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- Support new commands to read profiling data. - Support rendering profiling data (ticks, cycles and event counters). - Support loading symbol table from elf to map addresses to symbols. - Support running scripts via command line args. New keys: p - Cycle through available profiling data (events, counters). m - Toggle profiling mode (inclusive/exclusive). r - Reset profiler. Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
565 lines
23 KiB
Python
Executable File
565 lines
23 KiB
Python
Executable File
#!/usr/bin/env python
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# This file is part of the OpenMV project.
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#
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# Copyright (c) 2013-2025 Ibrahim Abdelkader <iabdalkader@openmv.io>
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# Copyright (c) 2013-2025 Kwabena W. Agyeman <kwagyeman@openmv.io>
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#
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# This work is licensed under the MIT license, see the file LICENSE for details.
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#
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# An example script using pyopenmv to grab the framebuffer.
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import sys
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import numpy as np
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import pygame
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import pyopenmv
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import argparse
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import time
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test_script = """
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import sensor, image, time
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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sensor.skip_frames(time = 2000)
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clock = time.clock()
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while(True):
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clock.tick()
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img = sensor.snapshot()
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print(clock.fps(), " FPS")
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"""
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bench_script = """
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import sensor, image, time
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.VGA)
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img = sensor.snapshot().compress()
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while(True):
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img.flush()
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"""
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def addr_to_symbol(symbols, address):
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# Binary search for speed
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lo, hi = 0, len(symbols) - 1
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while lo <= hi:
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mid = (lo + hi) // 2
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start, end, name = symbols[mid]
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if start <= address < end:
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return name
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elif address < start:
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hi = mid - 1
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else:
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lo = mid + 1
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return None
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def get_color_by_percentage(percentage, base_color=(220, 220, 220)):
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"""
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Return a color based on percentage with fine-grained intensity levels.
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"""
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def clamp(value):
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return max(0, min(255, int(value)))
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if percentage >= 50:
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# Very high - bright red
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intensity = min(1.0, (percentage - 50) / 50)
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return (255, clamp(120 - 120 * intensity), clamp(120 - 120 * intensity))
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elif percentage >= 30:
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# High - red-orange
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intensity = (percentage - 30) / 20
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return (255, clamp(160 + 40 * intensity), clamp(160 - 40 * intensity))
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elif percentage >= 20:
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# Medium-high - orange
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intensity = (percentage - 20) / 10
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return (255, clamp(200 + 55 * intensity), clamp(180 - 20 * intensity))
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elif percentage >= 15:
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# Medium - yellow-orange
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intensity = (percentage - 15) / 5
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return (255, clamp(220 + 35 * intensity), clamp(180 + 20 * intensity))
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elif percentage >= 10:
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# Medium-low - yellow
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intensity = (percentage - 10) / 5
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return (clamp(255 - 75 * intensity), 255, clamp(180 + 75 * intensity))
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elif percentage >= 5:
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# Low - light green
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intensity = (percentage - 5) / 5
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return (clamp(180 + 75 * intensity), 255, clamp(180 + 75 * intensity))
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elif percentage >= 2:
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# Very low - green
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intensity = (percentage - 2) / 3
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return (clamp(160 + 95 * intensity), clamp(255 - 55 * intensity), clamp(160 + 95 * intensity))
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elif percentage >= 1:
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# Minimal - light blue-green
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intensity = (percentage - 1) / 1
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return (clamp(140 + 120 * intensity), clamp(200 + 55 * intensity), clamp(255 - 95 * intensity))
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else:
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# Zero or negligible - base color
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return base_color
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def draw_rounded_rect(surface, color, rect, radius=5):
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x, y, w, h = rect
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if w <= 0 or h <= 0:
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return
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pygame.draw.rect(surface, color, (x + radius, y, w - 2*radius, h))
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pygame.draw.rect(surface, color, (x, y + radius, w, h - 2*radius))
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pygame.draw.circle(surface, color, (x + radius, y + radius), radius)
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pygame.draw.circle(surface, color, (x + w - radius, y + radius), radius)
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pygame.draw.circle(surface, color, (x + radius, y + h - radius), radius)
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pygame.draw.circle(surface, color, (x + w - radius, y + h - radius), radius)
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def draw_table(overlay_surface, config, title, headers, col_widths):
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"""Draw the common table background, title, and header."""
