class AnalogInputViewer(traits.HasTraits):
channels = traits.List
usb_device_number2index = traits.Property(depends_on='channels')
@traits.cached_property
def _get_usb_device_number2index(self):
result = {}
for i, channel in enumerate(self.channels):
result[channel.device_channel_num] = i
return result
traits_view = View(
Group(
Item(
'channels',
style='custom',
editor=ListEditor(rows=3,
editor=InstanceEditor(),
style='custom'),
resizable=True,
)),
resizable=True,
width=800,
height=600,
title='Analog Input',
)
def __init__(self, *args, **kwargs):
super(AnalogInputViewer, self).__init__(*args, **kwargs)
for usb_channel_num in [0, 1, 2, 3]:
self.channels.append(
AnalogInputChannelViewer(device_channel_num=usb_channel_num))
class MappedFeature(RangeFeature):
"""
Defines a feature that is selectable
"""
value = traits.CInt(0, editor = ui.EnumEditor(name = 'values'))
low = traits.CInt(0)
high = traits.CInt(1)
map = traits.Dict({0:'feature0', 1: 'feature'})
values = traits.Property(traits.Dict, depends_on = 'low,high,map')
def _get_values(self):
d = {}
for i in range(self.low,self.high + 1):
d[i] = self.map[i]
return d
class Box(HasTraits):
# left, bottom, width, height
bounds = traits.Array('d', (4, ))
left = traits.Property(Float)
bottom = traits.Property(Float)
width = traits.Property(Float)
height = traits.Property(Float)
right = traits.Property(Float) # read only
top = traits.Property(Float) # read only
def _bounds_default(self):
return [0.0, 0.0, 1.0, 1.0]
def _get_left(self):
return self.bounds[0]
def _set_left(self, left):
oldbounds = self.bounds[:]
self.bounds[0] = left
self.trait_property_changed('bounds', oldbounds, self.bounds)
def _get_bottom(self):
return self.bounds[1]
def _set_bottom(self, bottom):
oldbounds = self.bounds[:]
self.bounds[1] = bottom
self.trait_property_changed('bounds', oldbounds, self.bounds)
def _get_width(self):
return self.bounds[2]
def _set_width(self, width):
oldbounds = self.bounds[:]
self.bounds[2] = width
self.trait_property_changed('bounds', oldbounds, self.bounds)
def _get_height(self):
return self.bounds[2]
def _set_height(self, height):
oldbounds = self.bounds[:]
self.bounds[2] = height
self.trait_property_changed('bounds', oldbounds, self.bounds)
def _get_right(self):
return self.left + self.width
def _get_top(self):
return self.bottom + self.height
def _bounds_changed(self, old, new):
pass
class IntRangeFeature(traits.HasTraits):
"""
Defines a feature that is settable by slider
"""
value = traits.Range('low','high','value_')
value_ = traits.CInt(0.)
low = traits.CInt(-10000.)
high = traits.CInt(10000.)
is_settable = traits.Bool(False)
id = traits.Property(depends_on = 'name')
index = traits.Int(0)
name = 'gain'
view = ui.View(ui.Item('value', show_label = False, style = 'custom'))
def _get_id(self):
return _SINGLE_VALUED_FEATURES.get(self.name)
class ROI(traits.HasTraits):
top = create_int_multirange_feature('top',0)
left = create_int_multirange_feature('left',1)
width = create_int_multirange_feature('width',2)
height = create_int_multirange_feature('height',3)
values = traits.Property(traits.Int, depends_on = 'top.value,left.value,width.value,height.value')
def _get_values(self):
return self.top.value, self.left.value, self.width.value, self.height.value
view = ui.View(
ui.Item('top', style = 'custom'),
ui.Item('left', style = 'custom'),
ui.Item('width', style = 'custom'),
ui.Item('height', style = 'custom'),
)
class CameraUI(traits.HasTraits):
"""Camera settings defines basic camera settings
"""
camera_control = traits.Instance(Camera, transient = True)
cameras = traits.List([_NO_CAMERAS],transient = True)
camera = traits.Any(value = _NO_CAMERAS, desc = 'camera serial number', editor = ui.EnumEditor(name = 'cameras'))
search = traits.Button(desc = 'camera search action')
_is_initialized= traits.Bool(False, transient = True)
play = traits.Button(desc = 'display preview action')
stop = traits.Button(desc = 'close preview action')
on_off = traits.Button('On/Off', desc = 'initiate/Uninitiate camera action')
gain = create_range_feature('gain',desc = 'camera gain',transient = True)
shutter = create_range_feature('shutter', desc = 'camera exposure time',transient = True)
format = create_mapped_feature('format',_FORMAT, desc = 'image format',transient = True)
roi = traits.Instance(ROI,transient = True)
im_shape = traits.Property(depends_on = 'format.value,roi.values')
im_dtype = traits.Property(depends_on = 'format.value')
capture = traits.Button()
save_button = traits.Button('Save as...')
