def setup_dragonfly(self, mm_ip):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(mm_ip)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.SendModuleReady()
print "DrAQonfly: connected to dragonfly"
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(rc.MT_INPUT_DOF_DATA)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(rc.MID_SIMPLE_ARBITRATOR, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
for sub in subscriptions:
self.mod.Subscribe(eval('rc.MT_%s' % (sub)))
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
def setup_Dragonfly(self):
server = self.config.get('Dragonfly', 'server')
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for i in self.msg_types:
self.mod.Subscribe(eval('rc.MT_%s' % (i)))
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
def setup_Dragonfly(self, mm_ip):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(mm_ip)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(self.in_msg_num)
self.mod.Subscribe(rc.MT_MNOME_STATE)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", mm_ip
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
for i in self.msg_types:
self.mod.Subscribe(eval('rc.MT_%s' % (i)))
self.mod.SendModuleReady()
print "Connected to RTMA at", server
def __init__(self):
super(Display, self).__init__(180, 180, 180, 255)
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM("everest:7111")
self.mod.Subscribe(rc.MT_TASK_STATE_CONFIG)
self.mod.Subscribe(rc.MT_INPUT_DOF_DATA)
self.mod.Subscribe(rc.MT_COMBO_WAIT)
self.mod.Subscribe(rc.MT_TRIAL_CONFIG)
self.mod.Subscribe(rc.MT_END_TASK_STATE)
self.mod.Subscribe(rc.MT_PING)
self.msg = CMessage()
self.timer_sec = 0
self.timer_min = 0
self.position_bar = Polygon(v=[(20, 455), (20, 565), (1260, 565), (1260, 455)], color=(0.05, 0.05, 0.05, 1), stroke=0)
self.tgt_window = Polygon(v=[(0, 0), (0, 0), (0, 0), (0, 0)], color=(0, 0.6, 0.2, 1), stroke=0)
self.pos_fdbk = Polygon(v=[(20, 405), (20, 615), (28, 615), (28, 405)], color=(0, 0.2, 1.0, 1), stroke=0)
self.pos_fdbk_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(0,0,0,255),
width=250,
bold=True,
x=1140, y=40)
self.combo_wait_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(0,0,0,255),
width=250,
bold=True,
x=478, y=840)
self.score_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=36,
color=(0,0,0,255),
width=250,
bold=True,
x=533, y=240)
self.reward_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=22,
color=(0,0,0,255),
width=250,
bold=True,
x=475, y=120)
self.reset_score()
self.schedule_interval(self.update, 0.01)
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_POLARIS_POSITION]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_DAQ_DATA, \
rc.MT_SAMPLE_GENERATED, \
rc.MT_TMS_TRIGGER]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_FT_DATA, \
rc.MT_FT_COMPLETE, \
rc.MT_RTFT_CONFIG]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
def setup_dragonfly(self, server):
self.host_name = platform.uname()[1]
self.host_os = platform.system()
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(rc.MT_APP_START)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(MT_KILL)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(rc.MID_SAMPLE_GENERATOR, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(rc.MT_SPM_SPIKECOUNT)
for trigger in self.triggers:
self.mod.Subscribe(trigger)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
if platform.system() == "Windows":
# On Windows, the best timer is time.clock()
self.default_timer = time.clock
else:
# On most other platforms the best timer is time.time()
self.default_timer = time.time
def run(self, config_file, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in self.subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
self.config_file = config_file
self.load_config()
self.init_judge_display()
self.init_plot()
self.init_legend()
self.timer = QtCore.QTimer(self)
QtCore.QObject.connect(self.timer, QtCore.SIGNAL("timeout()"),
self.timer_event)
self.timer.start(10)
def run(self, config_file, mm_ip):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(mm_ip)
self.msg_types = [
'TASK_STATE_CONFIG', 'ROBOT_CONTROL_SPACE_ACTUAL_STATE'
]
self.msg_types.sort()
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
for i in self.msg_types:
self.mod.Subscribe(eval('rc.MT_%s' % (i)))
print "Connected to Dragonfly at", mm_ip
#print "mod_id = ", self.mod.GetModuleID()
self.timer = QtCore.QTimer()
QtCore.QObject.connect(self.timer, QtCore.SIGNAL("timeout()"),
self.timer_event)
self.timer.start(50)
def run(self, config_file, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.msg_types = ['END_TASK_STATE', 'SESSION_CONFIG', 'EM_DECODER_CONFIGURATION']
self.msg_types.sort()
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
for i in self.msg_types:
self.mod.Subscribe(eval('rc.MT_%s' % (i)))
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
print "mod_id = ", self.mod.GetModuleID()
self.config_file = config_file
self.load_config()
self.init_vars()
self.init_plot()
self.init_legend()
timer = QtCore.QTimer(self)
QtCore.QObject.connect(timer, QtCore.SIGNAL("timeout()"), self.timer_event)
timer.start(10)
def run(self):
mod = Dragonfly_Module(self.mid, 0)
mod.ConnectToMMM(self.server)
for sub in self.subs:
print "subscribing to %s" % (sub)
mod.Subscribe(sub)
mod.SendModuleReady()
while (self.status()):
msg = CMessage()
rcv = mod.ReadMessage(msg, 0)
if rcv == 1:
if msg.GetHeader().msg_type in self.subs:
self.recv_msg(msg)
sleep(.001)
class Display(ColorLayer):
is_event_handler = True
def __init__(self):
super(Display, self).__init__(180, 180, 180, 255)
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM("everest:7111")
self.mod.Subscribe(rc.MT_TASK_STATE_CONFIG)
self.mod.Subscribe(rc.MT_INPUT_DOF_DATA)
self.mod.Subscribe(rc.MT_COMBO_WAIT)
self.mod.Subscribe(rc.MT_TRIAL_CONFIG)
self.mod.Subscribe(rc.MT_END_TASK_STATE)
self.mod.Subscribe(rc.MT_PING)
self.msg = CMessage()
self.timer_sec = 0
self.timer_min = 0
self.blank_display = False
self.position_bar = Polygon(v=[(20, 455), (20, 565), (1260, 565),
(1260, 455)],
color=(0.05, 0.05, 0.05, 1),
stroke=0)
self.tgt_window = Polygon(v=[(0, 0), (0, 0), (0, 0), (0, 0)],
color=(0, 0.6, 0.2, 1),
stroke=0)
self.pos_fdbk = Polygon(v=[(20, 405), (20, 615), (28, 615), (28, 405)],
color=(0, 0.2, 1.0, 1),
stroke=0)
self.pos_fdbk_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=1140,
y=40)
self.combo_wait_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=478,
y=840)
self.score_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=36,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=533,
y=240)
self.reward_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=22,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=475,
y=120)
self.reset_score()
self.schedule_interval(self.update, 0.01)
def timer_count_down(self, dt):
self.timer_sec -= 1
if self.timer_sec < 0:
if self.timer_min > 0:
self.timer_min -= 1
self.timer_sec = 59
else:
self.unschedule(self.timer_count_down)
self.combo_wait_txt.text = ''
return
self.combo_wait_txt.text = 'Relax Time %d:%02d' % (self.timer_min,
self.timer_sec)
if self.timer_min == 0 and self.timer_sec <= 5 and self.timer_sec > 0:
winsound.PlaySound(
os.path.join(os.environ.get('ROBOT_CONFIG'), 'default',
'gocue.wav'),
winsound.SND_FILENAME | winsound.SND_ASYNC)
def reset_score(self):
self.score = 0
self.score_force_level = 0
self.score_target_dist = 999
self.score_force_mult = 0
self.score_target_mult = 0
self.score_txt.text = "Score: %d" % self.score
self.reward_txt.text = ""
def update_reward(self):
reward = self.score_force_mult * self.score_target_mult
pts = "points"
if reward == 1:
pts = "point"
self.reward_txt.text = "Current Reward: %d %s" % (reward, pts)
def increment_score(self):
self.score += self.score_force_mult * self.score_target_mult
self.score_txt.text = "Score: %d" % self.score
def update(self, dt):
while True:
rcv = self.mod.ReadMessage(self.msg, 0)
if rcv == 1:
hdr = self.msg.GetHeader()
msg_type = hdr.msg_type
if msg_type == rc.MT_PING:
self.reset_score()
elif msg_type == rc.MT_INPUT_DOF_DATA:
mdf = rc.MDF_INPUT_DOF_DATA()
copy_from_msg(mdf, self.msg)
if mdf.tag == 'carduinoIO':
fdbk = 5 - mdf.dof_vals[
7] # invert to match phyiscal setup
x_pos = int((fdbk * (MAX_WIDTH - 2 * OFFSET)) / 5.0)
self.pos_fdbk_txt.text = "%.2f V" % fdbk
self.pos_fdbk.v[0] = (x_pos, 405)
self.pos_fdbk.v[1] = (x_pos, 615)
self.pos_fdbk.v[2] = (x_pos + 8, 615)
self.pos_fdbk.v[3] = (x_pos + 8, 405)
# if msg_type == rc.MT_FORCE_SENSOR_DATA:
# mdf = rc.MDF_FORCE_SENSOR_DATA()
# copy_from_msg(mdf, self.msg)
#
# x_fdbk = mdf.data[0]
# x_fdbk_width = int((x_fdbk / MAX_FDBK) * MAX_WIDTH)
elif msg_type == rc.MT_COMBO_WAIT:
mdf = rc.MDF_COMBO_WAIT()
copy_from_msg(mdf, self.msg)
print mdf.duration
duration = mdf.duration / 1000 # convert to seconds
self.timer_sec = duration % 60
self.timer_min = duration / 60
self.schedule_interval(self.timer_count_down, 1)
elif msg_type == rc.MT_TRIAL_CONFIG:
self.unschedule(self.timer_count_down)
self.combo_wait_txt.text = ''
# start displaying again
self.blank_display = False
self.color = (180, 180, 180)
elif msg_type == rc.MT_END_TASK_STATE:
mdf = rc.MDF_END_TASK_STATE()
copy_from_msg(mdf, self.msg)
if (mdf.id == REWARD_TS) and (mdf.outcome == 1):
self.increment_score()
if (mdf.id in [2, 3, 4]) and (mdf.outcome == 0):
self.color = (0, 0, 0)
self.blank_display = True
elif msg_type == rc.MT_TASK_STATE_CONFIG:
mdf = rc.MDF_TASK_STATE_CONFIG()
copy_from_msg(mdf, self.msg)
if mdf.background_color == 'gray':
self.color = (180, 180, 180)
elif mdf.background_color == 'red':
self.color = (150, 12, 12)
elif mdf.background_color == 'green':
self.color = (0, 150, 50)
if mdf.fdbk_display_color == 'gray':
self.tgt_window.color = (0.3, 0.3, 0.3, 1)
elif mdf.fdbk_display_color == 'yellow':
self.tgt_window.color = (0.5, 0.5, 0.0, 1)
elif mdf.fdbk_display_color == 'green':
self.tgt_window.color = (0.0, 0.6, 0.2, 1)
elif mdf.fdbk_display_color == 'red':
self.tgt_window.color = (0.6, 0.05, 0.05, 1)
if not (math.isnan(mdf.target[0])) and not (math.isnan(
mdf.target[1])):
x_tgt_lo = int(
(mdf.target[0] * (MAX_WIDTH - 2 * OFFSET)) / 5.0)
x_tgt_hi = int(
(mdf.target[1] * (MAX_WIDTH - 2 * OFFSET)) / 5.0)