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# Draw main table background
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table_rect = (0, 0, config['width'], config['height'])
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draw_rounded_rect(overlay_surface, config['colors']['bg'], table_rect, int(8 * config['scale_factor']))
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pygame.draw.rect(overlay_surface, config['colors']['border'], table_rect, max(1, int(2 * config['scale_factor'])))
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# Table title
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title_text = config['fonts']['title'].render(title, True, config['colors']['header_text'])
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title_rect = title_text.get_rect()
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title_x = (config['width'] - title_rect.width) // 2
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overlay_surface.blit(title_text, (title_x, int(12 * config['scale_factor'])))
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# Header
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header_y = int(50 * config['scale_factor'])
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header_height = int(40 * config['scale_factor'])
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# Draw header background
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header_rect = (int(5 * config['scale_factor']), header_y,
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config['width'] - int(10 * config['scale_factor']), header_height)
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draw_rounded_rect(overlay_surface, config['colors']['header_bg'], header_rect, int(4 * config['scale_factor']))
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# Draw header text and separators
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current_x = int(10 * config['scale_factor'])
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for i, (header, width) in enumerate(zip(headers, col_widths)):
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header_surface = config['fonts']['header'].render(header, True, config['colors']['header_text'])
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overlay_surface.blit(header_surface, (current_x, header_y + int(6 * config['scale_factor'])))
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if i < len(headers) - 1:
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sep_x = current_x + width - int(5 * config['scale_factor'])
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pygame.draw.line(overlay_surface, config['colors']['border'],
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(sep_x, header_y + 2), (sep_x, header_y + header_height - 2), 1)
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current_x += width
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def draw_event_table(overlay_surface, config, profile_data, profile_mode, symbols):
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"""Draw the event counter mode table."""
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# Prepare data
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num_events = len(profile_data[0]['events']) if profile_data else 0
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if not num_events:
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sorted_data = sorted(profile_data, key=lambda x: x['address'])
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else:
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sort_func = lambda x: x['events'][0] // max(1, x['call_count'])
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sorted_data = sorted(profile_data, key=sort_func, reverse=True)
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headers = ["Function"] + [f"E{i}" for i in range(num_events)]
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proportions = [0.30] + [0.70/num_events] * num_events
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col_widths = [config['width'] * prop for prop in proportions]
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profile_mode = "Exclusive" if profile_mode else "Inclusive"
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# Calculate event totals for percentage calculation
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event_totals = [0] * num_events
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for record in sorted_data:
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for i, event_count in enumerate(record['events']):
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event_totals[i] += event_count // max(1, record['call_count'])
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# Draw table structure
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draw_table(overlay_surface, config, f"Event Counters ({profile_mode})", headers, col_widths)
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# Draw data rows
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row_height = int(30 * config['scale_factor'])
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data_start_y = int(50 * config['scale_factor'] + 40 * config['scale_factor'] + 8 * config['scale_factor'])
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available_height = config['height'] - data_start_y - int(60 * config['scale_factor'])
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visible_rows = min(len(sorted_data), available_height // row_height)
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for i in range(visible_rows):
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record = sorted_data[i]
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row_y = data_start_y + i * row_height
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# Draw row background
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row_color = config['colors']['row_alt'] if i % 2 == 0 else config['colors']['row_normal']
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row_rect = (int(5 * config['scale_factor']), row_y,
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config['width'] - int(10 * config['scale_factor']), row_height)
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pygame.draw.rect(overlay_surface, row_color, row_rect)
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# Function name
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name = addr_to_symbol(symbols, record['address']) if symbols else "<no symbols>"
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max_name_chars = int(col_widths[0] // (11 * config['scale_factor']))
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display_name = name if len(name) <= max_name_chars else name[:max_name_chars - 3] + "..."