message = traits.Str(transient = True)
view = ui.View(ui.Group(ui.HGroup(ui.Item('camera', springy = True),
ui.Item('search', show_label = False, springy = True),
ui.Item('on_off', show_label = False, springy = True),
ui.Item('play', show_label = False, enabled_when = 'is_initialized', springy = True),
ui.Item('stop', show_label = False, enabled_when = 'is_initialized', springy = True),
),
ui.Group(
ui.Item('gain', style = 'custom'),
ui.Item('shutter', style = 'custom'),
ui.Item('format', style = 'custom'),
ui.Item('roi', style = 'custom'),
ui.HGroup(ui.Item('capture',show_label = False),
ui.Item('save_button',show_label = False)),
enabled_when = 'is_initialized',
),
),
resizable = True,
statusbar = [ ui.StatusItem( name = 'message')],
buttons = ['OK'])
#default initialization
def __init__(self, **kw):
super(CameraUI, self).__init__(**kw)
self.search_cameras()
def _camera_control_default(self):
return Camera()
def _roi_default(self):
return ROI()
#@display_cls_error
def _get_im_shape(self):
top, left, width, height = self.roi.values
shape = (height, width)
try:
colors = _COLORS[self.format.value]
if colors > 1:
shape += (colors,)
except KeyError:
raise NotImplementedError('Unsupported format')
return shape
#@display_cls_error
def _get_im_dtype(self):
try:
return _DTYPE[self.format.value]
except KeyError:
raise NotImplementedError('Unsupported format')
def _search_fired(self):
self.search_cameras()
#@display_cls_error
def search_cameras(self):
"""
Finds cameras if any and selects first from list
"""
try:
cameras = get_number_cameras()
except Exception as e:
cameras = []
raise e
finally:
if len(cameras) == 0:
cameras = [_NO_CAMERAS]
self.cameras = cameras
self.camera = cameras[0]
#@display_cls_error
def _camera_changed(self):
if self._is_initialized:
self._is_initialized= False
self.camera_control.close()
self.message = 'Camera uninitialized'
#@display_cls_error
def init_camera(self):
self._is_initialized= False
if self.camera != _NO_CAMERAS:
self.camera_control.init(self.camera)
self.init_features()
self._is_initialized= True
self.message = 'Camera initialized'
#@display_cls_error
def _on_off_fired(self):
if self._is_initialized:
self._is_initialized= False
self.camera_control.close()
self.message = 'Camera uninitialized'
else:
self.init_camera()
#@display_cls_error
def init_features(self):
"""
Initializes all features to values given by the camera
"""
features = self.camera_control.get_camera_features()
self._init_single_valued_features(features)
self._init_roi(features)
#@display_cls_error
def _init_single_valued_features(self, features):
"""
Initializes all single valued features to camera values
"""
for name, id in list(_SINGLE_VALUED_FEATURES.items()):
feature = getattr(self, name)
feature.low, feature.high = features[id]['params'][0]
feature.value = self.camera_control.get_feature(id)[0]
#@display_cls_error
def _init_roi(self, features):
for i,name in enumerate(('top','left','width','height')):
feature = getattr(self.roi, name)
low, high = features[FEATURE_ROI]['params'][i]
value = self.camera_control.get_feature(FEATURE_ROI)[i]
try:
feature.value = value
finally:
feature.low, feature.high = low, high
@traits.on_trait_change('format.value')
def _on_format_change(self, object, name, value):
if self._is_initialized:
self.camera_control.set_preview_state(STOP_PREVIEW)
self.camera_control.set_stream_state(STOP_STREAM)
self.set_feature(FEATURE_PIXEL_FORMAT, [value])
@traits.on_trait_change('gain.value,shutter.value')
def _single_valued_feature_changed(self, object, name, value):
if self._is_initialized:
self.set_feature(object.id, [value])
#@display_cls_error
def set_feature(self, id, values, flags = 2):
self.camera_control.set_feature(id, values, flags = flags)
@traits.on_trait_change('roi.values')
def a_roi_feature_changed(self, object, name, value):
if self._is_initialized:
self.set_feature(FEATURE_ROI, value)
try:
self._is_initialized= False
self.init_features()
finally:
self._is_initialized= True
#@display_cls_error
def _play_fired(self):
self.camera_control.set_preview_state(STOP_PREVIEW)
self.camera_control.set_stream_state(STOP_STREAM)
self.camera_control.set_stream_state(START_STREAM)
self.camera_control.set_preview_state(START_PREVIEW)
#@display_cls_error
def _stop_fired(self):
self.camera_control.set_preview_state(STOP_PREVIEW)
self.camera_control.set_stream_state(STOP_STREAM)
self.error = ''
#@display_cls_error
def _format_changed(self, value):
self.camera_control.set_preview_state(STOP_PREVIEW)
self.camera_control.set_stream_state(STOP_STREAM)
self.camera_control.set_feature(FEATURE_PIXEL_FORMAT, [value],2)
#@display_cls_error
def _capture_fired(self):
self.camera_control.set_stream_state(STOP_STREAM)
self.camera_control.set_stream_state(START_STREAM)
im = self.capture_image()
plt.imshow(im)
plt.show()
def capture_image(self):
im = numpy.empty(shape = self.im_shape, dtype = self.im_dtype)
self.camera_control.get_next_frame(im)
return im.newbyteorder('>')
def save_image(self, fname):
"""Captures image and saves to format guessed from filename extension"""
im = self.capture_image()
base, ext = os.path.splitext(fname)
if ext == '.npy':
numpy.save(fname, im)
else:
im = toimage(im)
im.save(fname)
def _save_button_fired(self):
f = pyface.FileDialog(action = 'save as')
#wildcard = self.filter)
if f.open() == pyface.OK:
self.save_image(f.path)
def capture_HDR(self):
pass
def __del__(self):
try:
self.camera_control.set_preview_state(STOP_PREVIEW)
self.camera_control.set_stream_state(STOP_STREAM)
except:
pass
class DeviceAnalogInState(traits.HasTraits):
"""encapsulate all (relevant) analog input state on the device
Making these variables a member of their own HasTraits class means
that updates to the device can be treated in an atomic way.
"""
# Analog input state
AIN0_enabled = traits.Bool(False)
AIN0_name = traits.String("AIN0")
AIN1_enabled = traits.Bool(False)
AIN1_name = traits.String("AIN1")
AIN2_enabled = traits.Bool(True)
AIN2_name = traits.String("AIN2")
AIN3_enabled = traits.Bool(False)
AIN3_name = traits.String("AIN3")
trigger_device = traits.Instance('DeviceModel',transient=True)
