
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f.close()
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