self.tgt_window.v[0] = (x_tgt_lo, 430)
self.tgt_window.v[1] = (x_tgt_lo, 590)
self.tgt_window.v[2] = (x_tgt_hi, 590)
self.tgt_window.v[3] = (x_tgt_hi, 430)
# update multipliers during "ForceRamp" task state
if mdf.id == FORCERAMP_TS:
force_level = mdf.sep_threshold_f[1]
if force_level > self.score_force_level:
self.score_force_level = force_level
self.score_force_mult += 1
# new combo, reset target multipliers
self.score_target_mult = 0
self.score_target_dist = 999
target_level = mdf.target[1] - mdf.target[0]
if target_level < self.score_target_dist:
self.score_target_dist = target_level
self.score_target_mult += 1
self.update_reward()
#print mdf.id
#print force_level, self.score_force_level, self.score_force_mult
#print target_level, self.score_target_dist, self.score_target_mult
#print "\n"
else:
break
#def on_key_release( self, keys, mod ):
def draw(self):
super(Display, self).draw()
if not self.blank_display:
self.position_bar.render()
self.tgt_window.render()
self.pos_fdbk.render()
#self.pos_fdbk_txt.draw()
self.combo_wait_txt.draw()
self.score_txt.draw()
self.reward_txt.draw()
class SimpleArbitrator(object):
debug = True
vel = np.zeros(rc.MAX_CONTROL_DIMS)
#pos = np.zeros(rc.MAX_CONTROL_DIMS)
autoVelControlFraction = \
np.ones_like(rc.MDF_ROBOT_CONTROL_CONFIG().autoVelControlFraction)
extrinsic_vel = np.zeros_like(rc.MDF_COMPOSITE_MOVEMENT_COMMAND().vel)
intrinsic_vel = np.zeros_like(rc.MDF_COMPOSITE_MOVEMENT_COMMAND().vel)
def __init__(self, config_file, server):
self.load_config(config_file)
self.setup_dragonfly(server)
self.run()
def load_config(self, config_file):
self.config = SafeConfigParser()
self.config.read(config_file)
self.timer_tag = self.config.get('main', 'timer_tag')
self.extrinsic_tags = self.config.get('main', 'extrinsic_tags').split()
self.intrinsic_tags = self.config.get('main', 'intrinsic_tags').split()
default_auto = float(self.config.get('main', 'default_auto'))
self.autoVelControlFraction[:] = default_auto
self.gate = 1. # default value
self.idle_gateable = 0. # default value
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(rc.MID_SIMPLE_ARBITRATOR, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
for sub in subscriptions:
self.mod.Subscribe(eval('rc.MT_%s' % (sub)))
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0.1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'SimpleArbitrator')
else:
self.process_message(msg)
def process_message(self, msg):
'''
Needs to:
1) combine non-conflicting controlledDims e.g. from
OPERATOR_MOVEMENT_COMMANDs, into either extrinsic or
intrinsic commands
2) combine intrinsic and extrinsic commands into final command
'''
msg_type = msg.GetHeader().msg_type
if msg_type in [
rc.MT_OPERATOR_MOVEMENT_COMMAND,
rc.MT_PLANNER_MOVEMENT_COMMAND, rc.MT_EM_MOVEMENT_COMMAND,
rc.MT_FIXTURED_MOVEMENT_COMMAND
]:
if msg_type == rc.MT_OPERATOR_MOVEMENT_COMMAND:
mdf = rc.MDF_OPERATOR_MOVEMENT_COMMAND()
elif msg_type == rc.MT_PLANNER_MOVEMENT_COMMAND:
mdf = rc.MDF_PLANNER_MOVEMENT_COMMAND()
elif msg_type == rc.MT_EM_MOVEMENT_COMMAND:
mdf = rc.MDF_EM_MOVEMENT_COMMAND()
elif msg_type == rc.MT_FIXTURED_MOVEMENT_COMMAND:
mdf = rc.MDF_FIXTURED_MOVEMENT_COMMAND()
# MOVEMENT_COMMAND
# ----------------
# controlledDims
# pos
# sample_header
# sample_interval
# tag
# vel
# ----------------
copy_from_msg(mdf, msg)
tag = mdf.tag
#if not tag in self.accepted_tags:
# return
dim = np.asarray(mdf.controlledDims, dtype=bool) #.astype(bool)
if mdf.tag in self.intrinsic_tags:
# intrinsic is AUTO command
self.intrinsic_vel[dim] = np.asarray(mdf.vel, dtype=float)[dim]
#print "intr_vel = " + " ".join(["%5.2f" % (x) for x in self.intrinsic_vel])
elif mdf.tag in self.extrinsic_tags:
#print "!"
# extrinsic is non-AUTO, i.e. EM, command
self.extrinsic_vel[dim] = np.asarray(mdf.vel, dtype=float)[dim]
#self.extrinsic_vel[:8] *= self.gate
if tag == self.timer_tag:
self.send_output(mdf.sample_header)
elif msg_type == rc.MT_ROBOT_CONTROL_CONFIG:
mdf = rc.MDF_ROBOT_CONTROL_CONFIG()
copy_from_msg(mdf, msg)
self.autoVelControlFraction[:] = mdf.autoVelControlFraction
elif msg_type == rc.MT_IDLE:
mdf = rc.MDF_IDLE()
copy_from_msg(mdf, msg)
self.gate = float(np.asarray(mdf.gain, dtype=float).item())
elif msg_type == rc.MT_IDLE_DETECTION_ENDED:
self.gate = 1.0
elif msg_type == rc.MT_TASK_STATE_CONFIG:
mdf = rc.MDF_TASK_STATE_CONFIG()
copy_from_msg(mdf, msg)
self.idle_gateable = mdf.idle_gateable
def get_combined_command(self):
C = 1 - self.autoVelControlFraction # extrinsic fraction
d = self.intrinsic_vel
u = self.extrinsic_vel
combined = C * u + (1 - C) * d
print "--------------------------------------"
print "C" + " ".join(["%0.2f" % (x) for x in C])
print "d" + " ".join(["%0.2f" % (x) for x in d])
print "u" + " ".join(["%0.2f" % (x) for x in u])
print "+" + " ".join(["%0.2f" % (x) for x in combined])
print "gain: ", self.gate
print "gateable: ", self.idle_gateable
return combined
def send_output(self, sample_header):
mdf = rc.MDF_COMPOSITE_MOVEMENT_COMMAND()
mdf.tag = 'composite'
vel = np.zeros_like(mdf.vel)
vel[:] = self.get_combined_command()
if self.idle_gateable == 1:
vel[:8] *= self.gate
mdf.vel[:] = vel
mdf.sample_header = sample_header
msg = CMessage(rc.MT_COMPOSITE_MOVEMENT_COMMAND)
copy_to_msg(mdf, msg)
self.mod.SendMessage(msg)
class TrialStatus(object):
def __init__(self, config_file, server):
self.load_config(config_file)
self.msg_nums = [eval('rc.MT_%s' % (x)) for x in self.msg_types]
self.trial_sync = 0
self.num_trials = 0
self.num_trials_postcalib = 0
self.num_trial_started_postcalib = 0
self.num_trial_successful_postcalib = 0
self.num_trial_givenup_postcalib = 0
self.success_window = []
self.started_window = []
self.givenup_window = []
self.shadow_num_trial_started_postcalib = 0
self.shadow_num_trial_successful_postcalib = 0
self.shadow_num_trial_givenup_postcalib = 0
self.shadow_success_window = []
self.shadow_started_window = []
self.shadow_givenup_window = []
self.last_time = time()
self.setup_dragonfly(server)
#self.rewards_given = 0
#self.prev_rewards_given = 0
self.run()
def load_config(self, config_file):
self.config = SafeConfigParser()
self.config.read(config_file)
self.msg_types = [
'END_TASK_STATE', 'SESSION_CONFIG', 'EM_DECODER_CONFIGURATION'
] #'GIVE_REWARD'
self.msg_types.sort()
self.window_len = self.config.getint('general', 'window_len')
self.task_state_codes = {}
for k, v in self.config.items('task state codes'):
self.task_state_codes[k] = int(v)
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
for i in self.msg_types:
self.mod.Subscribe(eval('rc.MT_%s' % (i)))
self.mod.SendModuleReady()
print "Connected to RTMA at", server
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0.1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'TrialStatus')
else:
self.process_message(msg)
this_time = time()
self.diff_time = this_time - self.last_time
if self.diff_time > 1.:
self.last_time = this_time
self.write()
def reset_counters(self):
self.trial_sync = 0
self.num_trials_postcalib = 0
self.num_trial_started_postcalib = 0
self.num_trial_givenup_postcalib = 0
self.num_trial_successful_postcalib = 0
self.shadow_num_trial_started_postcalib = 0
self.shadow_num_trial_givenup_postcalib = 0
self.shadow_num_trial_successful_postcalib = 0
self.started_window = []
self.givenup_window = []
self.success_window = []
self.shadow_started_window = []
self.shadow_givenup_window = []
self.shadow_success_window = []
def process_message(self, in_msg):
msg_type = in_msg.GetHeader().msg_type
if not msg_type in self.msg_nums:
return
# SESSION_CONFIG => start of session
if msg_type == rc.MT_SESSION_CONFIG:
self.num_trials = 0
self.reset_counters()
# EM_DECODER_CONFIGURATION => end of an adaptation round
elif msg_type == rc.MT_EM_DECODER_CONFIGURATION:
self.reset_counters()
# END_TASK_STATE => end of a task
elif msg_type == rc.MT_END_TASK_STATE:
mdf = rc.MDF_END_TASK_STATE()
copy_from_msg(mdf, in_msg)
# need to know:
# begin task state code
# final task state code
# intertrial state code
if (mdf.id == 1):
self.trial_sync = 1
self.shadow_started_window.append(0)
if (mdf.id == self.task_state_codes['begin']) & (mdf.outcome == 1):
if self.trial_sync:
#print "*** trial started ***"
#self.rewards_given += 1
self.shadow_num_trial_started_postcalib += 1
self.shadow_success_window.append(0)
self.shadow_givenup_window.append(0)
self.shadow_started_window[-1] = 1
if mdf.reason == "JV_IDLE_TIMEOUT":
if self.trial_sync:
self.shadow_num_trial_givenup_postcalib += 1
self.shadow_givenup_window[-1] = 1
if (mdf.id == self.task_state_codes['final']) & (mdf.outcome == 1):
if self.trial_sync:
#print "*** trial complete and successful"
self.shadow_num_trial_successful_postcalib += 1
self.shadow_success_window[-1] = 1
if (mdf.id == self.task_state_codes['intertrial']):
if self.trial_sync:
# do end-of-trial stuff here
self.num_trials += 1
self.num_trials_postcalib += 1
self.num_trial_started_postcalib = self.shadow_num_trial_started_postcalib
self.num_trial_successful_postcalib = self.shadow_num_trial_successful_postcalib
self.num_trial_givenup_postcalib = self.shadow_num_trial_givenup_postcalib
if len(self.shadow_success_window) > self.window_len:
self.shadow_success_window.pop(0)
if len(self.shadow_givenup_window) > self.window_len:
self.shadow_givenup_window.pop(0)
if len(self.shadow_started_window) > self.window_len:
self.shadow_started_window.pop(0)
self.success_window = copy.deepcopy(
self.shadow_success_window)
self.started_window = copy.deepcopy(
self.shadow_started_window)
self.givenup_window = copy.deepcopy(
self.shadow_givenup_window)
def write(self):
percent_start = percent_success = percent_givenup = 0
percent_success_window = num_success_window = 0
percent_started_window = num_started_window = 0
percent_givenup_window = num_givenup_window = 0
if self.num_trials_postcalib > 0:
percent_start = 100 * self.num_trial_started_postcalib / self.num_trials_postcalib
percent_givenup = 100 * self.num_trial_givenup_postcalib / self.num_trials_postcalib
percent_success = 100 * self.num_trial_successful_postcalib / self.num_trials_postcalib
if len(self.success_window) > 0:
num_success_window = np.sum(self.success_window)
percent_success_window = 100 * num_success_window / len(
self.success_window)