adc_prescaler = traits.Trait(128.0,{
128.0:0x07,64.0: 0x06,
# According to Atmel's at90usb1287 manual, faster than this is
# too fast to get good measurements with 8MHz crystal.
## '32': 0x05,'16': 0x04,'8': 0x03,
## '4': 0x02,'2': 0x00, # also 0x01
})
downsample_bits = traits.Range(low=0,high=2**5-1,value=0)
AIN_running = traits.Bool(False)
sample_rate_total = traits.Property(label='Sample rate (Hz), all channels',
depends_on=['adc_prescaler',
'trigger_device',
'downsample_bits'])
sample_rate_chan = traits.Property(label='each channel',
depends_on=['sample_rate_total',
'AIN0_enabled','AIN1_enabled',
'AIN2_enabled','AIN3_enabled',])
# but useful when plotting/saving data
Vcc = traits.Float(3.3)
traits_view = View(Group(Group(Item('AIN_running'),
Item(
'Vcc',
tooltip=('This does not set Vcc on the AT90USBKEY. Use to record the '
'value of Vcc. (default = 3.3V)')),
orientation='horizontal'),
Group(Item('AIN0_enabled',padding=0),
Item('AIN0_name',padding=0),
Item('AIN1_enabled',padding=0),
Item('AIN1_name',padding=0),
padding=0,
orientation='horizontal'),
Group(Item('AIN2_enabled',padding=0),
Item('AIN2_name',padding=0),
Item('AIN3_enabled',padding=0),
Item('AIN3_name',padding=0),
padding=0,
orientation='horizontal'),
Group(Item('adc_prescaler'),
Item('downsample_bits'),
orientation='horizontal'),
Group(Item('sample_rate_total',
#show_label=False,
style='readonly',
),
Item('sample_rate_chan',
#show_label=False,
style='readonly',
),
orientation='horizontal'),
))
@traits.cached_property
def _get_sample_rate_total(self):
if self.trigger_device is not None:
input_frequency = self.trigger_device.FOSC/self.adc_prescaler
else:
input_frequency = 100*1e3 # fake value
# from USBKEY datasheet:
if input_frequency < 50*1e3:
warnings.warn('ADC sample frequency is too slow to get good sampling')
if input_frequency > 200*1e3:
warnings.warn('ADC sample frequency is too fast to get good sampling')
#print 'input_frequency %.1f (kHz)'%(input_frequency/1000.0,)
clock_cycles_per_sample = 13.0
clock_adc = input_frequency/clock_cycles_per_sample
downsample_factor = self.downsample_bits+1
downsampled_clock_adc = clock_adc/downsample_factor
return downsampled_clock_adc
@traits.cached_property
def _get_sample_rate_chan(self):
n_chan = sum(map(int,[self.AIN0_enabled,self.AIN1_enabled,
self.AIN2_enabled,self.AIN3_enabled]))
if n_chan == 0:
return 0.0
rate = self.sample_rate_total/float(n_chan)
return rate
class DeviceModel(traits.HasTraits):
"""Represent the trigger device in the host computer, and push any state
We keep a local copy of the state of the device in memory on the
host computer, and any state changes to the device to through this
class, also allowing us to update our copy of the state.
"""
# Private runtime details
_libusb_handle = traits.Any(None,transient=True)
_lock = traits.Any(None,transient=True) # lock access to the handle
real_device = traits.Bool(False,transient=True) # real USB device present
FOSC = traits.Float(8000000.0,transient=True)
ignore_version_mismatch = traits.Bool(False, transient=True)
# A couple properties
frames_per_second = RemoteFpsFloat
frames_per_second_actual = traits.Property(depends_on='_t3_state')
timer3_top = traits.Property(depends_on='_t3_state')
# Timer 3 state:
_t3_state = traits.Instance(DeviceTimer3State) # atomic updates
# LEDs state
_led_state = traits.Int
led1 = traits.Property(depends_on='_led_state')
led2 = traits.Property(depends_on='_led_state')
led3 = traits.Property(depends_on='_led_state')
led4 = traits.Property(depends_on='_led_state')
# Event would be fine for these, but use Button to get nice editor
reset_framecount_A = traits.Button
reset_AIN_overflow = traits.Button
do_single_frame_pulse = traits.Button
ext_trig1 = traits.Button
ext_trig2 = traits.Button
ext_trig3 = traits.Button
# Analog input state:
_ain_state = traits.Instance(DeviceAnalogInState) # atomic updates
Vcc = traits.Property(depends_on='_ain_state')
AIN_running = traits.Property(depends_on='_ain_state')
enabled_channels = traits.Property(depends_on='_ain_state')
enabled_channel_names = traits.Property(depends_on='_ain_state')
# The view:
traits_view = View(Group( Group(Item('frames_per_second',
label='frame rate',
),
Item('frames_per_second_actual',
show_label=False,
style='readonly',
),
orientation='horizontal',),
Group(Item('ext_trig1',show_label=False),
Item('ext_trig2',show_label=False),
Item('ext_trig3',show_label=False),
orientation='horizontal'),
Item('_ain_state',show_label=False,
style='custom'),
Item('reset_AIN_overflow',show_label=False),
))
def __init__(self,*a,**k):
super(DeviceModel,self).__init__(*a,**k)
self._t3_state = DeviceTimer3State()
self._ain_state = DeviceAnalogInState(trigger_device=self)
def __new__(cls,*args,**kwargs):
"""Set the transient object state
This must be done outside of __init__, because instances can
get created without calling __init__. In particular, when
being loaded from a pickle.
"""
self = super(DeviceModel, cls).__new__(cls,*args,**kwargs)
self._lock = threading.Lock()
self._open_device()
# force the USBKEY's state to our idea of its state
self.__led_state_changed()
self.__t3_state_changed()
self.__ain_state_changed()
self.reset_AIN_overflow = True # reset ain overflow
#self.rand_pulse_enable()
#self.rand_pulse_disable()
#self.set_aout_values(300,250)
return self
def _set_led_mask(self,led_mask,value):
if value:
self._led_state = self._led_state | led_mask
else:
self._led_state = self._led_state & ~led_mask
def __led_state_changed(self):
buf = ctypes.create_string_buffer(2)
buf[0] = chr(CAMTRIG_SET_LED_STATE)
buf[1] = chr(self._led_state)
self._send_buf(buf)
@traits.cached_property
def _get_led1(self):
return bool(self._led_state & LEDS_LED1)
def _set_led1(self,value):
self._set_led_mask(LEDS_LED1,value)
@traits.cached_property
def _get_led2(self):
return bool(self._led_state & LEDS_LED2)
def _set_led2(self,value):
self._set_led_mask(LEDS_LED2,value)
@traits.cached_property
def _get_led3(self):
return bool(self._led_state & LEDS_LED3)
def _set_led3(self,value):
self._set_led_mask(LEDS_LED3,value)
@traits.cached_property
def _get_led4(self):
return bool(self._led_state & LEDS_LED4)
def _set_led4(self,value):
self._set_led_mask(LEDS_LED4,value)
@traits.cached_property
def _get_Vcc(self):
return self._ain_state.Vcc
@traits.cached_property
def _get_AIN_running(self):
return self._ain_state.AIN_running
@traits.cached_property
def _get_enabled_channels(self):
result = []
if self._ain_state.AIN0_enabled:
result.append(0)
if self._ain_state.AIN1_enabled:
result.append(1)
if self._ain_state.AIN2_enabled:
result.append(2)
if self._ain_state.AIN3_enabled:
result.append(3)
return result
@traits.cached_property
def _get_enabled_channel_names(self):
result = []
if self._ain_state.AIN0_enabled:
result.append(self._ain_state.AIN0_name)
if self._ain_state.AIN1_enabled:
result.append(self._ain_state.AIN1_name)
if self._ain_state.AIN2_enabled:
result.append(self._ain_state.AIN2_name)
if self._ain_state.AIN3_enabled:
result.append(self._ain_state.AIN3_name)
return result
@traits.cached_property
def _get_timer3_top(self):
return self._t3_state.timer3_top
@traits.cached_property
def _get_frames_per_second_actual(self):
if self._t3_state.timer3_CS==0:
return 0
return self.FOSC/self._t3_state.timer3_CS/self._t3_state.timer3_top
def set_frames_per_second_approximate(self,value):
"""Set the framerate as close as possible to the desired value"""
new_t3_state = DeviceTimer3State()
if value==0:
new_t3_state.timer3_CS=0
else:
# For all possible clock select values
CSs = np.array([1.0,8.0,64.0,256.0,1024.0])
# find the value of top that to gives the desired framerate
best_top = np.clip(np.round(self.FOSC/CSs/value),0,2**16-1).astype(np.int)