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row_data = [display_name]
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# Event data
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for j, event_count in enumerate(record['events']):
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event_scale = ""
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event_count //= max(1, record['call_count'])
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if event_count > 1_000_000_000:
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event_count //= 1_000_000_000
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event_scale = "B"
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elif event_count > 1_000_000:
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event_count //= 1_000_000
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event_scale = "M"
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row_data.append(f"{event_count:,}{event_scale}")
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# Determine row color based on sorting key (event 0)
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if len(record['events']) > 0 and event_totals[0] > 0:
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sort_key_value = record['events'][0] // max(1, record['call_count'])
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percentage = (sort_key_value / event_totals[0] * 100)
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row_text_color = get_color_by_percentage(percentage, config['colors']['content_text'])
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else:
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row_text_color = config['colors']['content_text']
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# Draw row data with uniform color
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current_x = 10
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for j, (data, width) in enumerate(zip(row_data, col_widths)):
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text_surface = config['fonts']['content'].render(str(data), True, row_text_color)
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overlay_surface.blit(text_surface, (current_x, row_y + int(8 * config['scale_factor'])))
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if j < len(row_data) - 1:
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sep_x = current_x + width - 8
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pygame.draw.line(overlay_surface, (60, 70, 85),
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(sep_x, row_y), (sep_x, row_y + row_height), 1)
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current_x += width
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# Draw summary
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summary_y = config['height'] - int(50 * config['scale_factor'])
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total_functions = len(profile_data)
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grand_total = sum(event_totals)
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summary_text = (
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f"Profiles: {total_functions} | "
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f"Events: {num_events} | "
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f"Total Events: {grand_total:,}"
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)
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summary_surface = config['fonts']['summary'].render(summary_text, True, config['colors']['content_text'])
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summary_rect = summary_surface.get_rect()
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summary_x = (config['width'] - summary_rect.width) // 2
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overlay_surface.blit(summary_surface, (summary_x, summary_y))
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# Instructions
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instruction_str = "Press 'P' to toggle event counter overlay"
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instruction_text = config['fonts']['instruction'].render(instruction_str, True, (180, 180, 180))
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overlay_surface.blit(instruction_text, (0, summary_y + int(20 * config['scale_factor'])))
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def draw_profile_table(overlay_surface, config, profile_data, profile_mode, symbols):
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"""Draw the profile mode table."""
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# Prepare data
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sort_func = lambda x: x['total_ticks']
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sorted_data = sorted(profile_data, key=sort_func, reverse=True)
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total_ticks_all = sum(record['total_ticks'] for record in profile_data)
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profile_mode = "Exclusive" if profile_mode else "Inclusive"
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headers = ["Function", "Calls", "Min", "Max", "Total", "Avg", "Cycles", "%"]
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proportions = [0.30, 0.08, 0.10, 0.10, 0.13, 0.10, 0.13, 0.05]
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col_widths = [config['width'] * prop for prop in proportions]
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# Draw table structure
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draw_table(overlay_surface, config, f"Performance Profile ({profile_mode})", headers, col_widths)
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# Draw data rows
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row_height = int(30 * config['scale_factor'])
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data_start_y = int(50 * config['scale_factor'] + 40 * config['scale_factor'] + 8 * config['scale_factor'])
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available_height = config['height'] - data_start_y - int(60 * config['scale_factor'])
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visible_rows = min(len(sorted_data), available_height // row_height)
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for i in range(visible_rows):
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record = sorted_data[i]
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row_y = data_start_y + i * row_height
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# Draw row background
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row_color = config['colors']['row_alt'] if i % 2 == 0 else config['colors']['row_normal']
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row_rect = (int(5 * config['scale_factor']), row_y,
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config['width'] - int(10 * config['scale_factor']), row_height)
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pygame.draw.rect(overlay_surface, row_color, row_rect)
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# Function name
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name = addr_to_symbol(symbols, record['address']) if symbols else "<no symbols>"
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max_name_chars = int(col_widths[0] // (11 * config['scale_factor']))
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display_name = name if len(name) <= max_name_chars else name[:max_name_chars - 3] + "..."
