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 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 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 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 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 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 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 ButtonDetector(object): debug = True bounce_start = np.zeros([ncontrollers, rc.MAX_INPUT_DOFS]) - 1 was_pressed = np.zeros([ncontrollers, rc.MAX_INPUT_DOFS], dtype=bool) def __init__(self, config_file, server): self.load_config(config_file) self.get_inputs() self.setup_dragonfly(server) self.run() def load_config(self, config_file): self.config = SafeConfigParser() self.config.read(config_file) 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 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, 'ButtonDetector') else: self.process_message(msg) def get_inputs(self): sections = self.config.sections() self.inputs = {} for sec in sections: if 'input ' in sec: tag = self.config.get(sec, 'tag') self.inputs[tag] = {} def process_message(self, msg): msg_type = msg.GetHeader().msg_type if msg_type == rc.MT_INPUT_DOF_DATA: mdf = rc.MDF_INPUT_DOF_DATA() copy_from_msg(mdf, msg) tag = mdf.tag if tag in self.inputs.keys(): dof_vals = np.asarray(mdf.dof_vals[:], dtype=float) cid = int(mdf.tag[-1]) pressed = ~self.was_pressed[cid] & (dof_vals > btn_threshold) started = self.bounce_start[cid] > 0 # start timers on previously unstarted counters self.bounce_start[cid, pressed & ~started] = time.time() dt = time.time() - self.bounce_start[cid] held = dt > bounce_threshold valid_held = pressed & held for vh in np.flatnonzero(valid_held): if vh in name_lookup.keys(): self.was_pressed[cid, vh] = True self.send_btn_press(name_lookup[vh], cid) released = self.was_pressed[cid] & (dof_vals < btn_threshold) valid_released = released & held & ~valid_held for vr in np.flatnonzero(valid_released): if vr in name_lookup.keys(): self.was_pressed[cid, vr] = False self.send_btn_release(name_lookup[vr], cid) self.bounce_start[cid, vr] = -1 def send_btn_press(self, btn, controller_id): print "controller_id %d sending button press %s" % (controller_id, btn) btn_map = {'l1' : rc.PS3_B_L1, 'l2' : rc.PS3_B_L2, 'r1' : rc.PS3_B_R1, 'x' : rc.PS3_B_X, 'sq' : rc.PS3_B_SQUARE, 'crc': rc.PS3_B_CIRCLE, 'trg': rc.PS3_B_TRIANGLE} mdf_out = rc.MDF_PS3_BUTTON_PRESS() mdf_out.whichButton = btn_map[btn] mdf_out.controllerId = controller_id # make outgoing message data msg_out = CMessage(rc.MT_PS3_BUTTON_PRESS) copy_to_msg(mdf_out, msg_out) self.mod.SendMessage(msg_out) def send_btn_release(self, btn, controller_id): print "controller_id %d sending button release %s" % (controller_id, btn) btn_map = {'l1' : rc.PS3_B_L1, 'l2' : rc.PS3_B_L2, 'r1' : rc.PS3_B_R1, 'x' : rc.PS3_B_X, 'sq' : rc.PS3_B_SQUARE, 'crc': rc.PS3_B_CIRCLE, 'trg': rc.PS3_B_TRIANGLE} mdf_out = rc.MDF_PS3_BUTTON_RELEASE() mdf_out.whichButton = btn_map[btn] mdf_out.controllerId = controller_id msg_out = CMessage(rc.MT_PS3_BUTTON_RELEASE) copy_to_msg(mdf_out, msg_out) self.mod.SendMessage(msg_out)
elif args.action == 'kill': if len(args.others) != 0: raise ValueError('kill action takes no arguments') if args.action in ['start', 'restart']: current_host = args.host if current_host is None: current_host = platform.uname()[1] create_script(args.app, current_host, appman_file=args.appman_file, script_file=args.script_file, mod=args.mod) write_last(args.app) run_script(current_host, script_file=args.script_file) elif args.action == 'stop': if args.mm_ip is None: raise ValueError('You need to specify Dragonfly server ip to stop modules (use --mm-ip)') mod = Dragonfly_Module(0, 0) mod.ConnectToMMM(args.mm_ip) stop_modules(mod) mod.DisconnectFromMMM() elif args.action == 'kill': kill_modules() # ############################################################################