# and find the what the framerate would be at that top value
best_rate = self.FOSC/CSs/best_top
# and choose the best one.
idx = np.argmin(abs(best_rate-value))
expected_rate = best_rate[idx]
new_t3_state.timer3_CS = CSs[idx]
new_t3_state.timer3_top = best_top[idx]
ideal_ocr3a = 0.02 * new_t3_state.timer3_top # 2% duty cycle
ocr3a = int(np.round(ideal_ocr3a))
if ocr3a==0:
ocr3a=1
if ocr3a >= new_t3_state.timer3_top:
ocr3a-=1
if ocr3a <= 0:
raise ValueError('impossible combination for ocr3a')
new_t3_state.ocr3a = ocr3a
self._t3_state = new_t3_state # atomic update
def get_framestamp(self,full_output=False):
"""Get the framestamp and the value of PORTC
The framestamp includes fraction of IFI until next frame.
The inter-frame counter counts up from 0 to self.timer3_top
between frame ticks.
"""
if not self.real_device:
now = time.time()
if full_output:
framecount = now//1
tcnt3 = now%1.0
results = now, framecount, tcnt3
else:
results = now
return results
buf = ctypes.create_string_buffer(1)
buf[0] = chr(CAMTRIG_GET_FRAMESTAMP_NOW)
self._send_buf(buf)
data = self._read_buf()
if data is None:
raise NoDataError('no data available from device')
framecount = 0
for i in range(8):
framecount += ord(data[i]) << (i*8)
tcnt3 = ord(data[8]) + (ord(data[9]) << 8)
frac = tcnt3/float(self._t3_state.timer3_top)
if frac>1:
print('In ttriger.DeviceModel.get_framestamp(): '
'large fractional value in framestamp. resetting')
frac=1
framestamp = framecount+frac
# WBD
#if full_output:
# results = framestamp, framecount, tcnt3
#else:
# results = framestamp
pulse_width = ord(data[10])
if full_output:
results = framestamp, pulse_width, framecount, tcnt3
else:
results = framestamp, pulse_width
return results
def get_analog_input_buffer_rawLE(self):
if not self.real_device:
outbuf = np.array([],dtype='<u2') # unsigned 2 byte little endian
return outbuf
EP_LEN = 256
INPUT_BUFFER = ctypes.create_string_buffer(EP_LEN)
bufs = []
got_bytes = False
timeout = 50 # msec
cnt = 0 # Count number of times endpoint has been read
min_cnt = 2 # Minimum number of times end point should be read
while 1:
# keep pumping until no more data
try:
with self._lock:
n_bytes = usb.bulk_read(self._libusb_handle, (ENDPOINT_DIR_IN|ANALOG_EPNUM), INPUT_BUFFER, timeout)
except usb.USBNoDataAvailableError:
break
cnt += 1
n_elements = n_bytes//2
buf = np.fromstring(INPUT_BUFFER.raw,dtype='<u2') # unsigned 2 byte little endian
buf = buf[:n_elements]
bufs.append(buf)
if (n_bytes < EP_LEN) and (cnt >= min_cnt):
break # don't bother waiting for data to dribble in
if len(bufs):
outbuf = np.hstack(bufs)
else:
outbuf = np.array([],dtype='<u2') # unsigned 2 byte little endian
return outbuf
def __t3_state_changed(self):
# A value was assigned to self._t3_state.
# 1. Send its contents to device
self._send_t3_state()
# 2. Ensure updates to it also get sent to device
if self._t3_state is None:
return
self._t3_state.on_trait_change(self._send_t3_state)
def _send_t3_state(self):
"""ensure our concept of the device's state is correct by setting it"""
t3 = self._t3_state # shorthand
if t3 is None:
return
buf = ctypes.create_string_buffer(10)
buf[0] = chr(CAMTRIG_NEW_TIMER3_DATA)
buf[1] = chr(t3.ocr3a//0x100)
buf[2] = chr(t3.ocr3a%0x100)
buf[3] = chr(t3.ocr3b//0x100)
buf[4] = chr(t3.ocr3b%0x100)
buf[5] = chr(t3.ocr3c//0x100)
buf[6] = chr(t3.ocr3c%0x100)
buf[7] = chr(t3.timer3_top//0x100) # icr3a
buf[8] = chr(t3.timer3_top%0x100) # icr3a
buf[9] = chr(t3.timer3_CS_)
self._send_buf(buf)
def __ain_state_changed(self):
