From 9aa89381f3047e68c50f7d33046a1089b50abe1d Mon Sep 17 00:00:00 2001 From: Wentao Wu Date: Thu, 23 Nov 2023 23:30:49 +0800 Subject: [PATCH] k230 canmv release v0.2 --- .gitlab-ci.yml | 185 +- Makefile | 24 +- k230_sdk | 2 +- k230_sdk_overlay/Makefile | 5 +- k230_sdk_overlay/board/common/env/default.env | 5 +- .../common/gen_image_cfg/genimage-sdcard.cfg | 2 +- .../src/big/mpp/kernel/lib/libvo.a | Bin 0 -> 249926 bytes .../CherryUSB/cdc_acm_msc_template.c | 2 +- .../board/extcomponents/CherryUSB/usb_port.c | 31 +- .../bsp/maix3/board/interdrv/gpio/drv_gpio.c | 444 ++ .../bsp/maix3/board/interdrv/gpio/drv_gpio.h | 114 + .../bsp/maix3/board/interdrv/sdio/drv_sdhci.c | 1038 +++ .../big/rt-smart/kernel/bsp/maix3/rtconfig.h | 20 +- .../components/drivers/spi/spi_dev.c | 243 + .../riscv/boot/dts/kendryte/k230_canmv.dts | 96 +- .../arch/riscv/boot/dts/kendryte/k230_evb.dts | 124 +- .../arch/riscv/configs/k230_evb_defconfig | 3 +- k230_sdk_overlay/tools/menuconfig_to_code.sh | 595 ++ micropython | 2 +- micropython_port/Makefile | 21 +- micropython_port/ai_cube/ai_cube.c | 376 + micropython_port/ai_cube/clipper.cpp | 4573 ++++++++++++ micropython_port/ai_cube/fuction_ocrdet.cpp | 323 + micropython_port/ai_cube/postprocess.cpp | 651 ++ micropython_port/ai_demo/ai_demo.c | 718 ++ micropython_port/ai_demo/anchors_640.cpp | 25 + micropython_port/ai_demo/face_detection.cpp | 292 + micropython_port/ai_demo/face_mesh.cpp | 118 + micropython_port/ai_demo/face_parse.cpp | 133 + .../ai_demo/kws/feature_pipeline.cpp | 127 + micropython_port/ai_demo/kws/fft.cpp | 121 + .../ai_demo/kws/kws_preprocess.cpp | 57 + micropython_port/ai_demo/licence_det.cpp | 310 + micropython_port/ai_demo/object_segment.cpp | 342 + micropython_port/ai_demo/ocr_rec.cpp | 179 + micropython_port/ai_demo/opencv_wrap.cpp | 197 + micropython_port/ai_demo/person_kp.cpp | 259 + .../boards/k230_canmv/mpconfigboard.h | 1 - .../boards/k230_evb/mpconfigboard.h | 1 - micropython_port/core/main.c | 14 +- micropython_port/core/modtime.c | 111 +- micropython_port/core/mphalport.c | 75 +- micropython_port/core/mpthreadport.c | 9 +- micropython_port/include/ai_cube/clipper.h | 365 + .../include/ai_cube/postprocess.h | 42 + micropython_port/include/ai_demo/ai_demo.h | 34 + .../include/ai_demo/aidemo_type.h | 112 + .../include/ai_demo/aidemo_wrap.h | 88 + .../include/ai_demo/kws/blocking_queue.h | 98 + micropython_port/include/ai_demo/kws/fbank.h | 222 + .../include/ai_demo/kws/feature_pipeline.h | 120 + micropython_port/include/ai_demo/kws/fft.h | 25 + micropython_port/include/ai_demo/kws/log.h | 83 + micropython_port/include/core/mphalport.h | 5 - .../include/machine/machine_fft.h | 33 + .../include/machine/machine_iomux_fpioa.h | 294 + .../include/machine/machine_spi.h | 124 + .../include/machine/machine_uart.h | 33 + micropython_port/kpu/ai2d.c | 3 +- micropython_port/machine/machine_fft.c | 227 + micropython_port/machine/machine_gpio.c | 98 +- .../machine/machine_iomux_fpioa.c | 841 +++ micropython_port/machine/machine_spi.c | 290 + micropython_port/machine/machine_uart.c | 206 + micropython_port/machine/modmachine.c | 35 +- micropython_port/media/camera.py | 210 +- micropython_port/media/display.py | 8 +- micropython_port/media/g711.py | 205 + micropython_port/media/media.py | 12 +- micropython_port/media/mp4format.py | 104 +- micropython_port/media/player.py | 220 + micropython_port/media/vdecoder.py | 195 + .../extmod/vfs_posix_file.c | 339 + .../python-stdlib/gzip/gzip.py | 29 + micropython_port/micropython_overlay/py/gc.c | 1303 ++++ .../micropython_overlay/py/stream.c | 570 ++ micropython_port/mpconfigport.h | 39 +- micropython_port/mpp/func_def.h | 4 +- micropython_port/mpp/modmpp.c | 2 + micropython_port/mpp/mpp/adec_struct.py | 2 + micropython_port/mpp/mpp/aenc_struct.py | 2 + micropython_port/mpp/mpp/audio_def.py | 9 +- micropython_port/mpp/mpp/audio_struct.py | 3 + micropython_port/mpp/mpp/common_struct.py | 9 + micropython_port/mpp/mpp/pm.py | 72 + micropython_port/mpp/mpp/pm_def.py | 6 + micropython_port/mpp/mpp/pm_struct.py | 22 + micropython_port/mpp/mpp/vdec_def.py | 12 +- micropython_port/mpp/mpp/vdec_struct.py | 2 +- micropython_port/mpp/mpp/video_struct.py | 1 + micropython_port/mpp/pm_api.c | 50 + micropython_port/mpp/pm_func_def.h | 41 + micropython_port/omv/alloc/fb_alloc.c | 29 +- micropython_port/omv/alloc/fb_alloc.h | 2 + micropython_port/omv/alloc/umm_malloc.c | 2 +- .../omv/boards/canmv/imlib_config.h | 94 +- .../omv/boards/canmv/omv_boardconfig.h | 1 - micropython_port/omv/common/ff_wrapper.c | 449 +- micropython_port/omv/common/ff_wrapper.h | 23 +- micropython_port/omv/ide_dbg.c | 198 +- micropython_port/omv/imlib/apriltag.c | 12 +- micropython_port/omv/imlib/draw.c | 15 +- micropython_port/omv/imlib/framebuffer.c | 21 +- micropython_port/omv/imlib/imlib.c | 1 + micropython_port/omv/imlib/imlib.h | 10 +- micropython_port/omv/imlib/jpeg.c | 182 + micropython_port/omv/imlib/jpegd.c | 122 +- micropython_port/omv/imlib/lodepng.h | 2 +- micropython_port/omv/imlib/phasecorrelation.c | 3 + micropython_port/omv/imlib/png.c | 15 +- micropython_port/omv/imlib/qrcode.c | 4 +- micropython_port/omv/modules/py_clock.c | 87 + micropython_port/omv/modules/py_clock.h | 14 + micropython_port/omv/modules/py_helper.c | 26 +- micropython_port/omv/modules/py_image.c | 328 +- micropython_port/omv/modules/py_image.h | 2 + micropython_port/omv/modules/py_imageio.c | 640 ++ micropython_port/omv/modules/py_imageio.h | 14 + micropython_port/ulab/code/numpy/io/io.c | 33 +- tests/Micropython-Basics/demo_crc16.py | 93 + tests/Micropython-Basics/demo_files.py | 7 + tests/Micropython-Basics/demo_fs_info.py | 32 + tests/Micropython-Basics/demo_globals.py | 21 + tests/Micropython-Basics/demo_json.py | 16 + tests/Micropython-Basics/demo_logging.py | 140 + tests/Micropython-Basics/demo_sha256.py | 17 + tests/Micropython-Basics/demo_sys_info.py | 10 + tests/Micropython-Basics/demo_thread.py | 13 + tests/Micropython-Basics/demo_time.py | 9 + tests/Micropython-Basics/demo_view_mem.py | 4 + tests/Micropython-Basics/demo_yield.py | 39 + tests/Micropython-Basics/demo_yield_task.py | 62 + tests/ai_demo/face_detection.py | 382 + tests/ai_demo/face_landmark.py | 615 ++ tests/ai_demo/face_mesh.py | 621 ++ tests/ai_demo/face_parse.py | 530 ++ tests/ai_demo/face_pose.py | 614 ++ tests/ai_demo/face_recognition.py | 697 ++ tests/ai_demo/face_registration.py | 479 ++ tests/ai_demo/finger_guessing.py | 602 ++ tests/ai_demo/hand_detection.py | 339 + tests/ai_demo/hand_keypoint_detection.py | 471 ++ tests/ai_demo/hand_recognition.py | 460 ++ tests/ai_demo/keyword_spotting.py | 168 + tests/ai_demo/licence_det.py | 309 + tests/ai_demo/licence_det_rec.py | 445 ++ tests/ai_demo/object_detect_yolov8n.py | 425 ++ tests/ai_demo/ocr_det.py | 351 + tests/ai_demo/ocr_rec.py | 441 ++ tests/ai_demo/person_detection.py | 341 + tests/ai_demo/person_kp_detect.py | 358 + tests/ai_demo/segment_yolov8n.py | 340 + tests/demo/face_detection.py | 46 +- tests/machine/adc/adc.py | 10 +- tests/machine/fft/fft.py | 34 + tests/machine/fpioa/fpioa.py | 23 + tests/machine/gpio/gpio.py | 14 +- tests/machine/i2c/i2c.py | 41 +- tests/machine/pwm/pwm.py | 11 +- tests/machine/spi/spi.py | 35 + tests/machine/timer/timer.py | 10 +- tests/machine/wdt/wdt.py | 16 +- tests/media/acodec.py | 144 + tests/media/audio.py | 111 +- tests/media/camera.py | 37 +- tests/media/media.py | 14 + tests/media/mp4muxer.py | 13 + tests/media/player.py | 30 + tests/media/venc.py | 30 +- tests/mpp/vo/vo.py | 197 - tests/nncase_runtime/ai2d+kpu.py | 31 +- .../face_detection/nncase_result_0.bin | Bin 51200 -> 0 bytes .../face_detection/nncase_result_1.bin | Bin 12800 -> 0 bytes .../face_detection/nncase_result_2.bin | Bin 3200 -> 0 bytes .../face_detection/nncase_result_3.bin | Bin 25600 -> 0 bytes .../face_detection/nncase_result_4.bin | Bin 6400 -> 0 bytes .../face_detection/nncase_result_5.bin | Bin 1600 -> 0 bytes .../face_detection/nncase_result_6.bin | Bin 128000 -> 0 bytes .../face_detection/nncase_result_7.bin | Bin 32000 -> 0 bytes .../face_detection/nncase_result_8.bin | Bin 8000 -> 0 bytes tests/nncase_runtime/kpu.py | 22 +- tests/nncase_runtime/mbv2/input_0_0.bin | Bin 602112 -> 0 bytes tests/nncase_runtime/mbv2/nncase_result_0.bin | Bin 4004 -> 0 bytes tests/nncase_runtime/mbv2/test.kmodel | Bin 3988152 -> 0 bytes tests/utils/db/readme.txt | 1 + tests/utils/db_img/id_1.jpg | Bin 0 -> 15136 bytes tests/utils/db_img/id_2.png | Bin 0 -> 188132 bytes tests/utils/dict.txt | 6549 +++++++++++++++++ tests/utils/fist.bin | 1313 ++++ tests/utils/five.bin | 999 +++ tests/utils/prior_data_320.bin | Bin 0 -> 67200 bytes tests/utils/shear.bin | 866 +++ tests/utils/wozai.wav | Bin 0 -> 17678 bytes 193 files changed, 39697 insertions(+), 1497 deletions(-) create mode 100644 k230_sdk_overlay/src/big/mpp/kernel/lib/libvo.a create mode 100755 k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/gpio/drv_gpio.c create mode 100755 k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/gpio/drv_gpio.h create mode 100755 k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/sdio/drv_sdhci.c create mode 100755 k230_sdk_overlay/src/big/rt-smart/kernel/rt-thread/components/drivers/spi/spi_dev.c create mode 100755 k230_sdk_overlay/tools/menuconfig_to_code.sh create mode 100644 micropython_port/ai_cube/ai_cube.c create mode 100644 micropython_port/ai_cube/clipper.cpp create mode 100644 micropython_port/ai_cube/fuction_ocrdet.cpp create mode 100644 micropython_port/ai_cube/postprocess.cpp create mode 100644 micropython_port/ai_demo/ai_demo.c create mode 100644 micropython_port/ai_demo/anchors_640.cpp create mode 100644 micropython_port/ai_demo/face_detection.cpp create mode 100644 micropython_port/ai_demo/face_mesh.cpp create mode 100644 micropython_port/ai_demo/face_parse.cpp create mode 100644 micropython_port/ai_demo/kws/feature_pipeline.cpp create mode 100644 micropython_port/ai_demo/kws/fft.cpp create mode 100644 micropython_port/ai_demo/kws/kws_preprocess.cpp create mode 100644 micropython_port/ai_demo/licence_det.cpp create mode 100644 micropython_port/ai_demo/object_segment.cpp create mode 100644 micropython_port/ai_demo/ocr_rec.cpp create mode 100644 micropython_port/ai_demo/opencv_wrap.cpp create mode 100644 micropython_port/ai_demo/person_kp.cpp create mode 100644 micropython_port/include/ai_cube/clipper.h create mode 100644 micropython_port/include/ai_cube/postprocess.h create mode 100644 micropython_port/include/ai_demo/ai_demo.h create mode 100644 micropython_port/include/ai_demo/aidemo_type.h create mode 100644 micropython_port/include/ai_demo/aidemo_wrap.h create mode 100644 micropython_port/include/ai_demo/kws/blocking_queue.h create mode 100644 micropython_port/include/ai_demo/kws/fbank.h create mode 100644 micropython_port/include/ai_demo/kws/feature_pipeline.h create mode 100644 micropython_port/include/ai_demo/kws/fft.h create mode 100644 micropython_port/include/ai_demo/kws/log.h create mode 100644 micropython_port/include/machine/machine_fft.h create mode 100644 micropython_port/include/machine/machine_iomux_fpioa.h create mode 100755 micropython_port/include/machine/machine_spi.h create mode 100644 micropython_port/include/machine/machine_uart.h create mode 100644 micropython_port/machine/machine_fft.c create mode 100644 micropython_port/machine/machine_iomux_fpioa.c create mode 100755 micropython_port/machine/machine_spi.c create mode 100644 micropython_port/machine/machine_uart.c create mode 100644 micropython_port/media/g711.py create mode 100644 micropython_port/media/player.py create mode 100755 micropython_port/media/vdecoder.py create mode 100644 micropython_port/micropython_overlay/extmod/vfs_posix_file.c create mode 100644 micropython_port/micropython_overlay/lib/micropython-lib/python-stdlib/gzip/gzip.py create mode 100644 micropython_port/micropython_overlay/py/gc.c create mode 100644 micropython_port/micropython_overlay/py/stream.c create mode 100644 micropython_port/mpp/mpp/pm.py create mode 100644 micropython_port/mpp/mpp/pm_def.py create mode 100644 micropython_port/mpp/mpp/pm_struct.py mode change 100644 => 100755 micropython_port/mpp/mpp/video_struct.py create mode 100644 micropython_port/mpp/pm_api.c create mode 100644 micropython_port/mpp/pm_func_def.h create mode 100644 micropython_port/omv/modules/py_clock.c create mode 100644 micropython_port/omv/modules/py_clock.h create mode 100644 micropython_port/omv/modules/py_imageio.c create mode 100644 