if len(self.started_window) > 0:
num_started_window = np.sum(self.started_window)
percent_started_window = 100 * num_started_window / len(
self.started_window)
if len(self.givenup_window) > 0:
num_givenup_window = np.sum(self.givenup_window)
percent_givenup_window = 100 * num_givenup_window / len(
self.givenup_window)
print "All trials : %d\n" % (self.num_trials_postcalib)
print "Started trials : %d (%0.0f%%)" % (
self.num_trial_started_postcalib, percent_start)
print "Given-up trials : %d (%0.0f%%)" % (
self.num_trial_givenup_postcalib, percent_givenup)
print "Success trials : %d (%0.0f%%)\n" % (
self.num_trial_successful_postcalib, percent_success)
print "Started trials out of last %d\t\t: %d (%0.0f%%)" % (len(
self.started_window), num_started_window, percent_started_window)
print "Given-up trials out of last started %d\t: %d (%0.0f%%)" % (len(
self.givenup_window), num_givenup_window, percent_givenup_window)
print "Success trials out of last started %d\t: %d (%0.0f%%)" % (len(
self.success_window), num_success_window, percent_success_window)
print ""
class RandomGen(object):
def __init__(self, config_file, mm_ip):
daq_config = self.load_config(config_file)
self.setup_daq(daq_config)
self.setup_dragonfly(mm_ip)
self.serial_no = 2
self.variable = 0 # 0 and 1 cause problems for LogReader
self.run()
def load_config(self, config_file):
cfg = SafeConfigParser()
cfg.read(config_file)
daq_config = Config()
daq_config.minV = cfg.getfloat('main', 'minV')
daq_config.maxV = cfg.getfloat('main', 'maxV')
daq_config.nsamp = cfg.getint('main', 'nsamp_per_chan_per_second')
daq_config.nchan = cfg.getint('main', 'nchan')
daq_config.nirq = self.freq = cfg.getint('main', 'nirq_per_second')
return daq_config
def setup_daq(self, daq_config):
self.daq_task = DAQInterface(self, daq_config)
self.daq_task.register_callback(self.on_daq_callback)
print "DrAQonfly: DAQ configured"
def setup_dragonfly(self, mm_ip):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(mm_ip)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.SendModuleReady()
print "DrAQonfly: connected to dragonfly"
def on_daq_callback(self, data):
mdf = rc.MDF_PLOT_POSITION()
self.serial_no += 1
mdf.tool_id = 0
mdf.missing = 0
self.variable += 1
mdf.xyz[:] = np.array([self.variable] * 3)
mdf.ori[:] = np.array(
[self.variable] * 4
) # will work but need!!! reading modules to know the format of buffer
#mdf.buffer[data.size:] = -1
msg = CMessage(rc.MT_PLOT_POSITION)
copy_to_msg(mdf, msg)
self.mod.SendMessage(msg)
print self.variable
sys.stdout.write('|')
sys.stdout.flush()
# now check for exit message
in_msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0)
if rcv == 1:
hdr = msg.GetHeader()
msg_type = hdr.msg_type
dest_mod_id = hdr.dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print "Received MT_EXIT, disconnecting..."
self.daq_task.StopTask()
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
self.stop()
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'RandomGen')
def run(self):
self.daq_task.StartTask()
print "!"
while True:
pass
def stop(self):
self.daq_task.StopTask()
self.daq_task.ClearTask()
class MplCanvas(FigureCanvas):
def __init__(self, parent=None, width=8, height=10, dpi=80):
self.parent = parent
self.redraw_yticks = True
self.figure = Figure(figsize=(width, height), dpi=dpi, facecolor='#bbbbbb')
FigureCanvas.__init__(self, self.figure)
self.setParent(parent)
FigureCanvas.setSizePolicy(self,
QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
FigureCanvas.updateGeometry(self)
def run(self, config_file, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.msg_types = ['END_TASK_STATE', 'SESSION_CONFIG', 'EM_DECODER_CONFIGURATION']
self.msg_types.sort()
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
for i in self.msg_types:
self.mod.Subscribe(eval('rc.MT_%s' % (i)))
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
print "mod_id = ", self.mod.GetModuleID()
self.config_file = config_file
self.load_config()
self.init_vars()
self.init_plot()
self.init_legend()
timer = QtCore.QTimer(self)
QtCore.QObject.connect(timer, QtCore.SIGNAL("timeout()"), self.timer_event)
timer.start(10)
def init_vars(self):
self.num_trials = 0
self.reset_counters()
self.msg_cnt = 0
self.console_disp_cnt = 0
def reset_counters(self):
self.trial_sync = 0
self.num_trials_postcalib = 0
self.num_trial_started_postcalib = 0
self.num_trial_givenup_postcalib = 0
self.num_trial_successful_postcalib = 0
self.shadow_num_trial_started_postcalib = 0
self.shadow_num_trial_givenup_postcalib = 0
self.shadow_num_trial_successful_postcalib = 0
self.started_window = []
self.givenup_window = []
self.success_window = []
self.shadow_started_window = []
self.shadow_givenup_window = []
self.shadow_success_window = []
self.percent_start = 0
self.percent_success = 0
self.percent_givenup = 0
self.hist_narrow_SUR = []
self.hist_narrow_GUR = []
self.hist_narrow_STR = []
self.hist_wide_SUR = []
self.hist_wide_GUR = []
self.hist_wide_STR = []
def update_gui_label_data(self):
self.parent.GALL.setText("%d" % self.num_trials_postcalib)
self.parent.GSTR.setText("%d" % self.num_trial_started_postcalib)
self.parent.GGUR.setText("%d" % self.num_trial_givenup_postcalib)
self.parent.GSUR.setText("%d" % self.num_trial_successful_postcalib)
#def reload_config(self):
# self.load_config()
# for ax in self.figure.axes:
# self.figure.delaxes(ax)
# self.figure.clear()
# self.draw()
# self.init_plot(True)
# self.init_legend()
# self.redraw_yticks = True
#def load_config(self):
# self.config = ConfigObj(self.config_file, unrepr=True)
def load_config(self):
self.config = SafeConfigParser()
self.config.read(self.config_file)
self.window_narrow = self.config.getint('general', 'window_narrow')
self.window_wide = self.config.getint('general', 'window_wide')
self.task_state_codes = {}
for k, v in self.config.items('task state codes'):
self.task_state_codes[k] = int(v)
def init_plot(self, clear=False):
self.nDims = 3
self.figure.subplots_adjust(bottom=.05, right=.98, left=.08, top=.98, hspace=0.07)
self.ax = []
self.old_size = []
self.ax_bkg = []
self.lines = []
ax = self.figure.add_subplot(1,1,1)
box = ax.get_position()
ax.set_position([box.x0, box.y0, box.width * 0.85, box.height])
self.reset_axis(ax)
self.draw()
bbox_width = ax.bbox.width
bbox_height = ax.bbox.height
if clear == True: # force to redraw
bbox_width = 0
bbox_height = 0
self.old_size.append( (bbox_width, bbox_height) )
self.ax_bkg.append(self.copy_from_bbox(ax.bbox))
self.colors = ['k', 'r', 'g']
self.styles = ['-', '-', '--']
for d in range(self.nDims):
for m in range(3):
line, = ax.plot([], [], self.colors[d]+self.styles[m], lw=1.5, aa=True, animated=True)
line.set_ydata([0, 0])
line.set_xdata([0, 1])
self.lines.append(line)
self.draw()
self.ax.append(ax)
def reset_axis(self, ax): #, label):
ax.grid(True)
ax.set_ylim(-1, 101)
ax.set_autoscale_on(False)
ax.get_xaxis().set_ticks([])
for tick in ax.get_yticklabels():
tick.set_fontsize(9)
def init_legend(self):
legnd = []
for d in range(self.nDims):
for m in range(3):
line = matplotlib.lines.Line2D([0,0], [0,0], color=self.colors[d], ls=self.styles[m], lw=1.5)
legnd.append(line)
legend_text = []
legend_text.append('STR')
legend_text.append('STR%d' % self.window_narrow)
legend_text.append('STR%d' % self.window_wide)
legend_text.append('GUR')
legend_text.append('GUR%d' % self.window_narrow)
legend_text.append('GUR%d' % self.window_wide)
legend_text.append('SUR')
legend_text.append('SUR%d' % self.window_narrow)
legend_text.append('SUR%d' % self.window_wide)
self.figure.legend(legnd, legend_text, loc = 'right', bbox_to_anchor=(1, 0.5),
frameon=False, labelspacing=1.5, prop={'size':'11'})
self.draw()
def timer_event(self):
done = False
while not done:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
# SESSION_CONFIG => start of session
if msg_type == rc.MT_SESSION_CONFIG:
#self.msg_cnt += 1
self.num_trials = 0
self.reset_counters()
self.update_gui_label_data()
# EM_DECODER_CONFIGURATION => end of an adaptation round
elif msg_type == rc.MT_EM_DECODER_CONFIGURATION:
#self.msg_cnt += 1
self.reset_counters()
self.update_gui_label_data()
# END_TASK_STATE => end of a task
elif msg_type == rc.MT_END_TASK_STATE:
#self.msg_cnt += 1
mdf = rc.MDF_END_TASK_STATE()
copy_from_msg(mdf, msg)
# need to know:
# begin task state code
# final task state code
# intertrial state code
if (mdf.id == 1):
self.trial_sync = 1
self.shadow_started_window.append(0)
if (mdf.id == self.task_state_codes['begin']) & (mdf.outcome == 1):
if self.trial_sync:
#print "*** trial started ***"
#self.rewards_given += 1
self.shadow_num_trial_started_postcalib += 1
self.shadow_success_window.append(0)
self.shadow_givenup_window.append(0)
self.shadow_started_window[-1] = 1
if mdf.reason == "JV_IDLE_TIMEOUT":
if self.trial_sync:
self.shadow_num_trial_givenup_postcalib += 1
self.shadow_givenup_window[-1] = 1
if (mdf.id == self.task_state_codes['final']) & (mdf.outcome == 1):
if self.trial_sync:
#print "*** trial complete and successful"
self.shadow_num_trial_successful_postcalib += 1
self.shadow_success_window[-1] = 1
if (mdf.id == self.task_state_codes['intertrial']):
if self.trial_sync:
# do end-of-trial stuff here
self.num_trials += 1
self.num_trials_postcalib += 1
self.num_trial_started_postcalib = self.shadow_num_trial_started_postcalib
self.num_trial_successful_postcalib = self.shadow_num_trial_successful_postcalib
self.num_trial_givenup_postcalib = self.shadow_num_trial_givenup_postcalib
if len(self.shadow_success_window) > self.window_wide: #self.window_narrow:
self.shadow_success_window.pop(0)
if len(self.shadow_givenup_window) > self.window_wide: #self.window_narrow:
self.shadow_givenup_window.pop(0)
if len(self.shadow_started_window) > self.window_wide: #self.window_narrow:
self.shadow_started_window.pop(0)
self.success_window = copy.deepcopy(self.shadow_success_window)
self.started_window = copy.deepcopy(self.shadow_started_window)
self.givenup_window = copy.deepcopy(self.shadow_givenup_window)
if self.num_trials_postcalib > 0:
self.percent_start = 100 * self.num_trial_started_postcalib / self.num_trials_postcalib
self.percent_givenup = 100 * self.num_trial_givenup_postcalib / self.num_trials_postcalib