# A value was assigned to self._ain_state.
# 1. Send its contents to device
self._send_ain_state()
# 2. Ensure updates to it also get sent to device
if self._ain_state is None:
return
self._ain_state.on_trait_change(self._send_ain_state)
def _send_ain_state(self):
"""ensure our concept of the device's state is correct by setting it"""
ain_state = self._ain_state # shorthand
if ain_state is None:
return
if ain_state.AIN_running:
# analog_cmd_flags
channel_list = 0
if ain_state.AIN0_enabled:
channel_list |= ENABLE_ADC_CHAN0
if ain_state.AIN1_enabled:
channel_list |= ENABLE_ADC_CHAN1
if ain_state.AIN2_enabled:
channel_list |= ENABLE_ADC_CHAN2
if ain_state.AIN3_enabled:
channel_list |= ENABLE_ADC_CHAN3
analog_cmd_flags = ADC_START_STREAMING | channel_list
analog_sample_bits = ain_state.adc_prescaler_ | (ain_state.downsample_bits<<3)
else:
analog_cmd_flags = ADC_STOP_STREAMING
analog_sample_bits = 0
buf = ctypes.create_string_buffer(3)
buf[0] = chr(CAMTRIG_AIN_SERVICE)
buf[1] = chr(analog_cmd_flags)
buf[2] = chr(analog_sample_bits)
self._send_buf(buf)
def enter_dfu_mode(self):
buf = ctypes.create_string_buffer(1)
buf[0] = chr(CAMTRIG_ENTER_DFU)
self._send_buf(buf)
def _do_single_frame_pulse_fired(self):
buf = ctypes.create_string_buffer(1)
buf[0] = chr(CAMTRIG_DO_TRIG_ONCE)
self._send_buf(buf)
def _ext_trig1_fired(self):
buf = ctypes.create_string_buffer(2)
buf[0] = chr(CAMTRIG_SET_EXT_TRIG)
buf[1] = chr(EXT_TRIG1)
self._send_buf(buf)
def _ext_trig2_fired(self):
buf = ctypes.create_string_buffer(2)
buf[0] = chr(CAMTRIG_SET_EXT_TRIG)
buf[1] = chr(EXT_TRIG2)
self._send_buf(buf)
def _ext_trig3_fired(self):
buf = ctypes.create_string_buffer(2)
buf[0] = chr(CAMTRIG_SET_EXT_TRIG)
buf[1] = chr(EXT_TRIG3)
self._send_buf(buf)
def _reset_framecount_A_fired(self):
buf = ctypes.create_string_buffer(1)
buf[0] = chr(CAMTRIG_RESET_FRAMECOUNT_A)
self._send_buf(buf)
def _reset_AIN_overflow_fired(self):
buf = ctypes.create_string_buffer(3)
buf[0] = chr(CAMTRIG_AIN_SERVICE)
buf[1] = chr(ADC_RESET_AIN)
# 3rd byte doesn't matter
self._send_buf(buf)
# WBD - functions for enabling and disabling random pulses
# --------------------------------------------------------
def rand_pulse_enable(self):
buf = ctypes.create_string_buffer(2)
buf[0] = chr(CAMTRIG_RAND_PULSE)
buf[1] = chr(RAND_PULSE_ENABLE)
self._send_buf(buf)
def rand_pulse_disable(self):
buf = ctypes.create_string_buffer(2)
buf[0] = chr(CAMTRIG_RAND_PULSE)
buf[1] = chr(RAND_PULSE_DISABLE)
self._send_buf(buf)
# WBD - function for setting analog output values
# -------------------------------------------------------
def set_aout_values(self,val0, val1):
buf = ctypes.create_string_buffer(5)
buf[0] = chr(CAMTRIG_SET_AOUT)
buf[1] = chr(val0//0x100)
buf[2] = chr(val0%0x100)
buf[3] = chr(val1//0x100)
buf[4] = chr(val1%0x100)
self._send_buf(buf)
# WBD - get pulse width from frame count
# -------------------------------------------------------
def get_width_from_framecnt(self,framecnt):
buf = ctypes.create_string_buffer(5)
buf[0] = chr(CAMTRIG_GET_PULSE_WIDTH)
for i in range(1,5):
buf[i] = chr((framecnt >> ((i-1)*8)) & 0b11111111)
self._send_buf(buf)
data = self._read_buf()
val = ord(data[0])
return val
# WBD - modified read_buf functions for multiple epnum in buffers
# ---------------------------------------------------------------
def _read_buf(self):
if not self.real_device:
return None
buf = ctypes.create_string_buffer(16)
timeout = 1000
epnum = (ENDPOINT_DIR_IN|CAMTRIG_EPNUM)
with self._lock:
try:
val = usb.bulk_read(self._libusb_handle, epnum, buf, timeout)
except usb.USBNoDataAvailableError:
return None
return buf
# ---------------------------------------------------------------
def _send_buf(self,buf):
if not self.real_device:
return
with self._lock:
val = usb.bulk_write(self._libusb_handle, 0x06, buf, 9999)
def _open_device(self):
require_trigger = int(os.environ.get('REQUIRE_TRIGGER','1'))
if require_trigger:
usb.init()
if not usb.get_busses():
usb.find_busses()
usb.find_devices()
busses = usb.get_busses()
found = False
for bus in busses:
for dev in bus.devices:
debug('idVendor: 0x%04x idProduct: 0x%04x'%
(dev.descriptor.idVendor,dev.descriptor.idProduct))
if (dev.descriptor.idVendor == 0x1781 and
dev.descriptor.idProduct == 0x0BAF):
found = True
break
if found:
break
if not found:
raise RuntimeError("Cannot find device. (Perhaps run with "
"environment variable REQUIRE_TRIGGER=0.)")
else:
self.real_device = False
return
with self._lock:
self._libusb_handle = usb.open(dev)
manufacturer = usb.get_string_simple(self._libusb_handle,dev.descriptor.iManufacturer)
product = usb.get_string_simple(self._libusb_handle,dev.descriptor.iProduct)
serial = usb.get_string_simple(self._libusb_handle,dev.descriptor.iSerialNumber)
assert manufacturer == 'Strawman', 'Wrong manufacturer: %s'%manufacturer
valid_product = 'Camera Trigger 1.0'
if product == valid_product:
self.FOSC = 8000000.0
elif product.startswith('Camera Trigger 1.01'):
osc_re = r'Camera Trigger 1.01 \(F_CPU = (.*)\)\w*'
match = re.search(osc_re,product)
fosc_str = match.groups()[0]
if fosc_str.endswith('UL'):
fosc_str = fosc_str[:-2]
self.FOSC = float(fosc_str)
else:
errmsg = 'Expected product "%s", but you have "%s"'%(
valid_product,product)
if self.ignore_version_mismatch:
print 'WARNING:',errmsg
self.FOSC = 8000000.0
print ' assuming FOSC=',self.FOSC
else:
raise ValueError(errmsg)
interface_nr = 0
if hasattr(usb,'get_driver_np'):
# non-portable libusb extension
name = usb.get_driver_np(self._libusb_handle,interface_nr)
if name != '':
usb.detach_kernel_driver_np(self._libusb_handle,interface_nr)
if dev.descriptor.bNumConfigurations > 1:
debug("WARNING: more than one configuration, choosing first")
config = dev.config[0]
usb.set_configuration(self._libusb_handle, config.bConfigurationValue)
usb.claim_interface(self._libusb_handle, interface_nr)
self.real_device = True
class JFIEmulatorClassWorker(JFIEmulatorClass):
"""runs in process that updates panels"""
angle_gain = traits.Property(
depends_on=['max_voltage', 'min_angle', 'max_angle'])
angle_offset = traits.Property(depends_on=['angle_gain', 'min_angle'])
def __init__(
self,
## stimulus_state_queue=None,
## stimulus_timeseries_queue=None,
display_text_queue=None,
):
super(JFIEmulatorClass, self).__init__()
self.incoming_data_queue = Queue.Queue() # temporary until set by host
@traits.cached_property
def _get_angle_gain(self):
return self.max_voltage / (self.max_angle - self.min_angle)
@traits.cached_property
def _get_angle_offset(self):
return -self.angle_gain * self.min_angle
def _stop_experiment_fired(self):
pass
def set_incoming_queue(self, data_queue):
self.incoming_data_queue = data_queue
def do_work(self):
"""This gets called frequently (e.g. 100 Hz)"""