micropython_port/omv/modules/py_imageio.h create mode 100755 tests/Micropython-Basics/demo_crc16.py create mode 100755 tests/Micropython-Basics/demo_files.py create mode 100755 tests/Micropython-Basics/demo_fs_info.py create mode 100755 tests/Micropython-Basics/demo_globals.py create mode 100755 tests/Micropython-Basics/demo_json.py create mode 100755 tests/Micropython-Basics/demo_logging.py create mode 100755 tests/Micropython-Basics/demo_sha256.py create mode 100755 tests/Micropython-Basics/demo_sys_info.py create mode 100755 tests/Micropython-Basics/demo_thread.py create mode 100755 tests/Micropython-Basics/demo_time.py create mode 100755 tests/Micropython-Basics/demo_view_mem.py create mode 100755 tests/Micropython-Basics/demo_yield.py create mode 100755 tests/Micropython-Basics/demo_yield_task.py create mode 100644 tests/ai_demo/face_detection.py create mode 100644 tests/ai_demo/face_landmark.py create mode 100644 tests/ai_demo/face_mesh.py create mode 100644 tests/ai_demo/face_parse.py create mode 100644 tests/ai_demo/face_pose.py create mode 100644 tests/ai_demo/face_recognition.py create mode 100644 tests/ai_demo/face_registration.py create mode 100644 tests/ai_demo/finger_guessing.py create mode 100644 tests/ai_demo/hand_detection.py create mode 100644 tests/ai_demo/hand_keypoint_detection.py create mode 100644 tests/ai_demo/hand_recognition.py create mode 100644 tests/ai_demo/keyword_spotting.py create mode 100644 tests/ai_demo/licence_det.py create mode 100644 tests/ai_demo/licence_det_rec.py create mode 100644 tests/ai_demo/object_detect_yolov8n.py create mode 100644 tests/ai_demo/ocr_det.py create mode 100644 tests/ai_demo/ocr_rec.py create mode 100644 tests/ai_demo/person_detection.py create mode 100644 tests/ai_demo/person_kp_detect.py create mode 100644 tests/ai_demo/segment_yolov8n.py create mode 100644 tests/machine/fft/fft.py create mode 100644 tests/machine/fpioa/fpioa.py create mode 100755 tests/machine/spi/spi.py create mode 100644 tests/media/acodec.py create mode 100644 tests/media/player.py delete mode 100644 tests/mpp/vo/vo.py delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_0.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_1.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_2.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_3.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_4.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_5.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_6.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_7.bin delete mode 100644 tests/nncase_runtime/face_detection/nncase_result_8.bin delete mode 100644 tests/nncase_runtime/mbv2/input_0_0.bin delete mode 100644 tests/nncase_runtime/mbv2/nncase_result_0.bin delete mode 100644 tests/nncase_runtime/mbv2/test.kmodel create mode 100644 tests/utils/db/readme.txt create mode 100644 tests/utils/db_img/id_1.jpg create mode 100644 tests/utils/db_img/id_2.png create mode 100755 tests/utils/dict.txt create mode 100644 tests/utils/fist.bin create mode 100644 tests/utils/five.bin create mode 100644 tests/utils/prior_data_320.bin create mode 100644 tests/utils/shear.bin create mode 100644 tests/utils/wozai.wav diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 3486aef..1241554 100755 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -4,6 +4,8 @@ variables: HW_MODEL: canmv HW_VER: v0.1 TFTP_BASE: /data1/tftp_server + NFS_BASE: /data/nfs_server + NFS_SERVER: 10.10.1.94 GITLAB_REPO: git@g.a-bug.org:maix_sw/k230_canmv.git GITHUB_REPO: git@github.com:kendryte/k230_canmv.git GITEE_REPO: git@gitee.com:kendryte/k230_canmv.git @@ -224,6 +226,26 @@ tag_sync: - echo "---save sdk build output---" - sudo cp -rf --sparse=always ${SRC_DIR}/ ${DST_DIR}/${SUB_DIR}/ - echo "${DST_DIR}/${SUB_DIR}/" + - | + echo "check linux and rtsmart should be enable at the same time to cp mpp/cdk demo" + config_rtsmart=$(cat ./configs/${CONF} | grep 'CONFIG_SUPPORT_RTSMART=y' || true) + config_linux=$(cat ./configs/${CONF} | grep 'CONFIG_SUPPORT_LINUX=y' || true) + if [[ -n "$config_rtsmart" ]] && [[ -n "$config_linux" ]]; + then + sudo mkdir -p ${DST_DIR}/${SUB_DIR}/sdk_testcase/ || exit 1 + echo "---save sdk testcase output---" + mkdir -p sdk_testcase/app_demo/ + cp -rf --sparse=always ./src/big/mpp/userapps/sample/elf/* ./sdk_testcase/app_demo/ + cp -rf --sparse=always ./src/common/cdk/user/out/big/* ./sdk_testcase/app_demo/ + tree ./sdk_testcase/ + echo "---compress sdk_testcase dir---" + tar -zcf k230_testcase_${SUB_BASE}.tar.gz ./sdk_testcase/ || exit 1 + echo "---save zip file---" + sudo cp -rf --sparse=always k230_testcase_${SUB_BASE}.tar.gz ${DST_DIR}/${SUB_DIR}/sdk_testcase/ + else + echo "current config only support linux or only support rtsmart ,skip cp mpp/cdk demo" + fi + - echo "${DST_DIR}/${SUB_DIR}/" - ls "${DST_DIR}/${SUB_DIR}/" - echo "add latest link for current build" - test -h ${DST_DIR}/latest && sudo rm ${DST_DIR}/latest @@ -291,7 +313,7 @@ tag_sync: - test -f ./bin/ailab && rm -rf ./bin/ailab - wget -qc https://ai.b-bug.org/k510/downloads/github/ailab -O ./bin/ailab - chmod +x ./bin/ailab - - available=$(./bin/ailab show --dest available --domain ai --hw_type ${HW_TYPE} --hw_model ${HW_MODEL} --hw_ver ${HW_VER} --format args) + - available=$(./bin/ailab show --dest available --domain ${TEST_ENV} --hw_type ${HW_TYPE} --hw_model ${HW_MODEL} --hw_ver ${HW_VER} --format args) - echo ${available} - > if [[ $available =~ "k230" ]]; then @@ -417,6 +439,112 @@ tag_sync: echo "---finished load image in loop $i" - echo "---load image pass" - echo "----------load image to test device done----------" + copy_test_resource: + - echo "----------Step 5. copy test resource----------" + - echo "get build step result" + - echo $sdk_path + - echo $image_path + - echo $utest_path + - echo $ai_poc_path + - echo $fancy_poc_path + - echo $SUB_BASE + - pwd + - | + echo "---get utest floder without build or with build---" + if [[ -z $utest_path ]]; then + echo "k230 utest NOT build in current job, use latest utest daily build" + echo "get latest K230 utest" + utest_ver=$(ls -alht /data1/k230/dev-release/utest/latest | awk -F '/' '{print $11}') + utest_dir=$(ls -alht /data1/k230/dev-release/utest/latest | awk -F '-> ' '{print $2}') + ls -alht $utest_dir || exit 1 + utest_path="$utest_dir/k230_utest_${utest_ver}.tar.gz" + echo "---use latest utest path: $utest_path" + echo "---use latest utest ver: $utest_ver" + else + echo "k230 utest already build and exist in current job" + utest_ver=$SUB_BASE + echo "---use current utest path: $utest_path" + echo "---use current utest ver: $utest_ver" + fi + - echo "---get nfs case floder---" + - | + echo ${NFS_BASE} + echo "set NFS_DST_DIR with different type based on docs/images/src" + NFS_DST_DIR="${NFS_BASE}/${HW_TYPE}/${HW_MODEL}_${HW_VER}" + echo ${NFS_DST_DIR} + echo "---create NFS dir---" + echo "generate sub dir for MR/Pre-releae/relese job" + echo "check job from MR or tag or schedule or web" + sdk_testcase_copy="NO" + if [[ ${CI_MERGE_REQUEST_IID} ]]; then + echo "current job is MR, skip and use CI_MERGE_REQUEST_IID" + echo "set MR flag for sdk_testcase copy" + sdk_testcase_copy="YES" + elif [[ ${CI_COMMIT_TAG} ]]; then + echo "current job is release job, use CI_COMMIT_TAG" + CI_MERGE_REQUEST_IID=${CI_COMMIT_TAG} + elif [[ $CI_PIPELINE_SOURCE == "schedule" ]]; then + echo "current job is daily build schedule job, use CI_PIPELINE_SOURCE" + CI_MERGE_REQUEST_IID=$CI_PIPELINE_SOURCE + else + echo "current job is not match, use CI_PIPELINE_SOURCE" + CI_MERGE_REQUEST_IID=$CI_PIPELINE_SOURCE + fi + echo "current MR ID ${CI_MERGE_REQUEST_IID}" + SUB_DIR="${CI_MERGE_REQUEST_IID}_${CI_PIPELINE_ID}"; + NFS_CASE_FOLDER="${NFS_DST_DIR}/${SUB_DIR}/${TEST_ENV}" + echo "NFS_CASE_FOLDER: $NFS_CASE_FOLDER" + echo "update current NFS_CASE_FOLDER permission before write" + sudo mkdir -p ${NFS_CASE_FOLDER} || exit 1 + sudo chmod -R 777 ${NFS_CASE_FOLDER} || exit 1 + - echo "---copy test resource to nfs dir in nfs_server" + - mkdir -p $NFS_CASE_FOLDER/output || exit 1 + - sudo chmod -R 777 $NFS_CASE_FOLDER/output || exit 1 + #- test -h $NFS_CASE_FOLDER/resource && rm -rf $NFS_CASE_FOLDER/resource + #- ln -s $NFS_BASE/$HW_TYPE/resource $NFS_CASE_FOLDER/resource || exit 1 + - time cp -rf --sparse=always $NFS_BASE/$HW_TYPE/resource $NFS_CASE_FOLDER/resource + - echo "unzip utest file to nfs dir in nfs_server" + - cd $NFS_CASE_FOLDER/ || exit 1; + - ls $utest_path || exit 1 + - time tar -zxf $utest_path || exit 1 + - ls -alht || exit 1 + - | + if [[ -d "testcase" ]]; then + echo "testcase dir exist, skip rename and continue" + elif [[ -d "utest" ]]; then + echo "testcase not exist and utest exist, rename utest dir to testcase" + mv -f utest testcase || exit 1 + else + echo "utest and testcase dir not exit, return error and exit" + exit 1 + fi + - echo "confirm testcase dir again" + - ls -alht testcase || exit 1 + - | + echo "copy sdk testcase for MR smoke test" + if [[ "$sdk_testcase_copy" == "YES" ]]; then + echo "current job is MR, copy sdk_testcase from image path" + echo $image_path || exit 1 + echo "get testcase full path" + ls $image_path/$DEFAULT_CONF/sdk_testcase/ |grep k230_testcase + sdk_testcase_name=$(ls $image_path/$DEFAULT_CONF/sdk_testcase/ |grep k230_testcase) + echo $sdk_testcase_name || exit 1 + time tar -zxf $image_path/$DEFAULT_CONF/sdk_testcase/$sdk_testcase_name || exit 1 + else + echo "current job is not MR, skip copy sdk testcase" + fi + - echo "show test resource in nfs_server" + - tree $NFS_CASE_FOLDER + - cd - + - pwd + - echo "finished copy test resource in nfs_server" + - echo "----------Step 6. generate test device yml file for test job----------" + - ./bin/ailab convert --dest=script --format yaml --file_name=${TEST_ENV}.yml --nfs_server_ip $NFS_SERVER --nfs_case_folder $NFS_CASE_FOLDER ${available} + - test -f ${TEST_ENV}.yml || exit 1 + - echo "cp ${TEST_ENV}.yml to nfs_case_folder for NUC remote PC audio job" + - cp -rf --sparse=always ${TEST_ENV}.yml $NFS_CASE_FOLDER/ || exit 1 + - test -f $NFS_CASE_FOLDER/${TEST_ENV}.yml || exit 1 + smoke_test: - echo "----------Run Smoke Test start----------" - test -d bin || mkdir ./bin @@ -425,8 +553,11 @@ tag_sync: - chmod +x ./bin/airobot - test -f ./k230.robot && rm -rf ./k230.robot - wget -qc https://ai.b-bug.org/k510/downloads/github/k230.robot -O ./k230.robot - - ./bin/ailab convert --dest=script --format yaml --file_name=k230.yml ${available} - - test -f k230.yml || exit 1 + - ./bin/ailab convert --dest=script --format yaml --file_name=${TEST_ENV}.yml --nfs_server_ip $NFS_SERVER --nfs_case_folder $NFS_CASE_FOLDER ${available} + - test -f ${TEST_ENV}.yml || exit 1 + - echo "cp ${TEST_ENV}.yml to nfs_case_folder for NUC remote PC audio job" + - cp -rf --sparse=always ${TEST_ENV}.yml $NFS_CASE_FOLDER/ || exit 1 + - test -f $NFS_CASE_FOLDER/${TEST_ENV}.yml || exit 1 - echo ""----------Run smoke test start"----------" - | echo "---start to run smoke test in for loop" @@ -600,26 +731,28 @@ build_image: reports: dotenv: build.env -# test setup for all jobs -# load_image_smoke_test: -# stage: load_test -# rules: -# # MR job -# - if: $CI_PIPELINE_SOURCE == "merge_request_event" -# # release job -# - if: $CI_PIPELINE_SOURCE == "push" && $CI_COMMIT_TAG =~ /^v\d+\.\d+.*$/ -# # pre-release job -# - if: $CI_PIPELINE_SOURCE == "web" && $CI_COMMIT_TAG =~ /^v\d+\.\d+.*$/ -# # manual job -# - if: $CI_PIPELINE_SOURCE == "web" && $CI_COMMIT_TAG !~ /^v\d+\.\d+.*$/ -# # daily build -# - if: $CI_PIPELINE_SOURCE == "schedule" -# timeout: 30m -# script: -# - *show_vars -# - *check_build_result -# - !reference [.test, test_setup] -# - !reference [.test, load_image] -# #- !reference [.test, smoke_test] -# after_script: -# - !reference [.test, test_teardown] +#test setup for all jobs +load_image_smoke_test: + stage: load_test + variables: + TEST_ENV: ai + rules: + # MR job + - if: $CI_PIPELINE_SOURCE == "merge_request_event" + # release job + - if: $CI_PIPELINE_SOURCE == "push" && $CI_COMMIT_TAG =~ /^v\d+\.\d+.*$/ + # pre-release job + - if: $CI_PIPELINE_SOURCE == "web" && $CI_COMMIT_TAG =~ /^v\d+\.\d+.*$/ + # manual job + - if: $CI_PIPELINE_SOURCE == "web" && $CI_COMMIT_TAG !~ /^v\d+\.\d+.