openmv/usr/openmv-ide.py
2014-02-06 20:41:04 +02:00

118 lines
3.6 KiB
Python
Executable File

#!/usr/bin/env python
import sys, os, os.path
import gtk
import gtksourceview2 as gtksourceview
import gio
import pango
import gobject
import vte
import serial
from time import sleep
import usb.core
import usb.util
import numpy as np
interface = 2;
altsetting= 1;
def image2pixbuf(buff):
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)
arr = np.column_stack((r, g, b))
arr = arr.reshape((120, 160, 3))
return gtk.gdk.pixbuf_new_from_array(arr, gtk.gdk.COLORSPACE_RGB, 8)
ex_source = '''from openmv import sensor
while (True):
image = sensor.snapshot()'''
class OMVGtk:
def __init__(self):
#Set the Glade file
self.builder = gtk.Builder()
self.builder.add_from_file("openmv-ide.glade")
sourceview = self.builder.get_object('gtksourceview')
self.buffer = gtksourceview.Buffer()
mgr = gtksourceview.style_scheme_manager_get_default()
style_scheme = mgr.get_scheme('classic')
if style_scheme:
self.buffer.set_style_scheme(style_scheme)
lang_manager = gtksourceview.language_manager_get_default()
self.buffer.set_highlight_syntax(True)
self.buffer.set_language(lang_manager.get_language("python"))
self.buffer.set_text(ex_source)
sourceview.set_buffer(self.buffer)
self.terminal = self.builder.get_object('terminal')
fd = os.open("/dev/ttyACM0", os.O_RDWR)
self.terminal.set_size(80,24)
self.terminal.set_pty(fd)
self.framebuffer = self.builder.get_object("framebuffer_image")
# find USB device
self.dev = usb.core.find(idVendor=0x0483, idProduct=0x5740)
if self.dev is None:
raise ValueError('Device not found')
# detach kernel driver
if self.dev.is_kernel_driver_active(interface):
self.dev.detach_kernel_driver(interface)
# claim interface
usb.util.claim_interface(self.dev, interface)
# set FB debug alt setting
self.dev.set_interface_altsetting(interface, altsetting)
#connect signals
signals = {
"on_execute_clicked" : self.execute_clicked,
"on_stop_clicked" : self.stop_clicked,
"on_top_window_destroy" : self.quit,
}
self.builder.connect_signals(signals)
self.window = self.builder.get_object("top_window")
def execute_clicked(self, widget):
buf = self.buffer.get_text(self.buffer.get_start_iter(), self.buffer.get_end_iter())
for l in buf.splitlines():
if (l.strip()):
sleep(0.1)
self.terminal.feed_child(l+"\r\n")
self.terminal.feed_child("\r\n")
def stop_clicked(self, widget):
self.terminal.feed_child("\x03")
def update_fb(self):
img_size = 160*120*2
# request snapshot
self.dev.ctrl_transfer(0x41, 8, 0, 2, None, 2000)
# read framebuffer
buf = self.dev.read(0x83, img_size, interface, 5000)
if len(buf) <img_size:
print(len(buf))
return
# convert to RGB888 and blit
pixbuf = image2pixbuf(buf)
self.framebuffer.set_from_pixbuf(pixbuf)
gobject.idle_add(omvgtk.update_fb);
def quit(self, widget):
sys.exit(0)
if __name__ == "__main__":
omvgtk = OMVGtk()
omvgtk.window.show_all()
gobject.idle_add(omvgtk.update_fb);
gtk.main()