## # Get any available incoming data. Ignore all but most recent.
last_data = None
while 1:
try:
last_data = self.incoming_data_queue.get_nowait()
except Queue.Empty, err:
break
# Update voltages if new data arrived.
if last_data is not None:
(framenumber, left_angle_degrees, right_angle_degrees,
trigger_timestamp) = last_data
if not np.isnan(left_angle_degrees):
left_adc_volts = left_angle_degrees * self.angle_gain + self.angle_offset
if left_adc_volts < 0:
left_adc_volts = 0
if left_adc_volts > self.max_voltage:
left_adc_volts = self.max_voltage
left_adc_units = int(left_adc_volts * self.volts_to_adc_units)
UL.cbAOut(self.BoardNum, self.chan_left, self.gain,
left_adc_units)
if not np.isnan(right_angle_degrees):
right_adc_volts = right_angle_degrees * self.angle_gain + self.angle_offset
if right_adc_volts < 0:
right_adc_volts = 0
if right_adc_volts > self.max_voltage:
right_adc_volts = self.max_voltage
right_adc_units = int(right_adc_volts *
self.volts_to_adc_units)
UL.cbAOut(self.BoardNum, self.chan_right, self.gain,
right_adc_units)
class LiveTimestampModelerWithAnalogInput(LiveTimestampModeler):
view_AIN = traits.Button(label='view analog input (AIN)')
viewer = traits.Instance(AnalogInputViewer)
# the actual analog data (as a wordstream)
ain_data_raw = traits.Array(dtype=np.uint16, transient=True)
old_data_raw = traits.Array(dtype=np.uint16, transient=True)
timer3_top = traits.Property(
) # necessary to calculate precise timestamps for AIN data
channel_names = traits.Property()
Vcc = traits.Property(depends_on='_trigger_device')
ain_overflowed = traits.Int(
0,
transient=True) # integer for display (boolean readonly editor ugly)
ain_wordstream_buffer = traits.Any()
traits_view = View(
Group(
Item('synchronize', show_label=False),
Item('view_time_model_plot', show_label=False),
Item('ain_overflowed', style='readonly'),
Item(
name='gain',
style='readonly',
editor=TextEditor(evaluate=float, format_func=myformat),
),
Item(
name='offset',
style='readonly',
editor=TextEditor(evaluate=float, format_func=myformat2),
),
Item(
name='residual_error',
style='readonly',
editor=TextEditor(evaluate=float, format_func=myformat),
),
Item('view_AIN', show_label=False),
),
title='Timestamp modeler',
)
@traits.cached_property
def _get_Vcc(self):
return self._trigger_device.Vcc
def _get_timer3_top(self):
return self._trigger_device.timer3_top
def _get_channel_names(self):
return self._trigger_device.enabled_channel_names
def update_analog_input(self):
"""call this function frequently to avoid overruns"""
new_data_raw = self._trigger_device.get_analog_input_buffer_rawLE()
data_raw = np.hstack((new_data_raw, self.old_data_raw))
self.ain_data_raw = new_data_raw
newdata_all = []
chan_all = []
any_overflow = False
#cum_framestamps = []
while len(data_raw):
result = cDecode.process(data_raw)
(N, samples, channels, did_overflow, framestamp) = result
if N == 0:
# no data was able to be processed
break
data_raw = data_raw[N:]
newdata_all.append(samples)
chan_all.append(channels)
if did_overflow:
any_overflow = True
# Save framestamp data.
# This is not done yet:
## if framestamp is not None:
## cum_framestamps.append( framestamp )
self.old_data_raw = data_raw # save unprocessed data for next run
if any_overflow:
# XXX should move to logging the error.
self.ain_overflowed = 1
raise AnalogDataOverflowedError()
if len(chan_all) == 0:
# no data
return
chan_all = np.hstack(chan_all)
newdata_all = np.hstack(newdata_all)
USB_channel_numbers = np.unique(chan_all)
#print len(newdata_all),'new samples on channels',USB_channel_numbers
## F_OSC = 8000000.0 # 8 MHz
## adc_prescaler = 128
## downsample = 20 # maybe 21?
## n_chan = 3
## F_samp = F_OSC/adc_prescaler/downsample/n_chan
## dt=1.0/F_samp
## ## print '%.1f Hz sampling. %.3f msec dt'%(F_samp,dt*1e3)
## MAXLEN_SEC=0.3
## #MAXLEN = int(MAXLEN_SEC/dt)
MAXLEN = 5000 #int(MAXLEN_SEC/dt)
## ## print 'MAXLEN',MAXLEN
## ## print
for USB_chan in USB_channel_numbers:
vi = self.viewer.usb_device_number2index[USB_chan]
cond = chan_all == USB_chan
newdata = newdata_all[cond]
oldidx = self.viewer.channels[vi].index
olddata = self.viewer.channels[vi].data
if len(oldidx):
baseidx = oldidx[-1] + 1
else:
baseidx = 0.0
newidx = np.arange(len(newdata), dtype=np.float) + baseidx
tmpidx = np.hstack((oldidx, newidx))
tmpdata = np.hstack((olddata, newdata))
if len(tmpidx) > MAXLEN:
# clip to MAXLEN
self.viewer.channels[vi].index = tmpidx[-MAXLEN:]
self.viewer.channels[vi].data = tmpdata[-MAXLEN:]
else:
self.viewer.channels[vi].index = tmpidx
self.viewer.channels[vi].data = tmpdata
def _view_AIN_fired(self):
self.viewer.edit_traits()
class LiveTimestampModeler(traits.HasTraits):
_trigger_device = traits.Instance(ttrigger.DeviceModel)
sync_interval = traits.Float(2.0)
has_ever_synchronized = traits.Bool(False, transient=True)
frame_offset_changed = traits.Event
timestamps_framestamps = traits.Array(shape=(None, 2), dtype=np.float)
timestamp_data = traits.Any()
block_activity = traits.Bool(False, transient=True)
synchronize = traits.Button(label='Synchronize')
synchronizing_info = traits.Any(None)
gain_offset_residuals = traits.Property(
depends_on=['timestamps_framestamps'])
residual_error = traits.Property(depends_on='gain_offset_residuals')
gain = traits.Property(depends_on='gain_offset_residuals')
offset = traits.Property(depends_on='gain_offset_residuals')
frame_offsets = traits.Dict()
last_frame = traits.Dict()
view_time_model_plot = traits.Button
traits_view = View(
Group(
Item(
name='gain',
style='readonly',
editor=TextEditor(evaluate=float, format_func=myformat),
),
Item(
name='offset',
style='readonly',
editor=TextEditor(evaluate=float, format_func=myformat2),
),
Item(
name='residual_error',
style='readonly',
editor=TextEditor(evaluate=float, format_func=myformat),
),
Item('synchronize', show_label=False),
Item('view_time_model_plot', show_label=False),
),
title='Timestamp modeler',
)
def _block_activity_changed(self):
if self.block_activity:
print('Do not change frame rate or AIN parameters. '
'Automatic prevention of doing '
'so is not currently implemented.')