*$/ + # daily build + - if: $CI_PIPELINE_SOURCE == "schedule" + timeout: 30m + script: + - *show_vars + - *check_build_result + - !reference [.test, test_setup] + - !reference [.test, load_image] + #- !reference [.test, smoke_test] + after_script: + - !reference [.test, test_teardown] diff --git a/Makefile b/Makefile index 4116289..07d01e2 100644 --- a/Makefile +++ b/Makefile @@ -109,6 +109,28 @@ micropython: k230_sdk_build .PHONY: build-image build-image: micropython @cp -r tests $(K230_CANMV_BUILD_DIR)/images/app + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_detection_320.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/nncase_runtime/face_detection + @mkdir -p $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_recognition.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_detection_320.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/yolov8n_320.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/yolov8n_seg_320.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/LPD_640.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/ocr_det_int16.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/hand_det.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_landmark.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_pose.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_parse.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/LPD_640.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/licence_reco.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/handkp_det.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/ocr_rec_int16.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/hand_reco.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/person_detect_yolov5n.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/yolov8n-pose.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/kws.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_alignment.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel + @cp -r k230_sdk/src/big/kmodel/ai_poc/kmodel/face_alignment_post.kmodel $(K230_CANMV_BUILD_DIR)/images/app/tests/kmodel @make -C k230_sdk build-image .PHONY: micropython-clean @@ -121,4 +143,4 @@ k230_sdk-clean: @rm -f $(K230_CANMV_BUILD_DIR)/.k230_sdk_all .PHONY: clean -clean: micropython-clean k230_sdk-clean +clean: micropython-clean k230_sdk-clean \ No newline at end of file diff --git a/k230_sdk b/k230_sdk index 562aeb7..98e0c1d 160000 --- a/k230_sdk +++ b/k230_sdk @@ -1 +1 @@ -Subproject commit 562aeb72dce79bb78c3270eaeec916c433804d70 +Subproject commit 98e0c1d48fcdd512887469fcbced0e6552606bd9 diff --git a/k230_sdk_overlay/Makefile b/k230_sdk_overlay/Makefile index 9a8b5f4..5abfb72 100755 --- a/k230_sdk_overlay/Makefile +++ b/k230_sdk_overlay/Makefile @@ -105,12 +105,11 @@ prepare_toolchain: extract_toolchain .PHONY: prepare_sourcecode check_toolchain prepare_sourcecode:prepare_toolchain @echo "prepare source code" - @cd $(UNITTEST_SRC_PATH);cp -rf testcases ../rt-smart/userapps;cd - #ai @echo "download nncase sdk" @rm -rf src/big/utils/; rm -rf src/big/ai; - @wget -q --show-progress $(DOWNLOAD_URL)/downloads/kmodel/kmodel_v2.3.0.tgz -O - | tar -xzC src/big/ - @wget -q --show-progress $(DOWNLOAD_URL)/downloads/nncase/nncase_k230_v2.3.0.tgz -O - | tar -xzC src/big/ + @wget -q --show-progress $(DOWNLOAD_URL)/downloads/kmodel/kmodel_v2.4.0.1.tgz -O - | tar -xzC src/big/ + @wget -q --show-progress $(DOWNLOAD_URL)/downloads/nncase/nncase_k230_v2.4.0.tgz -O - | tar -xzC src/big/ #big utils @echo "download big utils" diff --git a/k230_sdk_overlay/board/common/env/default.env b/k230_sdk_overlay/board/common/env/default.env index b7b03d6..cdfee13 100755 --- a/k230_sdk_overlay/board/common/env/default.env +++ b/k230_sdk_overlay/board/common/env/default.env @@ -17,7 +17,7 @@ kernel_addr=0xc100000 loadaddr=0xc000000 mmc_boot_dev_num=0 netmask=255.255.255.0 -ramdisk_addr=0xa100000 +ramdisk_addr=0x8200000 serverip=10.10.1.94 upsdimg=usb start; dhcp; tftp 0x9000000 10.10.1.94:wjx/sysimage-sdcard.img.gz;gzwrite mmc 1 0x$fileaddr 0x$filesize; upsduboot=usb start; dhcp; tftp 0xc100000 10.10.1.94:wjx/u-boot.img && mmc dev 1; mmc write 0x$fileaddr 0x1000 0xc00; @@ -25,4 +25,5 @@ upspiimg=usb start; dhcp; tftp 0x9000000 10.10.1.94:wjx/sysimage-spinor32m.img; upspiuboot=usb start; dhcp; tftp 0xc100000 10.10.1.94:wjx/u-boot.img && sf probe 0:0;sf erase 0x80000 0x180000; sf update 0x$fileaddr 0x80000 0x$filesize; sf remove; usb_load=usb start; dhcp; tftp $ramdisk_addr jiangxiangbing/rtt_system.bin; k230_boot mem $ramdisk_addr 0x$filesize; tftp $kernel_addr jiangxiangbing/fw_payload.img;tftp $ramdisk_addr jiangxiangbing/rootfs-final.cpio.gz;tftp $dtb_addr jiangxiangbing/k230.dtb vendor=canaan -bootargs=loglevel=8 rw console=ttyS0,115200 crashkernel=256M-:128M earlycon=sbi; +bootargs=loglevel=8 rw console=ttyS0,115200 earlycon=sbi; + diff --git a/k230_sdk_overlay/board/common/gen_image_cfg/genimage-sdcard.cfg b/k230_sdk_overlay/board/common/gen_image_cfg/genimage-sdcard.cfg index 2d5c13b..0e24ba1 100755 --- a/k230_sdk_overlay/board/common/gen_image_cfg/genimage-sdcard.cfg +++ b/k230_sdk_overlay/board/common/gen_image_cfg/genimage-sdcard.cfg @@ -5,7 +5,7 @@ image app.vfat { } } # empty =true - size = 64M + size = 1024M } image sysimage-sdcard.img { diff --git a/k230_sdk_overlay/src/big/mpp/kernel/lib/libvo.a b/k230_sdk_overlay/src/big/mpp/kernel/lib/libvo.a new file mode 100644 index 0000000000000000000000000000000000000000..5eb899f38cb3dcae231fded0dae952eb12466189 GIT binary patch literal 249926 zcmeFa349jS^*(;X3%u02fLKxM5&=Q2V)BO71yPpZ3U1&YLJ}Yvl9+@=>jFZE`-Tb% zR$OYS^=qxW)Kav3#aipq`faVXmZ}wNZA)7!3L*T@xpU6@o_XfIAy~V7{-57`J~!