class CursorDisplay(QtGui.QWidget): def __init__(self): super(CursorDisplay, self).__init__() self.cursor = Cursor( os.path.join(os.environ['BCI_MODULES'], "CursorDisplay", "cursor.png")) self.setCursorPos(0, 0) self.target = Cursor( os.path.join(os.environ['BCI_MODULES'], "CursorDisplay", "target.png")) self.setTargetPos(0, 0) self.move(300, 300) self.setFixedSize(display_size, display_size) self.setWindowTitle('Cursor Display') 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 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: mdf = rc.MDF_TASK_STATE_CONFIG() copy_from_msg(mdf, msg) x = mdf.target[0] y = mdf.target[1] self.setTargetPos(x, y) #print "x: ", x, "|", self.tgt2pix(x) , " y: ", y, "|", self.tgt2pix(y) elif msg_type == rc.MT_ROBOT_CONTROL_SPACE_ACTUAL_STATE: mdf = rc.MDF_ROBOT_CONTROL_SPACE_ACTUAL_STATE() copy_from_msg(mdf, msg) x = mdf.pos[0] y = mdf.pos[1] self.setCursorPos(x, y) #print "x: ", mdf.pos[0], "y: ", mdf.pos[1] elif msg_type == rc.MT_PING: respond_to_ping(self.mod, msg, 'CursorDisplay') elif msg_type == MT_EXIT: self.exit() done = True else: done = True def tgt2pix(self, tgt): return int(((tgt + 1.0) / 2.0) * 500) def setTargetPos(self, x, y): self.target.setPos(self.tgt2pix(x), self.tgt2pix(y)) #print "target: ", self.target.x, self.target.y self.update() def setCursorPos(self, x, y): self.cursor.setPos(self.tgt2pix(x), self.tgt2pix(y)) #print "cursor: ", self.cursor.x, self.cursor.y self.update() def exit(self): self.mod.SendSignal(rc.MT_EXIT_ACK) self.mod.DisconnectFromMMM() self.close() def paintEvent(self, event): qp = QtGui.QPainter() qp.begin(self) qp.setPen(QtGui.QPen(Qt.black, 2, Qt.DotLine, Qt.RoundCap)) qp.drawLine(display_size / 2, 0, display_size / 2, display_size) qp.drawLine(0, display_size / 2, display_size, display_size / 2) qp.drawPixmap(self.cursor.x - target_offset, self.cursor.y - target_offset, self.cursor.pix) qp.drawPixmap(self.target.x - target_offset, self.target.y - target_offset, self.target.pix) #print "target: ", self.target.x, self.target.y #print "cursor: ", self.cursor.x, self.cursor.y qp.end()
class SampleGenerator(object): def __init__(self, config_file, server): self.serial_no = 2 self.freq = 50 # Hz 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) triggers = self.config.get('main', 'triggers').split() self.triggers = [eval('rc.MT_%s' % (x)) for x in triggers] if not triggers: freq = self.config.get('main', 'frequency') if freq != '': self.freq = self.config.getfloat('main', 'frequency') print "Freq: %.2f" % (self.freq) 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): self.delta_time_calc = self.default_timer() #time.time() while True: msg = CMessage() rcv = self.mod.ReadMessage(msg, 0.001) 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.mod.SendSignal(rc.MT_EXIT_ACK) self.mod.DisconnectFromMMM() break elif msg_type == rc.MT_PING: respond_to_ping(self.mod, msg, 'SampleGenerator') elif (msg_type == rc.MT_SPM_SPIKECOUNT): msg_src_mod_id = hdr.src_mod_id if msg_src_mod_id == rc.MID_SPM_MOD: print "\n\n ** Detected SPM_SPIKECOUNT messages coming from SPM_MOD! Quitting..\n\n" sys.exit(0) else: if len(self.triggers) > 0: self.process_msg(msg) else: # if no triggers... if len(self.triggers) == 0: period = (1. / self.freq) time_now = self.default_timer() delta_time = period - (time_now - self.delta_time_calc) #print "%f %f %f\n\n" % (time_now, self.delta_time_calc, delta_time) if delta_time > 0: time.sleep(delta_time) self.delta_time_calc = self.delta_time_calc + period self.send_sample_generated() def process_msg(self, msg): msg_type = msg.GetHeader().msg_type if msg_type in self.triggers: time_now = self.default_timer() #time.time() delta_time = time_now - self.delta_time_calc self.delta_time_calc = time_now self.send_sample_generated() def send_sample_generated(self): sg = rc.MDF_SAMPLE_GENERATED() self.serial_no += 1 sg.sample_header.SerialNo = self.serial_no sg.sample_header.Flags = 0 sg.sample_header.DeltaTime = (1. / self.freq) sg.source_timestamp = self.default_timer() #time.time() sg_msg = CMessage(rc.MT_SAMPLE_GENERATED) copy_to_msg(sg, sg_msg) self.mod.SendMessage(sg_msg) sys.stdout.write('|') sys.stdout.flush()