self.percent_success = 100 * self.num_trial_successful_postcalib / self.num_trials_postcalib
percent_success_wide_window = np.NAN
if len(self.success_window) >= self.window_wide:
num_success_window = np.sum(self.success_window)
percent_success_wide_window = 100 * num_success_window / len(self.success_window)
percent_givenup_wide_window = np.NAN
if len(self.givenup_window) >= self.window_wide:
num_givenup_window = np.sum(self.givenup_window)
percent_givenup_wide_window = 100 * num_givenup_window / len(self.givenup_window)
percent_started_wide_window = np.NAN
if len(self.started_window) >= self.window_wide:
num_started_window = np.sum(self.started_window)
percent_started_wide_window = 100 * num_started_window / len(self.started_window)
percent_success_narrow_window = np.NAN
if len(self.success_window) >= self.window_narrow:
success_window_narrow = self.success_window[len(self.success_window)-self.window_narrow:]
num_success_window = np.sum(success_window_narrow)
percent_success_narrow_window = 100 * num_success_window / len(success_window_narrow)
percent_givenup_narrow_window = np.NAN
if len(self.givenup_window) >= self.window_narrow:
givenup_window_narrow = self.givenup_window[len(self.givenup_window)-self.window_narrow:]
num_givenup_window = np.sum(givenup_window_narrow)
percent_givenup_narrow_window = 100 * num_givenup_window / len(givenup_window_narrow)
if len(self.started_window) >= self.window_narrow:
started_window_narrow = self.started_window[len(self.started_window)-self.window_narrow:]
num_started_window = np.sum(started_window_narrow)
percent_started_narrow_window = 100 * num_started_window / len(started_window_narrow)
self.hist_narrow_STR.append(percent_started_narrow_window)
self.hist_narrow_SUR.append(percent_success_narrow_window)
self.hist_narrow_GUR.append(percent_givenup_narrow_window)
self.hist_wide_STR.append(percent_started_wide_window)
self.hist_wide_SUR.append(percent_success_wide_window)
self.hist_wide_GUR.append(percent_givenup_wide_window)
self.update_gui_label_data()
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'TrialStatusDisplay')
elif msg_type == MT_EXIT:
self.exit()
done = True
else:
done = True
self.console_disp_cnt += 1
if self.console_disp_cnt == 50:
self.update_plot()
self.console_disp_cnt = 0
def update_plot(self):
#print "All trials : %d" % (self.num_trials_postcalib)
#print ""
#print "GSTR: ", self.percent_start
#print "GGUR: ", self.percent_givenup
#print "GSUR: ", self.percent_success
#print ""
#print "STR win: ", self.started_window
#print "GUP win: ", self.givenup_window
#print "SUC win: ", self.success_window
#print ""
#print "nSTR: ", self.hist_narrow_STR
#print "nGUR: ", self.hist_narrow_GUR
#print "nSUR :", self.hist_narrow_SUR
#print ""
#print "wSTR: ", self.hist_wide_STR
#print "wGUR: ", self.hist_wide_GUR
#print "wSUR :", self.hist_wide_SUR
#print ""
#print "Msg cnt : %d" % (self.msg_cnt)
#print "\n ----------------------- \n"
i = 0
ax = self.ax[i]
current_size = ax.bbox.width, ax.bbox.height
if self.old_size[i] != current_size:
self.old_size[i] = current_size
self.draw()
self.ax_bkg[i] = self.copy_from_bbox(ax.bbox)
self.restore_region(self.ax_bkg[i])
#if len(self.hist_narrow_STR) > 1:
if not self.hist_narrow_STR:
self.lines[0].set_ydata([self.percent_start, self.percent_start])
self.lines[0].set_xdata([0, 1])
ax.draw_artist(self.lines[0])
self.lines[3].set_ydata([self.percent_givenup, self.percent_givenup])
self.lines[3].set_xdata([0, 1])
ax.draw_artist(self.lines[3])
self.lines[6].set_ydata([self.percent_success, self.percent_success])
self.lines[6].set_xdata([0, 1])
ax.draw_artist(self.lines[6])
else:
ax.set_xlim(0, len(self.hist_narrow_STR)-1)
for k in range(0,9):
self.lines[k].set_xdata(range(len(self.hist_narrow_STR)))
self.lines[0].set_ydata([self.percent_start, self.percent_start])
self.lines[0].set_xdata([0, len(self.hist_narrow_STR)])
self.lines[1].set_ydata(self.hist_narrow_STR)
self.lines[2].set_ydata(self.hist_wide_STR)
###
self.lines[3].set_ydata([self.percent_givenup, self.percent_givenup])
self.lines[3].set_xdata([0, len(self.hist_narrow_STR)])
self.lines[4].set_ydata(self.hist_narrow_GUR)
self.lines[5].set_ydata(self.hist_wide_GUR)
###
self.lines[6].set_ydata([self.percent_success, self.percent_success])
self.lines[6].set_xdata([0, len(self.hist_narrow_STR)])
self.lines[7].set_ydata(self.hist_narrow_SUR)
self.lines[8].set_ydata(self.hist_wide_SUR)
for k in range(0,9):
ax.draw_artist(self.lines[k])
self.blit(ax.bbox)
# need to redraw once to update y-ticks
if self.redraw_yticks == True:
self.draw()
self.redraw_yticks = False
def exit(self):
print "exiting"
self.parent.exit_app()
def stop(self):
print 'disconnecting'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
class Display(ColorLayer):
is_event_handler = True
def __init__(self):
super(Display, self).__init__(180, 180, 180, 255)
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM()
self.mod.Subscribe(rc.MT_TASK_STATE_CONFIG)
self.mod.Subscribe(rc.MT_INPUT_DOF_DATA)
self.mod.Subscribe(rc.MT_COMBO_WAIT)
self.mod.Subscribe(rc.MT_TRIAL_CONFIG)
self.mod.Subscribe(rc.MT_END_TASK_STATE)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(rc.MT_RT_POSITION_FEEDBACK)
self.msg = CMessage()
self.timer_sec = 0
self.timer_min = 0
self.transformationType = 0
dims = director.get_window_size()
self.width = dims[0]
self.height = dims[1]
self.oldWidth = 1280
self.oldHeight = 1024
self.blank_display = False
self.position_bar = Polygon(v=[(20, 455), (20, 565), (1260, 565),
(1260, 455)],
color=(0.05, 0.05, 0.05, 1),
stroke=0)
self.resizePolygon(self.position_bar)
self.tgt_window = Polygon(v=[(0, 0), (0, 0), (0, 0), (0, 0)],
color=(0, 0.6, 0.2, 1),
stroke=0)
self.resizePolygon(self.tgt_window)
self.pos_fdbk = Polygon(v=[(20, 405), (20, 615), (28, 615), (28, 405)],
color=(0, 0.2, 1.0, 1),
stroke=0)
self.resizePolygon(self.pos_fdbk)
self.pos_fdbk_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=1140,
y=40)
self.combo_wait_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(255, 255, 255, 255),
width=250,
bold=True,
x=478,
y=840)
self.score_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=36,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=500,
y=240)
self.reward_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=22,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=475,
y=120)
self.reset_score()
self.schedule_interval(self.update, 0.01)
# def timer_count_down(self, dt):
# self.timer_sec -= 1
#
# if self.timer_sec < 0:
# if self.timer_min > 0:
# self.timer_min -= 1
# self.timer_sec = 59
# else:
# self.unschedule(self.timer_count_down)
# self.combo_wait_txt.text = ''
# self.screen_on()
# return
#
# self.combo_wait_txt.text = 'Relax Time %d:%02d' % (self.timer_min, self.timer_sec)
#
# if self.timer_min == 0 and self.timer_sec <= 5 and self.timer_sec > 0:
# winsound.PlaySound(os.path.join(os.environ.get('ROBOT_CONFIG'), 'default', 'gocue.wav'), winsound.SND_FILENAME | winsound.SND_ASYNC)
def resizePolygon(self, polygon):
for i in xrange(4):
polygon.v[i] = (polygon.v[i][0] * self.width / self.oldWidth,
polygon.v[i][1] * self.height / self.oldHeight)
def reset_score(self):
self.score = 0
self.score_force_level = 0
self.score_target_dist = 999
self.score_force_mult = 0
self.score_target_mult = 0
self.score_txt.text = "Score: %d" % self.score
self.reward_txt.text = ""
def update_reward(self):
reward = self.score_force_mult * self.score_target_mult
pts = "points"
if reward == 1:
pts = "point"
self.reward_txt.text = "Current Reward: %d %s" % (reward, pts)
def increment_score(self):
self.score += 1 #self.score_force_mult * self.score_target_mult
self.score_txt.text = "Score: %d" % self.score
def screen_off(self):
self.color = (0, 0, 0)
self.blank_display = True
def screen_on(self):
self.blank_display = False
self.color = (180, 180, 180)
def update(self, dt):
while True:
rcv = self.mod.ReadMessage(self.msg, 0)
if rcv == 1:
hdr = self.msg.GetHeader()
msg_type = hdr.msg_type
if msg_type == rc.MT_PING:
self.reset_score()
elif msg_type == rc.MT_INPUT_DOF_DATA:
mdf = rc.MDF_INPUT_DOF_DATA()
copy_from_msg(mdf, self.msg)
if mdf.tag == 'carduinoIO':
fdbk = 5 - mdf.dof_vals[
7] # invert to match phyiscal setup
x_pos = int((fdbk * (MAX_WIDTH - 2 * OFFSET)) / 5.0)
x_pos += 20
self.pos_fdbk_txt.text = "%.2f V" % fdbk
self.pos_fdbk.v[0] = (x_pos, 405)
self.pos_fdbk.v[1] = (x_pos, 615)
self.pos_fdbk.v[2] = (x_pos + 8, 615)
self.pos_fdbk.v[3] = (x_pos + 8, 405)
# if msg_type == rc.MT_FORCE_SENSOR_DATA:
# mdf = rc.MDF_FORCE_SENSOR_DATA()
# copy_from_msg(mdf, self.msg)
#
# x_fdbk = mdf.data[0]
# x_fdbk_width = int((x_fdbk / MAX_FDBK) * MAX_WIDTH)
elif msg_type == rc.MT_RT_POSITION_FEEDBACK: # updates real time position of handle on screen receives messages from cube_sphere while loop
mdf = rc.MDF_RT_POSITION_FEEDBACK()
copy_from_msg(mdf, self.msg)
x_pos = mdf.distanceFromCenter
x_pos += 20
self.pos_fdbk.v[0] = (x_pos, 405)
self.pos_fdbk.v[1] = (x_pos, 615)
self.pos_fdbk.v[2] = (x_pos + 8, 615)
self.pos_fdbk.v[3] = (x_pos + 8, 405)
self.resizePolygon(self.pos_fdbk)
self.transformPolygon(self.pos_fdbk,
self.transformationType)
elif msg_type == rc.MT_COMBO_WAIT:
mdf = rc.MDF_COMBO_WAIT()
copy_from_msg(mdf, self.msg)
print mdf.duration
duration = mdf.duration / 1000 # convert to seconds
self.timer_sec = duration % 60
self.timer_min = duration / 60
self.screen_off()
self.schedule_interval(self.timer_count_down, 1)
elif msg_type == rc.MT_TRIAL_CONFIG:
self.unschedule(self.timer_count_down)
self.combo_wait_txt.text = ''
self.screen_on()
elif msg_type == rc.MT_END_TASK_STATE:
mdf = rc.MDF_END_TASK_STATE()
#copy_from_msg(mdf, self.msg)
read_msg_data(mdf, self.msg)
print mdf.id, mdf.outcome
if (mdf.id == REWARD_TS) and (mdf.outcome == 1):
self.increment_score()
if (mdf.id in [2, 3, 4]) and (mdf.outcome == 0):
print "screen off"
self.screen_off()
elif msg_type == rc.MT_TASK_STATE_CONFIG:
mdf = rc.MDF_TASK_STATE_CONFIG()
copy_from_msg(mdf, self.msg)
if mdf.background_color == 'gray':
self.color = (180, 180, 180)
elif mdf.background_color == 'red':
self.color = (150, 12, 12)
elif mdf.background_color == 'green':
self.color = (0, 150, 50)
if mdf.fdbk_display_color == 'gray':
self.tgt_window.color = (0.3, 0.3, 0.3, 1)