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# Calculate values
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call_count = record['call_count']
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min_ticks = record['min_ticks'] if call_count else 0
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max_ticks = record['max_ticks'] if call_count else 0
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total_ticks = record['total_ticks']
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avg_cycles = record['total_cycles'] // max(1, call_count)
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avg_ticks = total_ticks // max(1, call_count)
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percentage = (total_ticks / total_ticks_all * 100)
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ticks_scale = ""
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if total_ticks > 1_000_000_000:
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total_ticks //= 1_000_000
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ticks_scale = "M"
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row_data = [
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display_name,
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f"{call_count:,}",
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f"{min_ticks:,}",
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f"{max_ticks:,}",
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f"{total_ticks:,}{ticks_scale}",
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f"{avg_ticks:,}",
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f"{avg_cycles:,}",
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f"{percentage:.1f}%"
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]
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# Determine row color based on percentage
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text_color = get_color_by_percentage(percentage, config['colors']['content_text'])
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# Draw row data
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current_x = int(10 * config['scale_factor'])
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for j, (data, width) in enumerate(zip(row_data, col_widths)):
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text_surface = config['fonts']['content'].render(str(data), True, text_color)
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overlay_surface.blit(text_surface, (current_x, row_y + int(8 * config['scale_factor'])))
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if j < len(row_data) - 1:
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sep_x = current_x + width - int(8 * config['scale_factor'])
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pygame.draw.line(overlay_surface, (60, 70, 85),
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(sep_x, row_y), (sep_x, row_y + row_height), 1)
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current_x += width
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# Draw summary
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summary_y = config['height'] - int(50 * config['scale_factor'])
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total_calls = sum(record['call_count'] for record in profile_data)
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total_cycles = sum(record['total_cycles'] for record in profile_data)
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total_ticks_summary = sum(record['total_ticks'] for record in profile_data)
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summary_text = (
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f"Profiles: {len(profile_data)} | "
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f"Total Calls: {total_calls:,} | "
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f"Total Ticks: {total_ticks_summary:,} | "
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f"Total Cycles: {total_cycles:,}"
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)
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summary_surface = config['fonts']['summary'].render(summary_text, True, config['colors']['content_text'])
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summary_rect = summary_surface.get_rect()
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summary_x = (config['width'] - summary_rect.width) // 2
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overlay_surface.blit(summary_surface, (summary_x, summary_y))
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# Instructions
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instruction_str = "Press 'P' to toggle event counter overlay"
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instruction_text = config['fonts']['instruction'].render(instruction_str, True, (180, 180, 180))
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overlay_surface.blit(instruction_text, (0, summary_y + int(20 * config['scale_factor'])))
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def draw_profile_overlay(screen, screen_width, screen_height, profile_data,
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profile_mode, profile_type, scale, symbols, alpha=250):
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"""Main entry point for drawing the profile overlay."""
