Source code for spynnaker.pyNN.external_devices_models.push_bot.parameters.push_bot_retina_viewer

# Copyright (c) 2017-2019 The University of Manchester
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.

import math
import socket
from threading import Thread
import numpy

# Value of brightest pixel to show
_DISPLAY_MAX = 33.0
# How regularity to display frames
_FRAME_TIME_MS = 10
# Time constant of pixel decay
_DECAY_TIME_CONSTANT_MS = 100
_BUFFER_SIZE = 512


[docs]class PushBotRetinaViewer(Thread): """ A viewer for the pushbot's retina. This is a thread that can be \ launched in parallel with the control code. Based on matplotlib """ def __init__( self, resolution, port=0, display_max=_DISPLAY_MAX, frame_time_ms=_FRAME_TIME_MS, decay_time_constant_ms=_DECAY_TIME_CONSTANT_MS): """ :param PushBotRetinaResolution resolution: :param int port: :param float display_max: Value of brightest pixel to show :param int frame_time_ms: How regularity to display frames (milliseconds) :param int decay_time_constant_ms: Time constant of pixel decay (milliseconds) """ # pylint: disable=too-many-arguments try: from matplotlib import pyplot # NOQA from matplotlib import animation # NOQA self.__pyplot = pyplot self.__animation = animation except ImportError as e: raise Exception( "matplotlib must be installed to use this viewer") from e super().__init__(name="PushBotRetinaViewer") self.__display_max = display_max self.__frame_time_ms = frame_time_ms self.__image = None self.__ani = None # Open socket to receive UDP self._init_socket(port) # Determine mask for coordinates self.__coordinate_mask = \ (1 << (2 * resolution.bits_per_coordinate)) - 1 # Set up the image self.__image_data = numpy.zeros(resolution.pixels * resolution.pixels) self.__image_data_view = self.__image_data.view() self.__image_data_view.shape = (resolution.pixels, resolution.pixels) # Calculate decay proportion each frame self.__decay_proportion = math.exp( -float(self.__frame_time_ms) / float(decay_time_constant_ms)) def _init_socket(self, port): """ Open socket to receive UDP. """ self.__spike_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.__spike_socket.bind(("0.0.0.0", port)) self.__spike_socket.setblocking(False) self.__local_host, self.__local_port = \ self.__spike_socket.getsockname() @property def local_host(self): return self.__local_host @property def local_port(self): return self.__local_port def __recv_data(self, size=_BUFFER_SIZE): return self.__spike_socket.recv(size) def _close(self): self.__spike_socket.close() def _parse_raw_data(self, raw_data): # Slice off EIEIO header and timestamp, and convert to numpy # array of uint32 payload = numpy.fromstring(raw_data[6:], dtype="uint32") # Mask out x, y coordinates payload &= self.__coordinate_mask # Increment these pixels self.__image_data[payload] += 1.0 def _updatefig(self): # Read all UDP messages received during last frame while True: try: self._parse_raw_data(self.__recv_data()) except socket.error: # Stop reading break # Decay image data self.__image_data *= self.__decay_proportion # Set image data self.__image.set_array(self.__image_data_view) return [self.__image]
[docs] def run(self): """ How the viewer works when the thread is running. """ # Create image plot of retina output fig = self.__pyplot.figure() self.__image = self.__pyplot.imshow( self.__image_data_view, cmap="viridis", vmin=0.0, vmax=self.__display_max) # Play animation self.__ani = self.__animation.FuncAnimation( fig, (lambda _frame: self._updatefig()), interval=self.__frame_time_ms, blit=True) self.__pyplot.show()