def configure_x4(device_name,
record=False,
baseband=True,
x4_settings=x4_par_settings):
mc = pymoduleconnector.ModuleConnector(device_name)
# Assume an X4M300/X4M200 module and try to enter XEP mode
app = mc.get_x4m200()
# Stop running application and set module in manual mode.
try:
app.set_sensor_mode(XTS_SM_STOP, 0) # Make sure no profile is running.
except RuntimeError:
# Profile not running, OK
pass
try:
app.set_sensor_mode(XTS_SM_MANUAL, 0) # Manual mode.
except RuntimeError:
pass
xep = mc.get_xep()
print('Clearing buffer')
while xep.peek_message_data_float():
xep.read_message_data_float()
while xep.peek_message_data_string():
xep.read_message_data_string()
print('Start recorder if recording is enabled')
if record:
start_recorder(mc)
print_x4_settings(xep)
return xep
def config_x4_sensor(self,
device_name,
min_range=-0.1,
max_range=0.4,
center_frequency=3,
FPS=10,
baseband=False):
self.reset_buffer()
self.mc = pymoduleconnector.ModuleConnector(device_name)
app = self.mc.get_x4m300()
# Stop running application and set module in manual mode.
try:
app.set_sensor_mode(XTID_SM_STOP,
0) # Make sure no profile is running.
except RuntimeError:
# Profile not running, OK
pass
try:
app.set_sensor_mode(XTID_SM_MANUAL, 0) # Manual mode.
except RuntimeError:
# Maybe running XEP firmware only?
pass
try:
self.xep = self.mc.get_xep()
# set center frequency
self.xep.x4driver_set_tx_center_frequency(center_frequency)
# print(xep.x4driver_get_tx_center_frequency())
self.xep.x4driver_set_dac_min(850)
self.xep.x4driver_set_dac_max(1200)
# Set integration
self.xep.x4driver_set_iterations(64)
self.xep.x4driver_set_pulses_per_step(25)
# baseband?
self.xep.x4driver_set_downconversion(int(baseband))
# Start streaming of data
self.xep.x4driver_set_frame_area(min_range, max_range)
self.xep.x4driver_set_fps(FPS)
self.connected = True
except:
print("error while config")
return
self.device_name = device_name
self.FPS = FPS
self.center_frequency = center_frequency
self.min_range = min_range
self.max_range = max_range
# boolean
self.baseband = baseband
def reset(device_name):
"""
Resets the device profile and restarts the device
Parameter:
device_name: str
Identifies the device being used for recording using it's port number.
"""
mc = pymoduleconnector.ModuleConnector(device_name)
xep = mc.get_xep()
xep.module_reset()
mc.close()
sleep(3)
def reset(self, device_name):
try:
mc = pymoduleconnector.ModuleConnector(device_name)
xep = mc.get_xep()
xep.module_reset()
print("device find")
mc.close()
time.sleep(3)
self.frame_history.clear()
self.clutter = None
except:
print("Cannot find x4 device, please check connection or reconnect your device")
raise
def playback_recording(meta_filename, baseband=False):
"""
Plays back the recording.
Parameters:
meta_filename: str
Name of meta file.
baseband: boolean
Check if recording with baseband iq data.
"""
print("Starting playback for {}".format(meta_filename))
player = pymoduleconnector.DataPlayer(meta_filename, -1)
dur = player.get_duration()
mc = pymoduleconnector.ModuleConnector(player)
xep = mc.get_xep()
player.set_playback_rate(1.0)
player.set_loop_mode_enabled(True)
player.play()
print("Duration(ms): {}".format(dur))
def read_frame():
"""Gets frame data from module"""
d = xep.read_message_data_float()
frame = np.array(d.data)
if baseband:
n = len(frame)
frame = frame[:n // 2] + 1j * frame[n // 2:]
return frame
def animate(i):
if baseband:
line.set_ydata(abs(read_frame())) # update the data
else:
line.set_ydata(read_frame())
return line,
fig = plt.figure()
fig.suptitle("Plot playback")
ax = fig.add_subplot(1, 1, 1)
frame = read_frame()
line, = ax.plot(frame)
ax.set_ylim(0 if baseband else -0.03, 0.03) # keep graph in frame (FIT TO YOUR DATA)
ani = FuncAnimation(fig, animate, interval=10)
plt.show()
player.stop()
def configure_x4(device_name,
record=False,
baseband=False,
x4_settings=x4_par_settings):
mc = pymoduleconnector.ModuleConnector(device_name)
# Assume an X4M300/X4M200 module and try to enter XEP mode
app = mc.get_x4m200()
# Stop running application and set module in manual mode.
try:
app.set_sensor_mode(XTS_SM_STOP, 0) # Make sure no profile is running.