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# Calculate dimensions and create surface
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base_width, base_height = 800, 800
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screen_width *= scale
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screen_height *= scale
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scale_factor = min(screen_width / base_width, screen_height / base_height)
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overlay_surface = pygame.Surface((screen_width, screen_height), pygame.SRCALPHA)
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overlay_surface.set_alpha(alpha)
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# Setup common configuration
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config = {
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'width': screen_width,
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'height': screen_height,
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'scale_factor': scale_factor,
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'colors': {
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'bg': (40, 50, 65),
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'border': (70, 80, 100),
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'header_bg': (60, 80, 120),
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'header_text': (255, 255, 255),
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'content_text': (220, 220, 220),
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'row_alt': (35, 45, 60),
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'row_normal': (45, 55, 70)
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},
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'fonts': {
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'title': pygame.font.SysFont("arial", int(28 * scale_factor), bold=True),
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'header': pygame.font.SysFont("monospace", int(20 * scale_factor), bold=True),
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'content': pygame.font.SysFont("monospace", int(18 * scale_factor)),
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'summary': pygame.font.SysFont("arial", int(20 * scale_factor)),
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'instruction': pygame.font.SysFont("arial", int(22 * scale_factor))
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}
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}
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# Draw based on mode
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if profile_type == 1:
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draw_profile_table(overlay_surface, config, profile_data, profile_mode, symbols)
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elif profile_type == 2:
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draw_event_table(overlay_surface, config, profile_data, profile_mode, symbols)
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screen.blit(overlay_surface, (0, 0))
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def pygame_test(port, script, poll_rate, scale, benchmark, symbols):
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# init pygame
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pygame.init()
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pyopenmv.disconnect()
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connected = False
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for i in range(10):
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try:
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# opens CDC port.
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# Set small timeout when connecting
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pyopenmv.init(port, baudrate=921600, timeout=0.050)
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connected = True
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break
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except Exception as e:
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connected = False
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time.sleep(0.100)
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if not connected:
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print("Failed to connect to OpenMV's serial port.\n"
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"Please install OpenMV's udev rules first:\n"
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"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
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"sudo udevadm control --reload-rules\n\n")
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sys.exit(1)
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# Set higher timeout after connecting for lengthy transfers.
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pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
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pyopenmv.stop_script()
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pyopenmv.enable_fb(True)
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pyopenmv.reset_profiler()
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# Configure some event counters.