else:
print('You may change frame rate again')
def _view_time_model_plot_fired(self):
raise NotImplementedError('')
def _synchronize_fired(self):
if self.block_activity:
print('Not synchronizing because activity is blocked. '
'(Perhaps because you are saving data now.')
return
orig_fps = self._trigger_device.frames_per_second_actual
self._trigger_device.set_frames_per_second_approximate(0.0)
self._trigger_device.reset_framecount_A = True # trigger reset event
self.synchronizing_info = (time.time() + self.sync_interval + 0.1,
orig_fps)
@traits.cached_property
def _get_gain(self):
result = self.gain_offset_residuals
if result is None:
# not enought data
return None
gain, offset, residuals = result
return gain
@traits.cached_property
def _get_offset(self):
result = self.gain_offset_residuals
if result is None:
# not enought data
return None
gain, offset, residuals = result
return offset
@traits.cached_property
def _get_residual_error(self):
result = self.gain_offset_residuals
if result is None:
# not enought data
return None
gain, offset, residuals = result
if residuals is None or len(residuals) == 0:
# not enought data
return None
assert len(residuals) == 1
return residuals[0]
@traits.cached_property
def _get_gain_offset_residuals(self):
if self.timestamps_framestamps is None:
return None
timestamps = self.timestamps_framestamps[:, 0]
framestamps = self.timestamps_framestamps[:, 1]
if len(timestamps) < 2:
return None
# like model_remote_to_local in flydra.analysis
remote_timestamps = framestamps
local_timestamps = timestamps
a1 = remote_timestamps[:, np.newaxis]
a2 = np.ones((len(remote_timestamps), 1))
A = np.hstack((a1, a2))
b = local_timestamps[:, np.newaxis]
x, resids, rank, s = np.linalg.lstsq(A, b)
gain = x[0, 0]
offset = x[1, 0]
return gain, offset, resids
def set_trigger_device(self, device):
self._trigger_device = device
self._trigger_device.on_trait_event(
self._on_trigger_device_reset_AIN_overflow_fired,
name='reset_AIN_overflow')
def _on_trigger_device_reset_AIN_overflow_fired(self):
self.ain_overflowed = 0
def _get_now_framestamp(self, max_error_seconds=0.003, full_output=False):
count = 0
while count <= 10:
now1 = time.time()
try:
results = self._trigger_device.get_framestamp(
full_output=full_output)
except ttrigger.NoDataError:
raise ImpreciseMeasurementError('no data available')
now2 = time.time()
if full_output:
framestamp, framecount, tcnt = results
else:
framestamp = results
count += 1
measurement_error = abs(now2 - now1)
if framestamp % 1.0 < 0.1:
warnings.warn('workaround of TCNT race condition on MCU...')
continue
if measurement_error < max_error_seconds:
break
time.sleep(0.01) # wait 10 msec before trying again
if not measurement_error < max_error_seconds:
raise ImpreciseMeasurementError(
'could not obtain low error measurement')
if framestamp % 1.0 < 0.1:
raise ImpreciseMeasurementError('workaround MCU bug')
now = (now1 + now2) * 0.5
if full_output:
results = now, framestamp, now1, now2, framecount, tcnt
else:
results = now, framestamp
return results
def clear_samples(self, call_update=True):
self.timestamps_framestamps = np.empty((0, 2))
if call_update:
self.update()
def update(self, return_last_measurement_info=False):
"""call this function fairly often to pump information from the USB device"""
if self.synchronizing_info is not None:
done_time, orig_fps = self.synchronizing_info
# suspended trigger pulses to re-synchronize
if time.time() >= done_time:
# we've waited the sync duration, restart
self._trigger_device.set_frames_per_second_approximate(
orig_fps)
self.clear_samples(call_update=False) # avoid recursion
self.synchronizing_info = None
self.has_ever_synchronized = True
results = self._get_now_framestamp(
full_output=return_last_measurement_info)
now, framestamp = results[:2]
if return_last_measurement_info:
start_timestamp, stop_timestamp, framecount, tcnt = results[2:]
self.timestamps_framestamps = np.vstack(
(self.timestamps_framestamps, [now, framestamp]))
# If more than 100 samples,
if len(self.timestamps_framestamps) > 100:
# keep only the most recent 50.
self.timestamps_framestamps = self.timestamps_framestamps[-50:]
if return_last_measurement_info:
return start_timestamp, stop_timestamp, framecount, tcnt
def get_frame_offset(self, id_string):
return self.frame_offsets[id_string]
def register_frame(self,
id_string,
framenumber,
frame_timestamp,
full_output=False):
"""note that a frame happened and return start-of-frame time"""
# This may get called from another thread (e.g. the realtime
# image processing thread).
# An important note about locking and thread safety: This code
# relies on the Python interpreter to lock data structures
# across threads. To do this internally, a lock would be made
# for each variable in this instance and acquired before each
# access. Because the data structures are simple Python
# objects, I believe the operations are atomic and thus this
# function is OK.
# Don't trust camera drivers with giving a good timestamp. We
# only use this to reset our framenumber-to-time data
# gathering, anyway.
frame_timestamp = time.time()
if frame_timestamp is not None:
last_frame_timestamp = self.last_frame.get(id_string, -np.inf)
this_interval = frame_timestamp - last_frame_timestamp
did_frame_offset_change = False
if this_interval > self.sync_interval:
if self.block_activity:
print(
'changing frame offset is disallowed, but you attempted to do it. ignoring.'