except RuntimeError:
# Profile not running, OK
pass
try:
app.set_sensor_mode(XTS_SM_MANUAL, 0) # Manual mode.
except RuntimeError:
pass
xep = mc.get_xep()
print('Clearing buffer')
while xep.peek_message_data_float():
xep.read_message_data_float()
print('Start recorder if recording is enabled')
if record:
start_recorder(mc)
print('Set specific parameters')
# Make sure that enable is set, X4 controller is programmed, ldos are enabled, and that the external oscillator has been enabled.
xep.x4driver_init()
x4_settings['downconversion'] = int(baseband)
for variable, value in x4_settings.items():
try:
# if 'output_control' in variable:
# variable = 'output_control'
setter = getattr(xep, 'x4driver_set_' + variable)
except AttributeError as e:
print("X4 does not have a setter function for '%s'." % variable)
raise e
if isinstance(value, tuple):
setter(*value)
else:
setter(value)
print("Setting %s to %s" % (variable, value))
print_x4_settings(xep)
return xep
def __init__(self, device_name):
self.reset(device_name)
self.mc = pymoduleconnector.ModuleConnector(device_name)
# Assume an X4M300/X4M200 module and try to enter XEP mode
self.app = self.mc.get_x4m300()
# Stop running application and set module in manual mode.
try:
self.app.set_sensor_mode(0x13,
0) # Make sure no profile is running.
except RuntimeError:
# Profile not running, OK
pass
try:
self.app.set_sensor_mode(0x12, 0) # Manual mode.
except RuntimeError:
# Maybe running XEP firmware only?
pass
def __init__(self, device_name, FPS, iterations, pulses_per_step, dac_min, dac_max, \
area_start, area_end):
self.device_name = device_name
# radar parameters
self.FPS = FPS
self.iterations = iterations
self.pulses_per_step = pulses_per_step
self.dac_min = dac_min
self.dac_max = dac_max
self.area_start = area_start
self.area_end = area_end
self.bin_length = 8 * 1.5e8 / 23.328e9
self.fast_sample_point = int((self.area_end - self.area_start) /
self.bin_length + 2)
#类型转换只取整
self.reset()
self.mc = pymoduleconnector.ModuleConnector(self.device_name)
self.xep = self.mc.get_xep()
self.sys_init()
def simple_xep_plot(device_name, record=False, baseband=False):
FPS = 10
directory = '.'
reset(device_name)
mc = pymoduleconnector.ModuleConnector(device_name)
# Assume an X4M300/X4M200 module and try to enter XEP mode
app = mc.get_x4m300()
# Stop running application and set module in manual mode.
try:
app.set_sensor_mode(0x13, 0) # Make sure no profile is running.
except RuntimeError:
# Profile not running, OK
pass
try:
app.set_sensor_mode(0x12, 0) # Manual mode.
except RuntimeError:
# Maybe running XEP firmware only?
pass
if record:
recorder = mc.get_data_recorder()
recorder.subscribe_to_file_available(pymoduleconnector.AllDataTypes, on_file_available )
recorder.subscribe_to_meta_file_available(on_meta_file_available)
xep = mc.get_xep()
# Set DAC range
xep.x4driver_set_dac_min(900)
xep.x4driver_set_dac_max(1150)
# Set integration
xep.x4driver_set_iterations(16)
xep.x4driver_set_pulses_per_step(26)
xep.x4driver_set_downconversion(int(baseband))
# Start streaming of data
xep.x4driver_set_fps(FPS)
def read_frame():
"""Gets frame data from module"""
d = xep.read_message_data_float()
frame = np.array(d.data)
# Convert the resulting frame to a complex array if downconversion is enabled
if baseband:
n = len(frame)
frame = frame[:n//2] + 1j*frame[n//2:]
return frame
def animate(i):
if baseband:
line.set_ydata(abs(read_frame())) # update the data
else:
line.set_ydata(read_frame())
return line,
fig = plt.figure()
fig.suptitle("example version %d "%(__version__))
ax = fig.add_subplot(1,1,1)
ax.set_ylim(0 if baseband else -0.03,0.03) #keep graph in frame (FIT TO YOUR DATA)
frame = read_frame()
if baseband:
frame = abs(frame)
line, = ax.plot(frame)
clear_buffer(mc)
if record:
recorder.start_recording(DataType.BasebandApDataType | DataType.FloatDataType, directory)
ani = FuncAnimation(fig, animate, interval=FPS)
try:
plt.show()
finally:
# Stop streaming of data
xep.x4driver_set_fps(0)
"""
from __future__ import print_function, division
import matplotlib.pyplot as plt
from matplotlib import mlab
import numpy as np
import pymoduleconnector
from pymoduleconnector.extras.auto import auto
from scipy import interpolate
device_name = auto()[0]
# print_module_info(device_name)
mc = pymoduleconnector.ModuleConnector(device_name)
# Assume an X4M300/X4M200 module and try to enter XEP mode
app = mc.get_x4m300()
# Stop running application and set module in manual mode.
try:
app.set_sensor_mode(0x13, 0) # Make sure no profile is running.
except RuntimeError:
# Profile not running, OK
pass
try:
app.set_sensor_mode(0x12, 0) # Manual mode.
except RuntimeError:
# Maybe running XEP firmware only?
pass
def recordData(devicePort, staticRemoval=False, startDist=0, endDist=5,
baseband=True):
# Initialize module
resetModule(devicePort)
mc = pmc.ModuleConnector(devicePort)
x4m03 = mc.get_xep()
# Initialize FPS
FPS = 20
# DAC parameters
x4m03.x4driver_set_dac_min(900)
x4m03.x4driver_set_dac_max(1150)
# Integration parameters
x4m03.x4driver_set_iterations(16)
x4m03.x4driver_set_pulses_per_step(26)
# Baseband parameter method
x4m03.x4driver_set_downconversion(int(baseband))
# Edit radar range
# Frame offset for X4M03 is fixed on 0.18 meters
x4m03.x4driver_set_frame_area_offset(0.18)
x4m03.x4driver_set_frame_area(startDist, endDist)
# Start streaming of data
x4m03.x4driver_set_fps(FPS)
# Read frame method
def readFrame():
"""Gets frame data from module"""
d = x4m03.read_message_data_float()
frame = np.array(d.data)
# Convert the resulting frame to a complex array
# if downconversion is enabled
if baseband:
n = len(frame)
frame = frame[:n//2] + 1j*frame[n//2:]
return frame
# Prepare data for storing
clearBuffer(mc)
frame = readFrame()
temp = np.arange(len(frame))
dataAmp = np.array(temp);
dataPhi = np.array(temp);
startTime = datetime.now()
# Prepare current time in string format for name of recording file
nameTime = str(datetime.today().strftime('%Y-%m-%d_%H-%M'))
# Loop for 15 seconds and record data
while True:
option = input('Insert filename to record or q to quit: ')
if option.lower() == 'q':