elif mdf.fdbk_display_color == 'yellow':
self.increment_score()
self.tgt_window.color = (0.5, 0.5, 0.0, 1)
elif mdf.fdbk_display_color == 'green':
self.tgt_window.color = (0.0, 0.6, 0.2, 1)
elif mdf.fdbk_display_color == 'red':
self.tgt_window.color = (0.6, 0.05, 0.05, 1)
if not math.isnan(
mdf.direction) and mdf.direction in range(
-1, 3
) and not mdf.direction == self.transformationType:
self.position_bar.v = [(20, 455), (20, 565),
(1260, 565), (1260, 455)]
self.resizePolygon(self.position_bar)
self.transformPolygon(self.position_bar, mdf.direction)
self.transformPolygon(self.pos_fdbk, mdf.direction)
self.transformationType = mdf.direction
if not (math.isnan(mdf.target[0])) and not (math.isnan(
mdf.target[1])):
x_tgt_lo = mdf.target[0] + 20
x_tgt_hi = mdf.target[1] + 20
self.tgt_window.v[0] = (x_tgt_lo, 430)
self.tgt_window.v[1] = (x_tgt_lo, 590)
self.tgt_window.v[2] = (x_tgt_hi, 590)
self.tgt_window.v[3] = (x_tgt_hi, 430)
self.resizePolygon(self.tgt_window)
self.transformPolygon(self.tgt_window,
self.transformationType)
else:
break
def transformPolygon(self, polygon, transformationType):
for i in xrange(4):
polygon.v[i] = self.transformPoint(polygon.v[i],
transformationType)
def transformPoint(self, input_point, transformationType):
# tt values are determined by adding XorYorZ and UpOrDown
if transformationType == 0: # goes from left to right XorYorZ=1 UpOrDown=-1
return input_point
elif transformationType == 2: # goes from right to left XorYorZ=1 UpOrDown=1
return (self.width - input_point[0], input_point[1])
elif transformationType == -1: # backward XorYorZ=0 UpOrDown=-1
return (input_point[1], self.width - input_point[0])
elif transformationType == 1: # forwards XorYorZ=0 UpOrDown=1
return (input_point[1], input_point[0])
else:
print "unknown transform type"
#def on_key_release( self, keys, mod ):
def draw(self):
super(Display, self).draw()
if not self.blank_display:
self.position_bar.render()
self.tgt_window.render()
self.pos_fdbk.render()
#self.pos_fdbk_txt.draw()
self.score_txt.draw()
self.reward_txt.draw()
self.combo_wait_txt.draw()
def __init__(self):
super(Display, self).__init__(180, 180, 180, 255)
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM()
self.mod.Subscribe(rc.MT_TASK_STATE_CONFIG)
self.mod.Subscribe(rc.MT_INPUT_DOF_DATA)
self.mod.Subscribe(rc.MT_COMBO_WAIT)
self.mod.Subscribe(rc.MT_TRIAL_CONFIG)
self.mod.Subscribe(rc.MT_END_TASK_STATE)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(rc.MT_RT_POSITION_FEEDBACK)
self.msg = CMessage()
self.timer_sec = 0
self.timer_min = 0
self.transformationType = 0
dims = director.get_window_size()
self.width = dims[0]
self.height = dims[1]
self.oldWidth = 1280
self.oldHeight = 1024
self.blank_display = False
self.position_bar = Polygon(v=[(20, 455), (20, 565), (1260, 565),
(1260, 455)],
color=(0.05, 0.05, 0.05, 1),
stroke=0)
self.resizePolygon(self.position_bar)
self.tgt_window = Polygon(v=[(0, 0), (0, 0), (0, 0), (0, 0)],
color=(0, 0.6, 0.2, 1),
stroke=0)
self.resizePolygon(self.tgt_window)
self.pos_fdbk = Polygon(v=[(20, 405), (20, 615), (28, 615), (28, 405)],
color=(0, 0.2, 1.0, 1),
stroke=0)
self.resizePolygon(self.pos_fdbk)
self.pos_fdbk_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=1140,
y=40)
self.combo_wait_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=32,
color=(255, 255, 255, 255),
width=250,
bold=True,
x=478,
y=840)
self.score_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=36,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=500,
y=240)
self.reward_txt = pyglet.text.Label('',
font_name='times new roman',
font_size=22,
color=(0, 0, 0, 255),
width=250,
bold=True,
x=475,
y=120)
self.reset_score()
self.schedule_interval(self.update, 0.01)
class PlotHead(HasTraits):
scene = Instance(MlabSceneModel, ())
# The layout of the panel created by Traits
view = View(Item('scene',
editor=SceneEditor(),
resizable=True,
show_label=False),
resizable=True)
def __init__(self, config_file, server, parent):
HasTraits.__init__(self)
self.count = 0
self.parent = parent
self.pointer_position = np.zeros((1, 3))
self.head_data = np.zeros((1, 3))
self.load_config(config_file)
self.init_plot()
self.setup_dragonfly(server)
def load_config(self, config_file):
cfg = PyFileConfigLoader(config_file)
cfg.load_config()
self.config = cfg.config
self.filename = self.config.head_model
self.plate = self.config.tools.index('CB609')
self.marker = self.config.tools.index('CT315')
self.glasses = self.config.tools.index('ST568')
self.pointer = self.config.tools.index('P717')
self.pointer_Ti = np.array(self.config.tool_list[self.pointer].Ti)
self.pointer_Qi = qa.norm(
np.array(self.config.tool_list[self.pointer].Qi))
self.pointer_Ni = np.array(self.config.tool_list[self.pointer].Ni)
self.pointer_Xi = self.pointer_Ni - self.pointer_Ti
self.tp = TP(self.pointer_Qi, self.pointer_Ni, self.pointer_Ti)
def init_plot(self):
'''
# create a window with 14 plots (7 rows x 2 columns)
## create a window with 8 plots (4 rows x 2 columns)
reader = tvtk.OBJReader()
reader.file_name = self.filename
mapper = tvtk.PolyDataMapper()
mapper.input = reader.output
actor = tvtk.Actor()
mapper.color_mode = 0x000000
actor.mapper = mapper
actor.orientation = (-90,180,0)
self.scene.add_actor(actor)
'''
self.plot = mlab.plot3d(0, 0, 0, color=(0, 0, 1))
self.plot2 = mlab.plot3d(0, 0, 0, color=(1, 0, 0))
self.pl = self.plot.mlab_source
self.pl2 = self.plot2.mlab_source
self.timer = wx.Timer(self.parent)
self.timer.Start(50)
self.parent.Bind(wx.EVT_TIMER, self.timer_event)
def process_message(self, msg):
# read a Dragonfly message
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id == self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
return
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'PlotHead')
elif msg_type == rc.MT_POLARIS_POSITION:
in_mdf = rc.MDF_POLARIS_POSITION()
copy_from_msg(in_mdf, msg)
positions = np.asarray(in_mdf.xyz[:])
orientations = self.shuffle_q(np.asarray(in_mdf.ori[:]))
if in_mdf.tool_id == (self.pointer + 1):
Qf = qa.norm(orientations)
Qr = qa.mult(Qf, qa.inv(self.pointer_Qi)).flatten()
#find_nans(self.store_head, Qr, 'Qr')
Tk = positions
#find_nans(self.store_head, Tk, 'Tk')
tip_pos = (qa.rotate(Qr, self.pointer_Xi) + Tk).flatten()
self.pointer_position = np.append(self.pointer_position,
(tip_pos[np.newaxis, :]),
axis=0)
#self.pl.reset(x=self.pointer_position[:,0], y=self.pointer_position[:,1], z=self.pointer_position[:,2])
print("old=", tip_pos)
print("new=", self.tp.get_pos(orientations, positions)[0])
#elif in_mdf.tool_id == (self.glasses + 1):
# self.head_data = np.append(self.head_data, (head[np.newaxis,:]), axis=0)
# self.pl2.reset(x=self.head_data[:,0], y=self.head_data[:,1], z=self.head_data[:,2])
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_POLARIS_POSITION]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
def timer_event(self, parent):
done = False
sys.stdout.flush()
while not done:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0)
if rcv == 1:
self.process_message(msg)
else:
done = True
def shuffle_q(self, q):
return np.roll(q, -1, axis=0)
class PlotHead(threading.Thread):
def __init__(self, parent, config_file, server):#, parent):
#HasTraits.__init__(self)
threading.Thread.__init__(self)
self.daemon = True
self.count = 0
self.parent = parent
self.plot_vertex_vec = np.array([3,-2,2])
self.load_config(config_file)
self.setup_dragonfly(server)
self.start()
def load_config(self, config_file):
cfg = PyFileConfigLoader(config_file)
cfg.load_config()
self.config = cfg.config
self.filename = self.config.head_model
def process_message(self, msg):
# read a Dragonfly message
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id == self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
return
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'PlotHead')
elif msg_type == rc.MT_PLOT_POSITION:
in_mdf = rc.MDF_PLOT_POSITION()
copy_from_msg(in_mdf, msg)
tail = np.array(in_mdf.xyz[:])*0.127 + (self.plot_vertex_vec)#Hotspot position
head = np.array(in_mdf.ori[:3])/4 #Vector head of coil, used to find ori
if np.any(np.isnan(tail)) == True:
pass
elif np.any(np.isnan(head)) == True:
pass
elif np.any(np.isinf(tail)) == True:
pass
elif np.any(np.isinf(head)) == True:
pass
else:
queue.put(np.vstack((head, tail)))
self.count=+1
print 'sent message'
elif msg_type == rc.MT_MNOME_STATE:
in_mdf = rc.MDF_MNOME_STATE()
copy_from_msg(in_mdf, msg)
if in_mdf.state == 0:
print 'got clear'
self.parent.reset = True
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_PLOT_POSITION, \
rc.MT_MNOME_STATE]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
# def timer_event(self, parent):
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0)
if rcv == 1:
self.process_message(msg)
class RTFT(object):
def __init__(self, config_file, server):
self.load_config(config_file)
self.init_gui()
self.setup_dragonfly(server)
self.solo = True #false if executed from demigod executive file
self.RTFT_display = True #default = True. if message from executive, then use that value
self.state = -1 #-1= between trials 0 = outside target, 1 = close enough, waiting, 2 = close enough, hold time met
self.start_hold = time.time()
self.run()
def load_config(self, config_file): #Default config file is RTFT_CONFIG
self.config = SafeConfigParser()
self.config.read(config_file)
self.rate = float(self.config.get('main', 'rate'))
self.target_vector = [
float(x)
for x in self.config.get('main', 'target_vector').split(" ")
]
self.target_color = [
float(x)
for x in self.config.get('main', 'target_color').split(" ")
]
self.target_rad = float(self.config.get('main', 'target_radius'))
self.ball_rad = float(self.config.get('main', 'cursor_radius'))
self.ball_color = [
float(x)
for x in self.config.get('main', 'cursor_color').split(" ")
]
self.max_factor = float(self.config.get('main', 'max_factor'))
self.force_scale = float(self.config.get('main', 'force_scale'))
self.threshold = float(self.config.get('main', 'threshold'))
self.hold_time = float(self.config.get('main', 'hold_time'))
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_FT_DATA, \
rc.MT_FT_COMPLETE, \
rc.MT_RTFT_CONFIG]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
def init_gui(self):