{o zGtZp++;h*pbLY-vX8$A08!Dy^-{G*r_)D#5aCF3^ 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z;=XFu0d-zEmy9`A!i#k3h;_F-yyV=Qr;hx3Wtez^Zf jn(`6N8tli;CQMh#OpSkdU +#include +#include "drivers/pin.h" +#include +#include +#include +#include "ioremap.h" +#include "drv_gpio.h" +#include "drv_hardlock.h" +#include "board.h" +#ifdef RT_USING_POSIX +#include +#include +#include +#endif +#include + +#define DBG_TAG "GPIO" +#ifdef RT_DEBUG +#define DBG_LVL DBG_LOG +#else +#define DBG_LVL DBG_WARNING +#endif +#define DBG_COLOR + +static struct rt_device g_gpio_device = {0}; +static char *kd_gpio[2]; +static int hardlock; +static struct +{ + void (*hdr)(void *args); + void* args; + gpio_pin_edge_t edge; +} irq_table[GPIO_MAX_NUM]; + +struct rt_device_gpio +{ + rt_uint16_t pin; + rt_uint16_t value; +}; + + +void key_irq(void *args) +{ + sys_tkill(0,SIGUSR2); +} + +static void kd_gpio_reg_writel(volatile char *reg, rt_size_t offset, rt_uint32_t value) +{ + /* hardlock try lock */ + while(0 != kd_hardlock_lock(hardlock)); + + rt_uint32_t val = readl(reg); + val &= ~(1 << offset); + val |= (value << offset); + writel(val, reg); + kd_hardlock_unlock(hardlock); +} + +static rt_uint32_t kd_gpio_reg_readl(volatile char *reg, rt_size_t offset) +{ + rt_uint32_t val = readl(reg); + return (val & (1 << offset)) >> offset; +} + +static int check_pin_valid(rt_base_t pin) +{ + if((rt_uint16_t)pin < 0 || (rt_uint16_t)pin > GPIO_MAX_NUM) + { + LOG_E("pin %d is not valid\n", pin); + return -RT_ERROR; + } + return pin; +} + +static int kd_set_drive_mode(rt_base_t pin, rt_base_t mode) +{ + uint32_t dir; + switch (mode) + { + case GPIO_DM_INPUT: + dir = 0; + break; + case GPIO_DM_INPUT_PULL_DOWN: + dir = 0; + break; + case GPIO_DM_INPUT_PULL_UP: + dir = 0; + break; + case GPIO_DM_OUTPUT: + dir = 1; + break; + default: + LOG_E("GPIO drive mode is not supported."); + break; + } + + if(pin < 32) + { + kd_gpio_reg_writel(kd_gpio[0] + DIRECTION, pin, dir); + } else { + pin -= 32; + kd_gpio_reg_writel(kd_gpio[1] + DIRECTION, pin, dir); + } + + return RT_EOK; +} + +static rt_base_t kd_get_drive_mode(rt_base_t pin) +{ + int ret = check_pin_valid(pin); + if(ret == -1) return -RT_ERROR; + + if(pin < 32) + return kd_gpio_reg_readl(kd_gpio[0] + DIRECTION, pin); + else { + pin -= 32; + return kd_gpio_reg_readl(kd_gpio[1] + DIRECTION, pin); + } +} + +void kd_pin_mode(rt_base_t pin, rt_base_t mode) +{ + int ret = check_pin_valid(pin); + if(ret == -1) return; + + kd_set_drive_mode(pin, mode); +} + +void kd_pin_write(rt_base_t pin, rt_base_t value) +{ + int ret = check_pin_valid(pin); + if(ret == -1) return; + + if(kd_get_drive_mode(pin) == 0) + { + LOG_E("pin %d is input mode, not write it", pin); + return; + } + + if(pin < 32) + kd_gpio_reg_writel(kd_gpio[0] + DATA_OUTPUT, pin, value == KD_GPIO_HIGH ? GPIO_PV_HIGH : GPIO_PV_LOW); + else { + pin -= 32; + kd_gpio_reg_writel(kd_gpio[1] + DATA_OUTPUT, pin, value == KD_GPIO_HIGH ? GPIO_PV_HIGH : GPIO_PV_LOW); + } +} + +int kd_pin_read(rt_base_t pin) +{ + int ret = check_pin_valid(pin); + if(ret == -1) + { + LOG_E("pin %d not valid for read", pin); + return -RT_ERROR; + } + if(pin < 32) + return kd_gpio_reg_readl(kd_gpio[0] + DATA_INPUT, pin) == GPIO_PV_HIGH ? PIN_HIGH : PIN_LOW; + else { + pin -= 32; + return kd_gpio_reg_readl(kd_gpio[1] + DATA_INPUT, pin) == GPIO_PV_HIGH ? PIN_HIGH : PIN_LOW; + } +} + +static void kd_set_pin_edge(rt_int32_t pin, gpio_pin_edge_t edge) +{ + char *reg; + + if(pin < 32) + reg = kd_gpio[0]; + else { + pin -= 32; + reg = kd_gpio[1]; + } + + switch (edge) + { + case GPIO_PE_RISING: + kd_gpio_reg_writel(reg + INT_TYPE_LEVEL, pin, 0x1); + kd_gpio_reg_writel(reg + INT_POLARITY, pin, 0x1); + kd_gpio_reg_writel(reg + INT_BOTHEDGE, pin, 0x0); + break; + case GPIO_PE_FALLING: + kd_gpio_reg_writel(reg + INT_TYPE_LEVEL, pin, 0x1); + kd_gpio_reg_writel(reg + INT_POLARITY, pin, 0x0); + kd_gpio_reg_writel(reg + INT_BOTHEDGE, pin, 0x0); + break; + case GPIO_PE_BOTH: + // kd_gpio_reg_writel(reg + INT_TYPE_LEVEL, pin, 0x1); + // kd_gpio_reg_writel(reg + INT_POLARITY, pin, 0x0); + kd_gpio_reg_writel(reg + INT_BOTHEDGE, pin, 0x1); + break; + case GPIO_PE_LOW: + kd_gpio_reg_writel(reg + INT_TYPE_LEVEL, pin, 0x0); + kd_gpio_reg_writel(reg + INT_POLARITY, pin, 0x0); + kd_gpio_reg_writel(reg + INT_BOTHEDGE, pin, 0x0); + break; + case GPIO_PE_HIGH: + kd_gpio_reg_writel(reg + INT_TYPE_LEVEL, pin, 0x0); + kd_gpio_reg_writel(reg + INT_POLARITY, pin, 0x1); + kd_gpio_reg_writel(reg + INT_BOTHEDGE, pin, 0x0); + break; + default: + break; + } + /* enable gpio interrupte */ + kd_gpio_reg_writel(reg + INT_ENABLE, pin, 0x1); +} + +static void pin_irq(int vector, void *param) +{ + int pin = vector - IRQN_GPIO0_INTERRUPT; + int pin_id = pin; + char *reg; + gpio_pin_edge_t edge = irq_table[pin_id].edge; + if(pin < 32) + reg = kd_gpio[0]; + else { + pin -= 32; + reg = kd_gpio[1]; + } + + switch (edge) + { + case GPIO_PE_RISING: + case GPIO_PE_FALLING: + case GPIO_PE_BOTH: + kd_gpio_reg_writel(reg + INT_CLEAR, pin, 0x1); + break; + case GPIO_PE_LOW: + case GPIO_PE_HIGH: + kd_gpio_reg_writel(reg + INT_MASK, pin, 0x1); //mask level interrupt + break; + default: + break; + } + + if(irq_table[pin_id].hdr) + { + irq_table[pin_id].hdr(irq_table[pin_id].args); //run the target irq handler + } + + switch (edge) + { + case GPIO_PE_LOW: + case GPIO_PE_HIGH: + kd_gpio_reg_writel(reg + INT_MASK, pin, 0x0); //unmask level interrupt + break; + default: + break; + } +} + +rt_err_t kd_pin_attach_irq(rt_int32_t pin,rt_uint32_t mode, void (*hdr)(void *args), void *args) +{ + char irq_name[10]; + int ret = check_pin_valid(pin); + if(ret == -1) + { + LOG_E("pin %d not valid for attach irq", pin); + return -RT_ERROR; + } + + irq_table[pin].hdr = hdr; + irq_table[pin].args = args; + if(mode < 0 || mode > 4) + return -RT_ERROR; + irq_table[pin].edge = mode; + + kd_set_pin_edge(pin, irq_table[pin].edge); + + rt_snprintf(irq_name, sizeof irq_name, "pin%d", pin); + rt_hw_interrupt_install(IRQN_GPIO0_INTERRUPT + pin, pin_irq, RT_NULL, irq_name); + + return RT_EOK; +} + +rt_err_t kd_pin_detach_irq(rt_int32_t pin) +{ + char *reg; + int ret = check_pin_valid(pin); + int pin_id = pin; + if(ret == -1) + { + LOG_E("pin %d not valid for attach irq", pin); + return -RT_ERROR; + } + + if(pin < 32) + reg = kd_gpio[0]; + else { + pin -= 32; + reg = kd_gpio[1]; + } + + irq_table[pin_id].hdr = RT_NULL; + irq_table[pin_id].args = RT_NULL; + + /* disable gpio interrupte */ + kd_gpio_reg_writel(reg + INT_ENABLE, pin, 0x0); + + return ret; +} + +rt_err_t kd_pin_irq_enable(rt_base_t pin, rt_uint32_t enabled) +{ + int ret = check_pin_valid(pin); + if(ret == -1) + { + LOG_E("pin %d not valid for attach irq", pin); + return -RT_ERROR; + } + + if(enabled) + { + rt_hw_interrupt_umask(IRQN_GPIO0_INTERRUPT + pin); + } + else + { + rt_hw_interrupt_mask(IRQN_GPIO0_INTERRUPT + pin); + } + + return RT_EOK; +} + +static rt_err_t gpio_device_ioctl(rt_device_t dev, int cmd, void *args) +{ + struct rt_device_gpio *mode; + /* check parameters */ + RT_ASSERT(dev != RT_NULL); + + mode = (struct rt_device_gpio *) args; + if (mode == RT_NULL) return -RT_ERROR; + switch (cmd) + { + /* kendryte gpio set direction */ + case KD_GPIO_DM_OUTPUT: + kd_pin_mode((rt_base_t)mode->pin, GPIO_DM_OUTPUT); + break; + case KD_GPIO_DM_INPUT: + kd_pin_mode((rt_base_t)mode->pin, GPIO_DM_INPUT); + break; + case KD_GPIO_DM_INPUT_PULL_UP: + kd_pin_mode((rt_base_t)mode->pin, GPIO_DM_INPUT_PULL_UP); + break; + case KD_GPIO_DM_INPUT_PULL_DOWN: + kd_pin_mode((rt_base_t)mode->pin, GPIO_DM_INPUT_PULL_DOWN); + break; + /* kendryte gpio set port value */ + case KD_GPIO_WRITE_LOW: + kd_pin_write((rt_base_t)mode->pin, GPIO_PV_LOW); + break; + case KD_GPIO_WRITE_HIGH: + kd_pin_write((rt_base_t)mode->pin, GPIO_PV_HIGH); + break; + case KD_GPIO_READ_VALUE: + mode->value = kd_pin_read((rt_base_t)mode->pin); + break; + case KD_GPIO_ENABLE_IRQ: + kd_pin_irq_enable((rt_base_t)mode->pin,KD_GPIO_IRQ_ENABLE); + break; + case KD_GPIO_DISABLE_IRQ: + kd_pin_irq_enable((rt_base_t)mode->pin,KD_GPIO_IRQ_DISABLE); + break; + case KD_GPIO_PE_RISING: + case KD_GPIO_PE_FALLING: + case KD_GPIO_PE_BOTH: + case KD_GPIO_PE_HIGH: + case KD_GPIO_PE_LOW: + kd_pin_attach_irq((rt_base_t)mode->pin,cmd, key_irq, RT_NULL); + break; + case KD_GPIO_ATTACH_IRQ: + kd_pin_irq_enable((rt_base_t)mode->pin, KD_GPIO_IRQ_ENABLE); + break; + case KD_GPIO_DETACH_IRQ: + kd_pin_detach_irq((rt_base_t)mode->pin); + break; + default: + LOG_E("[ %s ] : cmd is not valid\n", __func__); + return -RT_EINVAL; + } + + return RT_EOK; +} + +const static struct rt_device_ops gpio_ops = +{ + RT_NULL, + RT_NULL, + RT_NULL, + RT_NULL, + RT_NULL, + gpio_device_ioctl +}; + +int rt_hw_gpio_init(void) +{ + rt_err_t ret = RT_EOK; + rt_device_t gpio_device = &g_gpio_device; + + kd_gpio[0] = rt_ioremap((void *)GPIO0_BASE_ADDR, GPIO0_IO_SIZE); + kd_gpio[1] = rt_ioremap((void *)GPIO1_BASE_ADDR, GPIO1_IO_SIZE); + + ret = rt_device_register(gpio_device, "gpio", RT_DEVICE_FLAG_RDWR); +#ifndef RT_FASTBOOT + if(!ret) + rt_kprintf("canaan gpio driver register OK\n"); +#endif + gpio_device->ops = &gpio_ops; + + if(kd_request_lock(HARDLOCK_GPIO)) { + rt_kprintf("fail to request hardlock-%d\n", HARDLOCK_GPIO); + hardlock = -1; + } else + hardlock = HARDLOCK_GPIO; + + return ret; +} +INIT_BOARD_EXPORT(rt_hw_gpio_init); diff --git a/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/gpio/drv_gpio.h b/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/gpio/drv_gpio.h new file mode 100755 index 0000000..071e432 --- /dev/null +++ b/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/gpio/drv_gpio.h @@ -0,0 +1,114 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef DRV_GPIO_H__ +#define DRV_GPIO_H__ +#define GPIO_MAX_NUM 64 +#define IRQN_GPIO0_INTERRUPT 32 + +/* k230 gpio register table */ +#define DATA_OUTPUT 0x0 +#define DIRECTION 0x04 +#define DATA_SOURCE 0x08 +#define INT_ENABLE 0x30 +#define INT_MASK 0x34 +#define INT_TYPE_LEVEL 0x38 +#define INT_POLARITY 0x3c +#define INT_STATUS 0x40 +#define INT_STATUS_RAW 0x44 +#define INT_DEBOUNCE 0x48 +#define INT_CLEAR 0x4c +#define DATA_INPUT 0x50 +#define VER_ID_CODE 0x64 +#define INT_BOTHEDGE 0x68 + +#define KD_GPIO_HIGH 1 +#define KD_GPIO_LOW 0 +#define KD_GPIO_IRQ_DISABLE 0x00 +#define KD_GPIO_IRQ_ENABLE 0x01 + +/* ioctl */ + +#define KD_GPIO_DM_OUTPUT _IOW('G', 0, int) +#define KD_GPIO_DM_INPUT _IOW('G', 1, int) +#define KD_GPIO_DM_INPUT_PULL_UP _IOW('G', 2, int) +#define KD_GPIO_DM_INPUT_PULL_DOWN _IOW('G', 3, int) +#define KD_GPIO_WRITE_LOW _IOW('G', 4, int) +#define KD_GPIO_WRITE_HIGH _IOW('G', 5, int) + +#define KD_GPIO_PE_RISING _IOW('G', 7, int) +#define KD_GPIO_PE_FALLING _IOW('G', 8, int) +#define KD_GPIO_PE_BOTH _IOW('G', 9, int) +#define KD_GPIO_PE_HIGH _IOW('G', 10, int) +#define KD_GPIO_PE_LOW _IOW('G', 11, int) + +#define KD_GPIO_READ_VALUE _IOW('G', 12, int) + +#define KD_GPIO_ENABLE_IRQ _IOW('G', 13, int) +#define KD_GPIO_DISABLE_IRQ _IOW('G', 14, int) +#define KD_GPIO_ATTACH_IRQ _IOW('G', 15, int) +#define KD_GPIO_DETACH_IRQ _IOW('G', 16, int) + + +// #define KD_GPIO_PE_RISING _IOW('G', 17, int) +// #define KD_GPIO_PE_FALLING _IOW('G', 18, int) +// #define KD_GPIO_PE_BOTH _IOW('G', 19, int) +// #define KD_GPIO_PE_HIGH _IOW('G', 20, int) +// #define KD_GPIO_PE_LOW _IOW('G', 21, int) + + +typedef enum _gpio_pin_edge +{ + GPIO_PE_RISING, + GPIO_PE_FALLING, + GPIO_PE_BOTH, + GPIO_PE_HIGH, + GPIO_PE_LOW, +} gpio_pin_edge_t; + +typedef enum _gpio_drive_mode +{ + GPIO_DM_OUTPUT, + GPIO_DM_INPUT, + GPIO_DM_INPUT_PULL_UP, + GPIO_DM_INPUT_PULL_DOWN, +} gpio_drive_mode_t; + +typedef enum _gpio_pin_value +{ + GPIO_PV_LOW, + GPIO_PV_HIGH +} gpio_pin_value_t; + +int rt_hw_pin_init(void); + +rt_err_t kd_pin_irq_enable(rt_base_t pin, rt_uint32_t enabled); +rt_err_t kd_pin_detach_irq(rt_int32_t pin); +rt_err_t kd_pin_attach_irq(rt_int32_t pin,rt_uint32_t mode, void (*hdr)(void *args), void *args); +void kd_pin_write(rt_base_t pin, rt_base_t value); +void kd_pin_mode(rt_base_t pin, rt_base_t mode); +int kd_pin_read(rt_base_t pin); + +#endif diff --git a/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/sdio/drv_sdhci.c b/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/sdio/drv_sdhci.c new file mode 100755 index 0000000..68e0d6e --- /dev/null +++ b/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/board/interdrv/sdio/drv_sdhci.c @@ -0,0 +1,1038 @@ +/* + * Copyright (c) 2006-2021, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2017-10-10 Tanek first version + * 2021-07-07 linzhenxing add sd card drivers in mmu + * 2021-07-14 linzhenxing add emmc + */ + +#include +#include +#include + +#include "board.h" +#include "drv_sdhci.h" +#include "riscv_io.h" +#include +#include +#ifdef RT_USING_SDIO + +#define DBG_TAG "drv_sdhci" +#ifdef RT_SDIO_DEBUG +#define DBG_LVL DBG_LOG +#else +#define DBG_LVL DBG_WARNING +#endif /* RT_SDIO_DEBUG */ +#include +#define RT_USING_SDIO1 + +#if defined(RT_USING_SDIO0) || defined(RT_USING_SDIO1) + +#define CACHE_LINESIZE (64) + +#define KD_MAX_FREQ (25UL * 1000UL * 1000UL) + +#define USDHC_ADMA_TABLE_WORDS (8U) /* define the ADMA descriptor table length */ +#define USDHC_ADMA2_ADDR_ALIGN (4U) /* define the ADMA2 descriptor table addr align size */ +#define USDHC_DATA_TIMEOUT (0xFU) /*!