break
else:
frame = readFrame()
frameAmp = np.abs(frame)
for i in range(9):
frameAmp[i] = 0.001
framePhi = np.angle(frame)
if staticRemoval:
sum = 0
for i in range(len(frameAmp)):
avg = sum / 180
for i in range(len(frameAmp)):
frameAmp[i] -= avg
dataAmp = np.vstack((dataAmp, frameAmp))
dataPhi = np.vstack((dataPhi, framePhi))
# Save data to the designated spot in csv format
filenameAmp = storePath + 'Amp_' + option + '.csv'
filenamePhi = storePath + 'Phi_' + option + '.csv'
np.savetxt(filenameAmp, np.transpose(dataAmp), delimiter=", ")
sleep(0.001)
np.savetxt(filenamePhi, np.transpose(dataPhi), delimiter=", ")
sleep(0.001)
print('Recorded data')
# Stop streaming of data
x4m03.x4driver_set_fps(0)
def resetModule(devicePort):
mc = pmc.ModuleConnector(devicePort)
x4m03 = mc.get_xep()
x4m03.module_reset()
mc.close()
sleep(3)
def checkConnection(devicePort):
mc = pmc.ModuleConnector(devicePort)
x4m03 = mc.get_xep()
pong = x4m03.ping()
print("Received pong, value is:", hex(pong))
def plotModuleData(devicePort,
staticRemoval=False,
startDist=0,
endDist=5,
baseband=False):
# Initialize module
resetModule(devicePort)
mc = pmc.ModuleConnector(devicePort)
x4m03 = mc.get_xep()
# Initialize FPS
FPS = 20
# DAC parameters
x4m03.x4driver_set_dac_min(900)
x4m03.x4driver_set_dac_max(1150)
# Integration parameters
x4m03.x4driver_set_iterations(16)
x4m03.x4driver_set_pulses_per_step(26)
# Baseband parameter method
x4m03.x4driver_set_downconversion(int(baseband))
# Edit radar range
# Frame offset for X4M03 is fixed on 0.18 meters
x4m03.x4driver_set_frame_area_offset(0.18)
x4m03.x4driver_set_frame_area(startDist, endDist)
# Start streaming of data
x4m03.x4driver_set_fps(FPS)
# Read frame method
def readFrame():
"""Gets frame data from module"""
d = x4m03.read_message_data_float()
frame = np.array(d.data)
# Convert the resulting frame to a complex array
# if downconversion is enabled
if baseband:
n = len(frame)
frame = frame[:n // 2] + 1j * frame[n // 2:]
return frame
def animate(i):
frame = readFrame()
frameAmp = np.abs(frame)
# Loop for first 16 samples to virtually negate low isolation
for i in range(16):
frameAmp[i] = 1e-03
framePhi = np.angle(frame)
if staticRemoval:
sum = 0
for i in range(len(frameAmp)):
sum += frameAmp[i]
avg = sum / 180
for i in range(len(frameAmp)):
frameAmp[i] -= avg
line1.set_ydata(frameAmp)
line2.set_ydata(framePhi)
return line1, line2
# Create a figure with two subplots
fig, (ax1, ax2) = plt.subplots(2, 1)
# Configure subplots title, grid, ylims, subplot gap
fig.suptitle('X4M03 Baseband Time Domain')
ax1.set_ylim(-0.001, 0.03)
ax1.title.set_text('Amplitude')
ax1.set_xlabel('Bin #')
ax1.set_ylabel('Norm. Amplitude [0->1]')
ax2.set_ylim(-3.5, 3.5)
ax2.title.set_text('Phase')
ax2.set_xlabel('Bin #')
ax2.set_ylabel('Phi[rad]')
# Enable grid, set tick labels and adjust subplot spacing
for ax in [ax1, ax2]:
ax.grid()
fig.subplots_adjust(hspace=.6)
frame = readFrame()
frameAmp = np.abs(frame)
# Loop for first 16 samples to virtually negate low isolation
for i in range(16):
frameAmp[i] = 1e-03
framePhi = np.angle(frame)
if staticRemoval:
sum = 0
for i in range(len(frameAmp)):
avg = sum / 180
for i in range(len(frameAmp)):
frameAmp[i] -= avg
line1, = ax1.plot(frameAmp)
line2, = ax2.plot(framePhi)
clearBuffer(mc)
ani = FuncAnimation(fig, animate, interval=FPS)
try:
plt.show()
finally:
print('Exiting...')
# Stop streaming of data
x4m03.x4driver_set_fps(0)
def simple_xep_plot(devicePort,
record=False,
baseband=True,
startDist=0,
endDist=5):
FPS = 20
directory = '.'