# Is the orientation matrix missing here????
self.length = 100
wallR = box(pos=vector(self.length / 2., 0, 0),
size=(0.2, self.length, self.length),
color=color.green)
wallB = box(pos=vector(0, 0, -self.length / 2.),
size=(self.length, self.length, 0.2),
color=color.white)
wallDown = box(pos=vector(0, -self.length / 2., 0),
size=(self.length, 0.2, self.length),
color=color.red)
wallUp = box(pos=vector(0, self.length / 2., 0),
size=(self.length, 0.2, self.length),
color=color.white)
wallL = box(pos=vector(-self.length / 2., 0, 0),
size=(0.2, self.length, self.length),
color=color.blue)
self.unit_target = self.target_vector / np.linalg.norm(
self.target_vector)
self.target_position = np.array(
self.unit_target) * self.max_factor * self.force_scale
self.ball = sphere(pos=[0, 0, 0],
radius=self.ball_rad,
color=self.ball_color)
self.target = sphere(pos=self.target_position,
radius=self.target_rad,
color=self.target_color)
self.shadow_cursor = ring(pos=[0, -self.length / 2, 0],
axis=(0, 10, 0),
radius=self.ball_rad,
thickness=1,
color=[0.25, 0.25, 0.25])
self.shadow_target = ring(pos=[
self.target_position[0], -self.length / 2, self.target_position[2]
],
axis=(0, 10, 0),
radius=self.ball_rad,
thickness=1,
color=[0.25, 0.25, 0.25])
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, -1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
self.pi.ser.close()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'RTFT_iso')
else:
self.process_msg(msg)
def process_msg(self, in_msg):
header = in_msg.GetHeader()
if header.msg_type == rc.MT_FT_DATA:
mdf = rc.MDF_FT_DATA()
copy_from_msg(mdf, in_msg)
rate(self.rate)
self.ball.pos = vector(mdf.F[0:3])
self.shadow_cursor.pos = vector(
[mdf.F[0], -self.length / 2, mdf.F[2]])
self.unit_target = np.array(self.target_vector) / np.linalg.norm(
self.target_vector)
self.target_position = np.array(
self.unit_target) * self.max_factor * self.force_scale
self.target.pos = self.target_position
self.shadow_target.pos = [
self.target_position[0], -self.length / 2,
self.target_position[2]
]
distance = [a - b for a, b in zip(self.ball.pos, self.target.pos)]
if (distance[0]**2 + distance[1]**2 + distance[2]**2)**(
1 / 2.) >= self.threshold and self.RTFT_display:
self.ball.color = self.ball_color
self.state = 0
elif (distance[0]**2 + distance[1]**2 + distance[2]**2)**(
1 / 2.) < self.threshold and self.RTFT_display:
if self.state == 0: # if previous sample was outside radius, and now we're inside...
self.start_hold = time.time()
self.state = 1
self.ball.color = color.orange
else:
if time.time() > (self.start_hold + self.hold_time):
self.ball.color = color.green
self.target.visible = False
self.shadow_target.visible = False
self.state = 2
out_mdf = rc.MDF_FT_COMPLETE()
out_mdf.FT_COMPLETE = self.state
out_mdf.sample_header = mdf.sample_header
msg = CMessage(rc.MT_FT_COMPLETE)
copy_to_msg(out_mdf, msg)
self.mod.SendMessage(msg)
else:
self.state = 1
self.ball.color = color.orange
else:
self.state = -1
if self.state == 2 and self.solo: #if no executive file
self.target.pos = [
float(x) for x in [
np.random.rand(1, 1) * self.max_factor *
self.force_scale,
np.random.rand(1, 1) * self.max_factor *
self.force_scale,
np.random.rand(1, 1) * self.max_factor *
self.force_scale
]
]
self.shadow_target.pos = [
self.target.pos[0], -self.length / 2, self.target.pos[2]
]
sys.stdout.write(
"%7.4f, %5d, %16.2f\n" %
(mdf.F[2], self.state,
(self.start_hold + self.hold_time) - time.time()))
#msg_str = "%7.4f " * 6 + "\n"
#sys.stdout.write(msg_str % (mdf.F[0], mdf.F[1], mdf.F[2],
# mdf.T[0], mdf.T[1], mdf.T[2]))
sys.stdout.flush()
elif header.msg_type == rc.MT_RTFT_CONFIG:
mdf = rc.MDF_RTFT_CONFIG()
copy_from_msg(mdf, in_msg)
self.max_factor = mdf.max_factor
self.RTFT_display = mdf.RTFT_display
self.target_vector = mdf.target_vector[:]
self.ball.visible = mdf.cursor_visible
self.target.visible = mdf.target_visible
self.shadow_target.visible = mdf.shadow_target_visible
self.shadow_cursor.visible = mdf.shadow_cursor_visible
self.ball_color = [1, 0, 0]
self.solo = False
class Metronome(object):
def __init__(self, config_file, mm_ip):
self.load_config(config_file)
self.count = 0
self.pause_state = True
self.setup_Dragonfly(mm_ip)
self.calc_rates()
self.run()
def load_config(self, config_file):
self.config = SafeConfigParser()
self.config.read(config_file)
self.pretrigger_time = self.config.getfloat('metronome',
'pretrigger time')
self.metronome_period = self.config.getfloat('metronome',
'metronome period')
self.in_msg_type = 'DAQ_DATA' # trigger msg
self.in_msg_num = eval('rc.MT_%s' % (self.in_msg_type.upper()))
print self.in_msg_num, 'config load complete'
def calc_rates(self):
self.in_msg_freq = 1 / self.chk_msg()
self.metronome_count = self.metronome_period * self.in_msg_freq
if self.pretrigger_time > 0: #negative pre-trigger fire after metronome
self.trigger_out_count = self.metronome_count - self.pretrigger_time * self.in_msg_freq
else:
self.trigger_out_count = self.metronome_count + self.pretrigger_time * self.in_msg_freq
print 'Got frequency! %d' % self.in_msg_freq
print self.metronome_count, self.trigger_out_count
def chk_msg(self):
while True:
in_msg = CMessage()
rcv = self.mod.ReadMessage(in_msg, 0.1)
if rcv == 1:
msg_type = in_msg.GetHeader().msg_type
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, in_msg, 'Metronome')
elif msg_type == self.in_msg_num:
in_mdf = eval('rc.MDF_%s()' % (self.in_msg_type.upper()))
copy_from_msg(in_mdf, in_msg)
return in_mdf.sample_header.DeltaTime
def setup_Dragonfly(self, mm_ip):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(mm_ip)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(self.in_msg_num)
self.mod.Subscribe(rc.MT_MNOME_STATE)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", mm_ip
def run(self):
while True:
in_msg = CMessage()
rcv = self.mod.ReadMessage(in_msg, 0.1)
if rcv == 1:
msg_type = in_msg.GetHeader().msg_type
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, in_msg, 'Metronome')
elif msg_type == rc.MT_MNOME_STATE:
print 'got message'
in_mdf = rc.MDF_MNOME_STATE()
copy_from_msg(in_mdf, in_msg)
if in_mdf.state == 0:
print 'got stop'
self.pause_state = True
self.count = 0
elif in_mdf.state == 1:
print 'got start'
self.pause_state = False
self.count = 0
elif in_mdf.state == 2:
print 'got pause'
self.pause_state = True
self.count = 0
elif msg_type == self.in_msg_num:
if self.pause_state:
pass
else:
self.count += 1
if self.pretrigger_time > 0:
if self.count == self.metronome_count:
in_mdf = eval('rc.MDF_%s()' %
(self.in_msg_type.upper()))
copy_from_msg(in_mdf, in_msg)
out_mdf = rc.MDF_TMS_TRIGGER()
out_mdf.sample_header = in_mdf.sample_header
out_msg = CMessage(rc.MT_TMS_TRIGGER)
copy_to_msg(out_mdf, out_msg)
self.mod.SendMessage(out_msg)
self.count = 0 - int(
np.random.uniform(0, 1.5, 1)[0] *
self.in_msg_freq)
if self.count == self.trigger_out_count:
sound_thread = threading.Thread(
target=self.play_sound)
sound_thread.start()
else:
if self.count == self.trigger_out_count:
in_mdf = eval('rc.MDF_%s()' %
(self.in_msg_type.upper()))
copy_from_msg(in_mdf, in_msg)
out_mdf = rc.MDF_TMS_TRIGGER()
out_mdf.sample_header = in_mdf.sample_header
out_msg = CMessage(rc.MT_TMS_TRIGGER)
copy_to_msg(out_mdf, out_msg)
self.mod.SendMessage(out_msg)
if self.count == self.metronome_count:
self.count = 0 - int(
np.random.uniform(0, 1.5, 1)[0] *
self.in_msg_freq)
sound_thread = threading.Thread(
target=self.play_sound)
sound_thread.start()
def play_sound(self):
winsound.Beep(1500, 1000)
class BackgroundProcess(threading.Thread):
def __init__(self, parent, config_file, server):
threading.Thread.__init__(self)
self.load_config(config_file)
self.parent = parent
self.collect_count = 0
self.hotspot_count = 0
self.TMS_trigger = False
self.new_hotspot_data = False
self.new_collect_data = False
self.ext_trig = False
self.daemon = True
self.setup_dragonfly(server)
self.ext_trig = dit.DAQOut()
self.setup_buffers()
self.start()
def load_config(self, config_file):
cfg = SafeConfigParser()
cfg.read(config_file)
self.config = Config()
#daq_config.minV = cfg.getfloat('main', 'minV')
#daq_config.maxV = cfg.getfloat('main', 'maxV')
self.config.nsamp = cfg.getint('main', 'nsamp_per_chan_per_second')
self.config.nchan = cfg.getint('main', 'nchan')
self.config.nemg = cfg.getint('main', 'nemg')
self.config.nirq = self.freq = cfg.getint('main', 'nirq_per_second')
self.config.pre_trig = cfg.getfloat('main', 'pre_trigger')
self.config.trig_chan = cfg.getfloat('main', 'trig_chan')
self.config.perchan = self.config.nsamp / self.config.nirq
self.config.npt = self.config.nsamp * self.config.nchan / self.config.nirq
self.config.pre_trig_samp = self.config.pre_trig * self.config.nsamp
assert((self.config.nsamp * self.config.nchan) % self.config.nirq == 0)
assert(self.config.nsamp % self.config.nirq == 0)
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_DAQ_DATA, \
rc.MT_SAMPLE_GENERATED, \
rc.MT_TMS_TRIGGER]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
def setup_buffers(self):
self.cols = 2
self.rows = self.config.nemg / self.cols
self.npt = 2500
self.old_data = np.zeros((self.config.nchan, self.npt+300)) # bigger to account for variable trig location in buffer
self.new_data = np.zeros((self.config.nchan, self.npt+300))
self.collect_data = np.zeros((self.config.nemg, self.npt))
self.hotspot_data = np.zeros((self.config.nemg, self.npt))
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0)
if rcv == 1:
# read a Dragonfly message
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id == self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
return
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'fast_display_rms')
else:
self.process_message(msg)
def process_message(self, msg):
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == rc.MT_TMS_TRIGGER:
self.ext_trig.run()
self.TMS_trigger = True
else:
# if it is a NiDAQ message from channels 0-7, plot the data
#self.counter += 1
if msg_type == rc.MT_DAQ_DATA:
#sys.stdout.write("*")
#sys.stdout.flush()
mdf = rc.MDF_DAQ_DATA()
copy_from_msg(mdf, msg)