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pyopenmv.set_event_counter(0, 0x0039)
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pyopenmv.set_event_counter(1, 0x0023)
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pyopenmv.set_event_counter(2, 0x0024)
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pyopenmv.set_event_counter(3, 0x0001)
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pyopenmv.set_event_counter(4, 0x0003)
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pyopenmv.set_event_counter(5, 0xC102)
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pyopenmv.set_event_counter(6, 0x02CC)
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pyopenmv.set_event_counter(7, 0xC303)
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|
|
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pyopenmv.exec_script(script)
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|
|
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# init screen
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running = True
|
|
screen = None
|
|
|
|
# Profiling control
|
|
profile_type = 0
|
|
profile_mode = 0
|
|
profile_data = []
|
|
last_profile_read = 0
|
|
|
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clock = pygame.time.Clock()
|
|
fps_clock = pygame.time.Clock()
|
|
font = pygame.font.SysFont("monospace", 30)
|
|
|
|
if not benchmark:
|
|
pygame.display.set_caption("OpenMV Camera")
|
|
else:
|
|
pygame.display.set_caption("OpenMV Camera (Benchmark)")
|
|
screen = pygame.display.set_mode((640, 120), pygame.DOUBLEBUF, 32)
|
|
|
|
try:
|
|
while running:
|
|
# Read state
|
|
w, h, data, size, text, fmt, profiling = pyopenmv.read_state()
|
|
|
|
if text is not None:
|
|
print(text, end="")
|
|
|
|
# Read profiling data (maximum 10Hz)
|
|
if profiling and profile_type:
|
|
current_time = time.time()
|
|
if current_time - last_profile_read >= 0.1: # 10Hz = 0.1s interval
|
|
tmp_data = pyopenmv.read_profile()
|
|
if tmp_data:
|
|
profile_data = tmp_data
|
|
last_profile_read = current_time
|
|
|
|
#if profile_data:
|
|
# for r in profile_data:
|
|
# print(f"Func: {addr_to_symbol(symbols, r['address'])}@0x{r['address']:x} ")
|
|
# print(f"Call: {addr_to_symbol(symbols, r['caller'])}@0x{r['caller']:x}")
|
|
# sys.exit(0)
|
|
|
|
if data is not None:
|
|
fps = fps_clock.get_fps()
|
|
|
|
# Create image from RGB888
|
|
if not benchmark:
|
|
image = pygame.image.frombuffer(data.flat[0:], (w, h), 'RGB')
|
|
image = pygame.transform.smoothscale(image, (w * scale, h * scale))
|
|
|
|
if screen is None:
|
|
screen = pygame.display.set_mode((w * scale, h * scale), pygame.DOUBLEBUF, 32)
|
|
|
|
# blit stuff
|
|
if benchmark:
|
|
screen.fill((0, 0, 0))
|
|
else:
|
|
screen.blit(image, (0, 0))
|
|
|
|
# FPS text
|
|
fps_text = f"{fps:.2f} FPS {fps * size / 1024**2:.2f} MB/s {w}x{h} {fmt}"
|
|
screen.blit(font.render(fps_text, 5, (255, 0, 0)), (0, 0))
|
|
|
|
# Draw profile overlay if enabled
|
|
if profile_type and profile_data:
|
|
draw_profile_overlay(screen, w, h, profile_data, profile_mode, profile_type, scale, symbols)
|
|
|
|
# update display
|
|
pygame.display.flip()
|
|
fps_clock.tick(1000//poll_rate)
|
|
|
|
for event in pygame.event.get():
|
|
if event.type == pygame.QUIT:
|
|
running = False
|
|
elif event.type == pygame.KEYDOWN:
|
|
if event.key == pygame.K_ESCAPE:
|
|
running = False
|
|
elif event.key == pygame.K_c:
|
|
pygame.image.save(image, "capture.png")
|
|
elif event.key == pygame.K_p:
|
|
profile_type = (profile_type + 1) % 3
|
|
elif event.key == pygame.K_m:
|
|
profile_mode = not profile_mode
|
|
pyopenmv.set_profile_mode(profile_mode)
|
|
elif event.key == pygame.K_r:
|
|
pyopenmv.reset_profiler()
|
|
|
|
clock.tick(1000//poll_rate)
|
|
|
|
except KeyboardInterrupt:
|
|
pass
|
|
|
|
pygame.quit()
|
|
pyopenmv.stop_script()
|
|
|
|
if __name__ == '__main__':
|
|
parser = argparse.ArgumentParser(description='pyopenmv module')
|
|
parser.add_argument('--port', action = 'store', help='Serial port (dev/ttyACM0)', default='/dev/ttyACM0')
|
|
parser.add_argument("--script", action = "store", default=None, help = "Script file")
|
|
parser.add_argument('--poll', action = 'store', help='Poll rate (default 4ms)', default=4, type=int)
|
|
parser.add_argument('--bench', action = 'store_true', help='Run throughput benchmark.', default=False)
|
|
parser.add_argument('--scale', action = 'store', help='Set frame scaling factor (default 4x).', default=4, type=int)
|
|
parser.add_argument('--firmware', action = 'store', help='Firmware for address to symbol', default=None)
|
|
|
|
args = parser.parse_args()
|
|
if args.script is not None:
|
|
with open(args.script) as f:
|
|
args.script = f.read()
|
|
else:
|
|
args.script = bench_script if args.bench else test_script
|
|
|
|
symbols = []
|
|
|
|
if args.firmware:
|
|
from elftools.elf.elffile import ELFFile
|
|
|
|
with open(args.firmware, 'rb') as f:
|
|
elf = ELFFile(f)
|
|
symtab = elf.get_section_by_name('.symtab')
|
|
if not symtab:
|
|
raise ValueError("No symbol table found in ELF.")
|
|
|
|
for sym in symtab.iter_symbols():
|
|
addr = sym['st_value']
|
|
size = sym['st_size']
|
|
name = sym.name
|
|
if name and size > 0: # ignore empty symbols
|
|
symbols.append((addr, addr + size, name))
|
|
|
|
symbols.sort()
|
|
|
|
pygame_test(args.port, args.script, args.poll, args.scale, args.bench, symbols)
|