)
else:
# re-synchronize camera
# XXX need to figure out where frame offset of two comes from:
self.frame_offsets[id_string] = framenumber - 2
did_frame_offset_change = True
self.last_frame[id_string] = frame_timestamp
if did_frame_offset_change:
self.frame_offset_changed = True # fire any listeners
result = self.gain_offset_residuals
if result is None:
# not enough data
if full_output:
results = None, None, did_frame_offset_change
else:
results = None
return results
gain, offset, residuals = result
corrected_framenumber = framenumber - self.frame_offsets[id_string]
trigger_timestamp = corrected_framenumber * gain + offset
if full_output:
results = trigger_timestamp, corrected_framenumber, did_frame_offset_change
else:
results = trigger_timestamp
return results
class Affine(HasTraits):
"""
An affine 3x3 matrix that supports matrix multiplication with
other Affine instances or numpy arrays.
a = Affine()
a.translate = 10,20
a.scale = 20, 40
Be careful not to do *inplace* operations on the array components
or the update callbacks will not be triggered, eg DO NOT
a.translate += 10, 20
rather DO
a.translate_delta(10, 20)
Multiplication works as expected:
a1 = Affine()
a1.scale = 10, 20
a2 = Affine()
a2.scale = 4, 5
print a1*a2
x = numpy.random(3, 10)
print a1*x
All of the translate, scale, xlim, ylim and vec6 properties are
simply views into the data matrix, and are updated by reference
"""
# connect to the data_modified event if you want a callback
data = Array('d', (3, 3))
translate = traits.Property(Array('d', (2, )))
scale = traits.Property(Array('d', (2, )))
vec6 = traits.Property(Array('d', (6, )))
xlim = traits.Property(Array('d', (2, )))
ylim = traits.Property(Array('d', (2, )))
#data_modified = traits.Event
def _data_default(self):
return npy.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]], npy.float_)
def _get_xlim(self):
sx, b, tx = self.data[0]
return self._get_lim(sx, tx)
def _set_xlim(self, xlim):
xmin, xmax = xlim
oldsx, oldb, oldtx = self.data[0]
sx = 1. / (xmax - xmin)
tx = -xmin * sx
forward = oldsx != sx or oldtx != tx
if forward:
old = self.data.copy()
self.data[0][0] = sx
self.data[0][-1] = tx
self._data_changed(old, self.data)
def _get_ylim(self):
c, sy, ty = self.data[1]
return self._get_lim(sy, ty)
def _set_ylim(self, ylim):
ymin, ymax = ylim
oldc, oldsy, oldty = self.data[1]
sy = 1. / (ymax - ymin)
ty = -ymin * sy
forward = oldsy != sy or oldty != ty
if forward:
old = self.data.copy()
self.data[1][1] = sy
self.data[1][-1] = ty
self._data_changed(old, self.data)
def _get_translate(self):
return [self.data[0][-1], self.data[1][-1]]
def _set_translate(self, s):
oldtx = self.data[0][-1]
oldty = self.data[1][-1]
tx, ty = s
forward = tx != oldtx or ty != oldty
if forward:
old = self.data.copy()
self.data[0][-1] = tx
self.data[1][-1] = ty
self._data_changed(old, self.data)
def _get_scale(self):
return [self.data[0][0], self.data[1][1]]
def _set_scale(self, s):
oldsx = self.data[0][0]
oldsy = self.data[1][1]
sx, sy = s
forward = sx != oldsx or sy != oldsy
if forward:
old = self.data.copy()
self.data[0][0] = sx
self.data[1][1] = sy
self._data_changed(old, self.data)
def _get_vec6(self):
a, b, tx = self.data[0]
c, d, ty = self.data[1]
return [a, b, c, d, tx, ty]
def _set_vec6(self, v):
a, b, c, d, tx, ty = v
olda, oldb, oldtx = self.data[0]
oldc, oldd, oldty = self.data[1]
forward = a != olda or b != oldb or c != oldc or d != oldd or tx != oldtx or ty != oldty
if forward:
old = self.data.copy()
self.data[0] = a, b, tx
self.data[1] = c, d, ty
self._data_changed(old, self.data)
def _get_lim(self, s, t):
lmin = -t / s
lmax = 1. / s + lmin
return lmin, lmax
def _data_changed(self, old, new):
# Make it known if the translate changed
oldtx, oldty = old[0][-1], old[1][-1]
tx, ty = new[0][-1], new[1][-1]
oldsx, oldsy = old[0][0], old[1][1]
sx, sy = new[0][0], new[1][1]
oldb, oldc = old[0][1], old[1][0]
b, c = new[0][1], new[1][0]
tchanged = False
schanged = False
vchanged = False
tchanged = oldtx != tx or oldty != ty
schanged = oldsx != sx or oldsy != sy
vchanged = tchanged or schanged or b != oldb or c != oldc
xchanged = oldtx != tx or oldsx != sx
ychanged = oldty != ty or oldsy != sy
if tchanged:
self.trait_property_changed('translate', [oldtx, oldty], [tx, ty])
if schanged:
self.trait_property_changed('scale', [oldsx, oldsy], [sx, sy])
if xchanged:
oldxmin, oldxmax = self._get_lim(oldsx, oldtx)
xmin, xmax = self._get_lim(sx, tx)
self.trait_property_changed('xlim', [oldxmin, oldxmax],
[xmin, xmax])
if ychanged:
oldymin, oldymax = self._get_lim(oldsy, oldty)
ymin, ymax = self._get_lim(sy, ty)
self.trait_property_changed('ylim', [oldymin, oldymax],
[ymin, ymax])
if vchanged:
self.trait_property_changed(
'vec6', [oldsx, oldb, oldc, oldsy, oldtx, oldty],
[sx, b, c, sy, tx, ty])
if tchanged or schanged or vchanged:
#self._data_modified = True
self.trait_property_changed('data_modified', old, new)
def follow(self, othervec6):
self.vec6 = othervec6
def __mul__(self, other):
if isinstance(other, Affine):
new = Affine()
new.data = npy.dot(self.data, other.data)
return new
elif isinstance(other, npy.ndarray):
return npy.dot(self.data, other)
raise TypeError('Do not know how to multiply Affine by %s' %
type(other))
def __repr__(self):
return 'AFFINE: %s' % ', '.join([str(val) for val in self.vec6])