# add data to data buffers (necessary, or just use graphics buffers?)
# update plots to new data buffers
buf = mdf.buffer
self.new_data[:,:-self.config.perchan] = self.old_data[:,self.config.perchan:]
for i in xrange(self.config.nchan):
#if i == 0:
# print mdf.buffer[perchan * i:perchan * (i + 1)].size
self.new_data[i, -self.config.perchan:] = buf[i:self.config.nchan * self.config.perchan:self.config.nchan]
self.old_data[:] = self.new_data[:]
if self.parent.current_tab == 'Collect':
if self.TMS_trigger:
if self.config.pre_trig_samp <= np.argmax(self.old_data[self.config.trig_chan, :] >= 3) <= (self.config.pre_trig_samp)+200:
self.trig_index = np.argmax(self.old_data[self.config.trig_chan, :] >= 3)
self.collect_data = self.old_data[:self.config.nemg, self.trig_index - self.config.pre_trig_samp:self.trig_index + self.npt - self.config.pre_trig_samp]
self.old_data = self.old_data * 0
self.new_data = self.new_data * 0
self.new_collect_data = True
self.TMS_trigger = False
if self.parent.current_tab == 'Hotspot':
if self.config.pre_trig_samp <= np.argmax(self.old_data[self.config.trig_chan, :] >= 3) <= self.config.pre_trig_samp+200:
self.trig_index = np.argmax(self.old_data[self.config.trig_chan, :] >= 3)
self.hotspot_data = self.old_data[:self.config.nemg, self.trig_index - self.config.pre_trig_samp:self.trig_index + self.npt - self.config.pre_trig_samp]
self.new_hotspot_data = True
self.old_data = self.old_data * 0
self.new_data = self.new_data * 0
class MplCanvas(FigureCanvas):
subscriptions = [
rc.MT_PING, MT_EXIT, rc.MT_TASK_STATE_CONFIG, rc.MT_FORCE_SENSOR_DATA,
rc.MT_FORCE_FEEDBACK, rc.MT_END_TASK_STATE
]
def __init__(self, parent=None, width=8, height=10, dpi=80):
self.parent = parent
self.paused = False
self.LiveData = None
self.fdbk_actual_pos = None
self.tsc_mdf = None
self.ets_mdf = None
self.redraw_yticks = True
self.figure = Figure(figsize=(width, height),
dpi=dpi,
facecolor='#bbbbbb')
FigureCanvas.__init__(self, self.figure)
self.setParent(parent)
FigureCanvas.setSizePolicy(self, QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
FigureCanvas.updateGeometry(self)
def init_judge_display(self):
N = self.config['config']['number_of_data_points']
self.nAccumPoints = 0
self.nScaleResetPoints = N * 2
self.LiveData = {
'ActualPos': {},
'ThreshUpper': {},
'ThreshLower': {},
'JudgingMethod': {},
'JudgingPolarity': {},
'max_scale': {},
'min_scale': {}
}
allDims = 6 # max possible number of dims
for d in range(allDims):
self.LiveData['ActualPos'][d] = np.zeros(N)
self.LiveData['ThreshUpper'][d] = nan_array(N)
self.LiveData['ThreshLower'][d] = nan_array(N)
self.LiveData['JudgingMethod'][d] = nan_array(N)
self.LiveData['JudgingPolarity'][d] = nan_array(N)
self.LiveData['max_scale'][d] = np.finfo(float).eps
self.LiveData['min_scale'][d] = -np.finfo(float).eps #
self.LiveData['TaskStateNo'] = np.zeros(N)
self.LiveData['TaskStateVerdict'] = np.ones(N)
def run(self, config_file, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in self.subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
self.config_file = config_file
self.load_config()
self.init_judge_display()
self.init_plot()
self.init_legend()
self.timer = QtCore.QTimer(self)
QtCore.QObject.connect(self.timer, QtCore.SIGNAL("timeout()"),
self.timer_event)
self.timer.start(10)
def update_scales(self, d):
min_data = np.nanmin(self.LiveData['ActualPos'][d])
if min_data < self.LiveData['min_scale'][d]:
self.LiveData['min_scale'][d] = min_data * 1.05
# add 5%
if self.auto_scale[d]:
self.redraw_yticks = True
#print 'update y lim - (', d, ')'
max_data = np.nanmax(self.LiveData['ActualPos'][d])
if max_data > self.LiveData['max_scale'][d]:
self.LiveData['max_scale'][d] = max_data * 1.05
# add 5%
if self.auto_scale[d]:
self.redraw_yticks = True
#print 'update y lim + (', d, ')'
def update_judging_data(self):
#self.nAccumPoints += 1
#if self.nAccumPoints == self.nScaleResetPoints:
# print 'global y lim update'
# self.nAccumPoints = 0
# for d in range(self.nDims):
# if self.auto_scale[d]:
# self.LiveData['max_scale'][d] = np.finfo(float).eps
# self.LiveData['min_scale'][d] = -np.finfo(float).eps
# this loop is so we can update plot data even if we haven't received any TASK_STATE_CONFIG messages
for i in range(self.nDims):
d = self.dims[i] - 1
actual_pos = self.fdbk_actual_pos[d]
self.LiveData['ActualPos'][d] = self.add_to_windowed_array(
self.LiveData['ActualPos'][d], actual_pos)
self.update_scales(d)
if self.tsc_mdf is None:
return
sep_threshold = np.array(self.tsc_mdf.sep_threshold, dtype=float)
dofs_to_judge = np.where(~np.isnan(sep_threshold) == True)[0]
# for i in range(self.nDims):
# d = self.dims[i] - 1
#
# threshU = np.NAN
# threshL = np.NAN
# method = np.NAN
# polarity = np.NAN
#
# if np.where(dofs_to_judge == d)[0].size > 0:
# thresh = self.tsc_mdf.sep_threshold[d]
# method = 2 #self.tsc_mdf.sep_threshold_judging_method[d]
# polarity = self.tsc_mdf.sep_threshold_judging_polarity[d]
#
# # invert polarities (because we plot "keep out" zones)
# if (polarity > 0) and (self.tsc_mdf.timed_out_conseq == 0):
# polarity = ~polarity & 3;
#
# ## judging_method: 1=distance (default), 2=absolute
# #if method == 1: # dist
# # target = self.tsc_mdf.target[d]
# # threshU = target + thresh
# # threshL = target - thresh
# #else: # abs
# threshU = thresh
#
# # insert new data to plotting arrays
# self.LiveData['ThreshUpper'][d] = self.add_to_windowed_array(self.LiveData['ThreshUpper'][d], threshU)
# self.LiveData['ThreshLower'][d] = self.add_to_windowed_array(self.LiveData['ThreshLower'][d], threshL)
# self.LiveData['JudgingMethod'][d] = self.add_to_windowed_array(self.LiveData['JudgingMethod'][d], method)
# self.LiveData['JudgingPolarity'][d] = self.add_to_windowed_array(self.LiveData['JudgingPolarity'][d], polarity)
self.LiveData['TaskStateNo'] = self.add_to_windowed_array(
self.LiveData['TaskStateNo'], self.tsc_mdf.id)
if self.ets_mdf is not None:
self.LiveData['TaskStateVerdict'][-2] = self.ets_mdf.outcome
self.LiveData['TaskStateVerdict'][-1] = self.ets_mdf.outcome
self.LiveData['TaskStateVerdict'] = self.add_to_windowed_array(
self.LiveData['TaskStateVerdict'], self.ets_mdf.outcome)
self.ets_mdf = None
else:
self.LiveData['TaskStateVerdict'] = self.add_to_windowed_array(
self.LiveData['TaskStateVerdict'], 1)
def add_to_windowed_array(self, arr, data):
arr = np.append(arr, data)
arr = np.delete(arr, 0)
return arr
def load_config(self):
self.config = ConfigObj(self.config_file, unrepr=True)
def reload_config(self):
self.load_config()
for ax in self.figure.axes:
self.figure.delaxes(ax)
self.figure.clear()
self.draw()
self.init_plot(True)
self.init_legend()
self.redraw_yticks = True
def timer_event(self):
done = False
while not done:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
if msg_type == rc.MT_TASK_STATE_CONFIG:
self.tsc_mdf = rc.MDF_TASK_STATE_CONFIG()
copy_from_msg(self.tsc_mdf, msg)
elif msg_type == rc.MT_FORCE_FEEDBACK:
mdf = rc.MDF_FORCE_FEEDBACK()
copy_from_msg(mdf, msg)
#self.fdbk_actual_pos = []
self.fdbk_actual_pos = [mdf.x, mdf.y, mdf.z, 0.0, 0.0, 0.0]
self.update_judging_data()
elif msg_type == rc.MT_FORCE_SENSOR_DATA:
mdf = rc.MDF_FORCE_SENSOR_DATA()
copy_from_msg(mdf, msg)
self.fdbk_actual_pos = []
self.fdbk_actual_pos.extend(mdf.data)
self.update_judging_data()
elif msg_type == rc.MT_END_TASK_STATE:
self.ets_mdf = rc.MDF_END_TASK_STATE()
copy_from_msg(self.ets_mdf, msg)
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'SimpleDisplay')
elif msg_type == MT_EXIT:
self.exit()
done = True
else:
done = True
self.update_plot()
def init_plot(self, clear=False):
self.figure.subplots_adjust(bottom=.05,
right=.98,
left=.08,
top=.98,
hspace=0.07)
active_dims = 0
if 'active_dims' in self.config['config']:
active_dims = self.config['config']['active_dims']
axis_labels = []
self.dims = []
if active_dims:
active_labels = ['x', 'y', 'z', 'rx', 'ry', 'rz']
for f in active_dims:
if (f > 0) and (f <= 6):
self.dims.append(f)
axis_labels.extend(
['#%d (%s)' % (f, active_labels[f - 1])])
else:
print "Warning: invalid dim specified: %d, skipping.." % f
self.nDims = len(active_dims)
self.xN = self.config['config']['number_of_data_points']