resetModule(devicePort)
mc = pymoduleconnector.ModuleConnector(devicePort)
# Driver parameter initialization
x4m03 = mc.get_xep()
# Set DAC range
x4m03.x4driver_set_dac_min(900)
x4m03.x4driver_set_dac_max(1150)
# Set integration
x4m03.x4driver_set_iterations(16)
x4m03.x4driver_set_pulses_per_step(26)
x4m03.x4driver_set_downconversion(int(baseband))
# Edit radar range
# Frame offset for X4M03 is fixed on 0.18 meters
x4m03.x4driver_set_frame_area_offset(0.18)
x4m03.x4driver_set_frame_area(startDist, endDist)
# Start streaming of data
x4m03.x4driver_set_fps(FPS)
def readFrame():
"""Gets frame data from module"""
d = x4m03.read_message_data_float()
frame = np.array(d.data)
# Convert the resulting frame to a complex array if downconversion is
# enabled
if baseband:
n = len(frame)
frame = frame[:n // 2] + 1j * frame[n // 2:]
return frame
quit = False
plt.ion()
plt.figure()
plt.title("X4M03 Baseband Data")
clearBuffer(mc)
frame = readFrame()
t = np.arange(len(frame))
data_amp = np.array(t)
data_phi = np.array(t)
while True:
clearBuffer(mc)
frame = readFrame()
amps = np.abs(frame)
phis = np.angle(frame)
plt.subplot(211)
plt.title("X4M03 Baseband Data")
plt.subplots_adjust(hspace=0.4)
plt.ylim((-0.001, 0.03))
plt.plot(amps)
plt.xlabel("Bin #")
plt.ylabel("Normalized Amplitude")
plt.pause(0.001)
plt.grid(True)
plt.subplot(212)
plt.ylim((-3.5, 3.5))
plt.plot(phis)
plt.xlabel("Bin #")
plt.ylabel("Phase [rad]")
plt.pause(0.001)
plt.grid(True)
data_amp = np.vstack((data_amp, np.abs(frame)))
data_phi = np.vstack((data_phi, np.angle(frame)))
while True:
print("Comands: q - quit, s - new record, Enter - new data, \
w name - save data to file")
command = input("Enter command >> ")
print("Command: ", command)
if (command == "Q" or command == "q"):
quit = True
break
elif (command == "s" or command == ""):
plt.clf()
data_amp = np.array(t)
data_phi = np.array(t)
break
elif (command == "c"):
break
elif (command[0] == "w" and command[1] == " "):
filename_amp = storePath + command[2:] + "_amp.csv"
filename_phi = storePath + command[2:] + "_phi.csv"
np.savetxt(filename_amp,
np.transpose(data_amp),
delimiter=", ")
print("File recorded with name: ", filename_amp)
np.savetxt(filename_phi,
np.transpose(data_phi),
delimiter=", ")
print("File recorded with name: ", filename_phi)
if (quit):
break
x4m03.x4driver_set_fps(0)
print("Exiting...")
def get_config_info(mc):
xep = mc.get_xep()
# print("The DAC iteration is", xep.x4driver_get_iterations(), "\n")
# print(xep.x4driver_get_dac_min())
print("The FPS is %.1f \n" % xep.x4driver_get_fps())
print("the Frame area is from %.1f to %.1f:" % (xep.x4driver_get_frame_area().start, \
xep.x4driver_get_frame_area().end))
# print("get decimation factor %d" % xep.get_decimation_factor())
if __name__ == "__main__":
FPS = 10
reset(my_device)
mc = pymoduleconnector.ModuleConnector(my_device)
xep = mc.get_xep()
print(xep.get_system_info(2))
# Set DAC range
xep.x4driver_set_dac_min(900)
xep.x4driver_set_dac_max(1150)
# Set integration
xep.x4driver_set_iterations(16)
xep.x4driver_set_pulses_per_step(26)
# Start streaming of data
xep.x4driver_set_fps(FPS)
def reset(device_name):
mc = pymoduleconnector.ModuleConnector(device_name)
xep = mc.get_xep()
xep.module_reset()
mc.close()
sleep(3)
parser.add_option(
"-n",
"--num-messages",
dest="num_messages",
type=int,
default=0,
help="how many matrices to read (0 = infinite)",
metavar="INT")
(options, args) = parser.parse_args()
if not options.device_name:
print("Please specify a device name, example: python %s -d COM4"%sys.argv[0])
sys.exit(1)
mc = pymoduleconnector.ModuleConnector(options.device_name, 0)
time.sleep(1)
if options.interface == "x4m300":
app = mc.get_x4m300()
app.ping()
app.load_profile(XTS_ID_APP_PRESENCE_2)
elif options.interface == "x4m200":
app = mc.get_x4m200()
app.ping()
app.load_profile(XTS_ID_APP_RESPIRATION_2)
else:
print("Interface not recognized.", file=sys.stderr)
raise SystemExit(1)
# Flush all buffers