self.bg = self.config['marked_task_states'].keys()
self.max_scale = self.config['config']['max_scale']
self.min_scale = self.config['config']['min_scale']
if 'auto_scale' in self.config['config']:
self.auto_scale = self.config['config']['auto_scale']
else:
self.auto_scale = [0] * self.nDims
self.ax = []
self.old_size = []
self.ax_bkg = []
self.pos = []
self.zones = {}
self.zone_idx = []
for d in range(self.nDims):
ax = self.figure.add_subplot(self.nDims, 1, d + 1)
self.reset_axis(ax, axis_labels[d])
self.draw()
bbox_width = ax.bbox.width
bbox_height = ax.bbox.height
if clear == True:
# force to redraw
bbox_width = 0
bbox_height = 0
self.old_size.append((bbox_width, bbox_height))
self.ax_bkg.append(self.copy_from_bbox(ax.bbox))
line, = ax.plot([], [], 'k-', lw=1.0, aa=None, animated=True)
line.set_xdata(range(self.xN))
line.set_ydata([0.0] * self.xN)
self.pos.append(line)
self.draw()
self.zones[d] = []
self.zone_idx.append(0)
for z in range(60):
patch = ax.add_patch(
Polygon(
[[0, 1e-12], [1e-12, 0], [1e-12, 1e-12], [0, 1e-12]],
fc='none',
ec='none',
fill=True,
closed=True,
aa=None,
animated=True))
self.zones[d].append(patch)
self.draw()
self.ax.append(ax)
def reset_axis(self, ax, label):
ax.grid(True)
ax.set_xlim(0, self.xN - 1)
ax.set_autoscale_on(False)
ax.set_ylabel(label, fontsize='small')
ax.get_xaxis().set_ticks([])
ax.yaxis.set_major_formatter(FormatStrFormatter('%.02f'))
for tick in ax.get_yticklabels():
tick.set_fontsize(9)
def init_legend(self):
legnd = []
line = matplotlib.lines.Line2D([0, 0], [0, 0], color='k')
legnd.append(line)
for d in range(len(self.bg)):
b_color = self.config['marked_task_states'][self.bg[d]]['color']
patch = Polygon([[0, 0], [0, 0], [0, 0], [0, 0]],
fc=b_color,
ec='none',
fill=True,
closed=True,
alpha=0.65)
legnd.append(patch)
self.figure.legend(legnd, ['Position'] + self.bg,
loc='lower center',
frameon=False,
ncol=20,
prop={'size': '11'},
columnspacing=.5)
self.draw()
def plot_bg_mask(self, ax, idx, x, mask, ylim, fc, ec, hatch, alpha):
# Find starts and ends of contiguous regions of true values in mask because
# we want just one patch object per contiguous region
_mask = np.asarray(np.insert(mask, 0, 0), dtype=int)
begin_indices = np.where(np.diff(_mask) == 1)[0]
_mask = np.asarray(np.append(mask, 0), dtype=int)
end_indices = np.where(np.diff(_mask) == -1)[0]
# Get DeltaX
dx = np.mean(np.diff(x))
# Get YLim if it was not given
if len(ylim) == 0:
ylim = ax.get_ylim()
z = self.zones[idx]
a = self.zone_idx[idx]
for i in range(len(begin_indices)):
b = begin_indices[i]
e = end_indices[i]
xb = x[b] - dx / 2
xe = x[e] + dx / 2
patch = z[a]
patch.set_xy([[xb, ylim[0]], [xe, ylim[0]], [xe, ylim[1]],
[xb, ylim[1]]])
patch.set_edgecolor(ec)
patch.set_facecolor(fc)
patch.set_hatch(hatch)
patch.set_alpha(alpha)
ax.draw_artist(patch)
a = a + 1
self.zone_idx[idx] = a
def update_plot(self):
if self.paused == False:
LiveData = self.LiveData
else:
LiveData = self.PausedData
for i in range(self.nDims):
ax = self.ax[i]
d = self.dims[i] - 1
current_size = ax.bbox.width, ax.bbox.height
if self.old_size[i] != current_size:
self.old_size[i] = current_size
self.draw()
self.ax_bkg[i] = self.copy_from_bbox(ax.bbox)
self.restore_region(self.ax_bkg[i])
self.zone_idx[i] = 0
min_scale = self.min_scale[i]
max_scale = self.max_scale[i]
if self.auto_scale[i]:
min_scale = LiveData['min_scale'][d]
max_scale = LiveData['max_scale'][d]
ax.set_ylim(min_scale, max_scale)
yLimG = ax.get_ylim()
for b in range(len(self.bg)):
b_id = self.config['marked_task_states'][self.bg[b]]['id']
b_color = self.config['marked_task_states'][
self.bg[b]]['color']
mask = np.where(LiveData['TaskStateNo'] == b_id, 1, 0)
if np.sum(mask) > 0:
self.plot_bg_mask(ax, i, range(self.xN), mask, [], b_color,
'none', None, 0.65)
else:
# always draw patch for all colors so that they will always show up in the legend
z = self.zones[i]
patch = z[self.zone_idx[i]]
patch.set_xy([[0, 0], [0, 0], [0, 0], [0, 0]])
ax.draw_artist(patch)
self.zone_idx[i] = self.zone_idx[i] + 1
# threshold_judging_method: 1=distance, 2=absolute
# threshold_judging_polarity: 1 = <, 2 = >
methods = ~np.isnan(LiveData['JudgingMethod'][d])
if np.sum(methods) > 0:
methods = np.unique(LiveData['JudgingMethod'][d][methods])
for m in range(len(methods)):
method = methods[m]
met_mask = np.where(LiveData['JudgingMethod'][d] == method,
True, False)
polaritys = np.unique(
LiveData['JudgingPolarity'][d][met_mask])
for p in range(len(polaritys)):
polarity = polaritys[p]
pol_mask = np.where(
LiveData['JudgingPolarity'][d] == polarity, True,
False)
mask = met_mask & pol_mask
yLimUs = np.unique(LiveData['ThreshUpper'][d][mask])
for b in range(len(yLimUs)):
yLimU = yLimUs[b]
submask = np.where(
LiveData['ThreshUpper'][d] == yLimU, True,
False) & mask
if method == 1: # dist
yLimLs = np.unique(
LiveData['ThreshLower'][d][submask])
for k in range(len(yLimLs)):
yLimL = yLimLs[k]
submask2 = np.where(
LiveData['ThreshLower'][d] == yLimL,
True, False) & submask
if polarity == 1: # <
self.plot_bg_mask(
ax, i, range(self.xN), submask2,
[yLimL, yLimU], 'none', 'black',
'//', 1)
else:
self.plot_bg_mask(
ax, i, range(self.xN), submask2,
[yLimG[0], yLimL], 'none', 'black',
'//', 1)
self.plot_bg_mask(
ax, i, range(self.xN), submask2,
[yLimU, yLimG[1]], 'none', 'black',
'//', 1)
else: # abs
if polarity == 1: # <
self.plot_bg_mask(ax, i, range(self.xN),
submask,
[yLimG[0], yLimU],
'none', 'black', '//', 1)
else:
self.plot_bg_mask(ax, i, range(self.xN),
submask,
[yLimU, yLimG[1]],
'none', 'black', '//', 1)
fail_mask = np.where(LiveData['TaskStateVerdict'] == 0, True,
False)
self.plot_bg_mask(ax, i, range(self.xN), fail_mask, [], 'red',
'none', None, 0.65)
self.pos[i].set_ydata(LiveData['ActualPos'][d])
ax.draw_artist(self.pos[i])
self.blit(ax.bbox)
if self.zone_idx[i] > 60:
print "ERROR: too many zones! Increase number of preallocated patches"
# need to redraw once to update y-ticks
if self.redraw_yticks == True:
self.draw()
self.redraw_yticks = False
def pause(self, pause_state):
self.paused = pause_state
self.PausedData = copy.deepcopy(self.LiveData)
def exit(self):
print "exiting"
self.parent.exit_app()
def stop(self):
print 'disconnecting'
self.timer.stop()
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
class AppStarter(object):
def __init__(self, server):
self.setup_dragonfly(server)
self.run()
def setup_dragonfly(self, server):
self.host_name = platform.uname()[1]
self.host_os = platform.system()
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(rc.MT_APP_START)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(MT_KILL)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
# this one is slightly different than the one in Common/python, leave this one here
def respond_to_ping(self, msg, module_name):
#print "PING received for '{0}'".format(p.module_name)
dest_mod_id = msg.GetHeader().dest_mod_id
p = rc.MDF_PING()
copy_from_msg(p, msg)
if (p.module_name.lower() == module_name.lower()) or (p.module_name == "*") or \
(dest_mod_id == self.mod.GetModuleID()):
mdf = rc.MDF_PING_ACK()
mdf.module_name = module_name + ":" + self.host_name # + ":" + self.host_os
msg_out = CMessage(rc.MT_PING_ACK)
copy_to_msg(mdf, msg_out)
self.mod.SendMessage(msg_out)
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0.1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
if msg_type == rc.MT_APP_START:
try:
mdf = rc.MDF_APP_START()
copy_from_msg(mdf, msg)
config = mdf.config
print "Config: %s" % config
# -- to do --
# get a list of all modules in appman.conf for this host
# see if any of the modules above are already/still running
# start non-running modules
# -- to do --
print "Creating scripts"
appman.create_script(config, self.host_name)
print "Starting modules on host: %s" % self.host_name
appman.run_script(self.host_name)
self.mod.SendSignal(rc.MT_APP_START_COMPLETE)
except Exception, e:
print "ERROR: %s" % (e)
elif msg_type == rc.MT_PING:
print 'got ping'
self.respond_to_ping(msg, 'AppStarter')
# we use this msg to stop modules individually
elif msg_type == MT_EXIT:
print 'got exit'
elif msg_type == MT_KILL:
print 'got kill'
appman.kill_modules()