< data timeout counter value */ + +#define REG_SD_EMMC_SEL 0x64 //bit0 for sd0/emmc0 bit1 for sd1/emmc1 (0:sd 1:emmc) +#define KD_SDMMC_VER_ID 0x2A +#define SDHCI_VENDOR_PTR_R 0xE8 +#define SYS_CTRL_SDEMMC_DIV_CTRL 0x3C +#define SYS_CTRL_SDEMMC_CTRL_EN_CLR 0x68 +#define REG_SDMMC_SOFTRST_SEL 0x4 + +#define SDHCI_DEFAULT_BOUNDARY_SIZE (512 * 1024) +#define SDHCI_DEFAULT_BOUNDARY_ARG (7) + +/* Synopsys vendor specific registers */ +#define reg_offset_addr_vendor (sdhci_readw(host, SDHCI_VENDOR_PTR_R)) +#define SDHC_MHSC_VER_ID_R (reg_offset_addr_vendor) +#define SDHC_MHSC_VER_TPYE_R (reg_offset_addr_vendor+0X4) +#define SDHC_MHSC_CTRL_R (reg_offset_addr_vendor+0X8) +#define SDHC_MBIU_CTRL_R (reg_offset_addr_vendor+0X10) +#define SDHC_EMMC_CTRL_R (reg_offset_addr_vendor+0X2C) +#define SDHC_BOOT_CTRL_R (reg_offset_addr_vendor+0X2E) +#define SDHC_GP_IN_R (reg_offset_addr_vendor+0X30) +#define SDHC_GP_OUT_R (reg_offset_addr_vendor+0X34) +#define SDHC_AT_CTRL_R (reg_offset_addr_vendor+0X40) +#define SDHC_AT_STAT_R (reg_offset_addr_vendor+0X44) + +void *emmc0_base; +void *emmc1_base; + +/* ENABLE CACHER . */ +#define SDHCI_ENABLE_CACHE_CONTROL +#define SDHCI_SDMA_ENABLE + +struct sdhci_64bit_adma2_descriptor adma2_tbl[32] __attribute__ ((aligned(32))); +struct rt_mmcsd_host *host1; +struct rt_mmcsd_host *host2; +static rt_mutex_t mmcsd_mutex = RT_NULL; + +static rt_err_t sdhci_receive_command_response(struct sdhci_host *sdhci_host, struct sdhci_command *command); +static void sdhci_reset(struct sdhci_host *host, uint8_t mask); +extern void rt_hw_cpu_dcache_invalidate(void *addr, int size); +extern void rt_hw_cpu_dcache_clean(void *addr, int size); +extern void rt_hw_cpu_dcache_clean_and_invalidate(void *addr, int size); + + +static inline void sdhci_writel(struct sdhci_host *host, uint32_t val, int reg) +{ + writel(val, (void *)host->mapbase + reg); +} + +static inline void sdhci_writew(struct sdhci_host *host, uint16_t val, int reg) +{ + writew((uint16_t)val, (void *)host->mapbase + reg); +} + +static inline void sdhci_writeb(struct sdhci_host *host, uint8_t val, int reg) +{ + writeb((uint8_t)val, (void *)host->mapbase + reg); +} + +static inline uint32_t sdhci_readl(struct sdhci_host *host, int reg) +{ + return (uint32_t)readl((void *)host->mapbase + reg); +} + +static inline uint16_t sdhci_readw(struct sdhci_host *host, int reg) +{ + return (uint16_t)readw((void *)host->mapbase + reg); +} + +static inline uint8_t sdhci_readb(struct sdhci_host *host, int reg) +{ + return (uint8_t)readb((void *)host->mapbase + reg); +} + +void emmc_reg_display(struct sdhci_host *host) +{ + rt_kprintf("SD_MASA_R:%x\n", sdhci_readl(host, SDHCI_DMA_ADDRESS)); + rt_kprintf("BLCOKSIZE_R:%x\n", sdhci_readw(host, SDHCI_BLOCK_SIZE)); + rt_kprintf("BLOCKCOUNT_R:%x\n", sdhci_readw(host, SDHCI_BLOCK_COUNT)); + rt_kprintf("ARGUMENT_R:%x\n", sdhci_readl(host, SDHCI_ARGUMENT)); + rt_kprintf("XFER_MODE_R:%x\n", sdhci_readw(host, SDHCI_TRANSFER_MODE)); + rt_kprintf("CMD_R:%x\n", sdhci_readw(host, SDHCI_COMMAND)); + rt_kprintf("RESP0_R:%x\n", sdhci_readl(host, SDHCI_RESPONSE)); + rt_kprintf("RESP1_R:%x\n", sdhci_readl(host, SDHCI_RESPONSE+4)); + rt_kprintf("RESP2_R:%x\n", sdhci_readl(host, SDHCI_RESPONSE+8)); + rt_kprintf("RESP3_R:%x\n", sdhci_readl(host, SDHCI_RESPONSE+12)); + rt_kprintf("BUF_DATA_R:%x\n", sdhci_readl(host, SDHCI_BUFFER)); + rt_kprintf("PSTATE_REG_R:%x\n", sdhci_readl(host, SDHCI_PRESENT_STATE)); + rt_kprintf("HOST_CTL_R:%x\n", sdhci_readb(host, SDHCI_HOST_CONTROL)); + rt_kprintf("PWR_CTRL_R:%x\n", sdhci_readb(host, SDHCI_POWER_CONTROL)); + rt_kprintf("BGAP_CTRL_R:%x\n", sdhci_readb(host, SDHCI_BLOCK_GAP_CONTROL)); + rt_kprintf("WUP_CTRL_R:%x\n", sdhci_readb(host, SDHCI_WAKE_UP_CONTROL)); + rt_kprintf("CLK_CTRL_R:%x\n", sdhci_readw(host, SDHCI_CLOCK_CONTROL)); + rt_kprintf("TOUT_CTRL_R:%x\n", sdhci_readb(host, SDHCI_TIMEOUT_CONTROL)); + rt_kprintf("SW_RSR_R:%x\n", sdhci_readb(host, SDHCI_SOFTWARE_RESET)); + rt_kprintf("NORMAL_INT_STAT_R:%x\n", sdhci_readw(host, SDHCI_INT_STATUS)); + rt_kprintf("ERROR_INT_STAT_R:%x\n", sdhci_readw(host, SDHCI_INT_STATUS+2)); + rt_kprintf("NORMAL_INT_STAT_EN_R:%x\n", sdhci_readw(host, SDHCI_INT_ENABLE)); + rt_kprintf("ERROR_INT_STAT_EN_R:%x\n", sdhci_readw(host, SDHCI_INT_ENABLE+2)); + rt_kprintf("NORNAL_INT_SIGNAL_EN_R:%x\n", sdhci_readw(host, SDHCI_SIGNAL_ENABLE)); + rt_kprintf("ERROR_INT_SIGNAL_EN_R:%x\n", sdhci_readw(host, SDHCI_SIGNAL_ENABLE+2)); + rt_kprintf("AUTO_CMD_STAT_R:%x\n", sdhci_readw(host, SDHCI_AUTO_CMD_STATUS)); + rt_kprintf("HOST_CTRL2_R:%x\n", sdhci_readw(host, SDHCI_HOST_CONTROL2)); + rt_kprintf("CAPABILITIES1_R:%x\n", sdhci_readl(host, SDHCI_CAPABILITIES)); + rt_kprintf("CAPABILITIES2_R:%x\n", sdhci_readl(host, SDHCI_CAPABILITIES_1)); + rt_kprintf("FORCE_AUTO_CMD_STAT_R:%x\n", sdhci_readw(host, SDHCI_MAX_CURRENT)); + rt_kprintf("FORCE_ERROR_INT_STAT_R:%x\n", sdhci_readw(host, SDHCI_SET_ACMD12_ERROR)); + rt_kprintf("AMDA_ERR_STAT_STAT_R:%x\n", sdhci_readl(host, SDHCI_ADMA_ERROR)); + rt_kprintf("AMDA_SA_LOW_STAT_R:%x\n", sdhci_readl(host, SDHCI_ADMA_ADDRESS)); + rt_kprintf("AMDA_SA_HIGH_STAT_R:%x\n", sdhci_readl(host, SDHCI_ADMA_ADDRESS_HI)); +} + +void host_change(void); + + +static inline void delay_1k(unsigned int uicnt) +{ + int i, j; + + for(i=0; imapbase == (void *)emmc0_base) + { + sdhci_writew(mmcsd,SDHCI_CTRL_VDD_180, SDHCI_HOST_CONTROL2); + pwr |= SDHCI_POWER_ON | SDHCI_POWER_180; + } + else + { + pwr |= SDHCI_POWER_ON | SDHCI_POWER_330; + } + + + sdhci_writeb(mmcsd, pwr, SDHCI_POWER_CONTROL); + + +} + +static void sdhci_send_command(struct sdhci_host *sdhci_host, struct sdhci_command *command, rt_bool_t enDMA) +{ + RT_ASSERT(RT_NULL != command); + + uint32_t cmd_r = 0, xfer_mode = 0; + struct sdhci_data *sdhci_data = sdhci_host->sdhci_data; + + cmd_r = sdhci_readw(sdhci_host, SDHCI_COMMAND); + xfer_mode = sdhci_readw(sdhci_host, SDHCI_TRANSFER_MODE); + /* config cmd_r and xfer_mode */ + cmd_r &= ~0xffff; + cmd_r |= SDHCI_MAKE_CMD(command->index, command->flags); + + if (sdhci_data != RT_NULL) + { + if (enDMA != false) + { + command->flags2 |= sdhci_enable_dma_flag; + } +#ifdef SDHCI_SDMA_ENABLE + uint32_t start_addr = 0; + if (sdhci_data->rxData) + { + command->flags2 |= sdhci_enable_dma_flag; + start_addr = (rt_ubase_t)((uint8_t *)sdhci_data->rxData + PV_OFFSET); + sdhci_writel(sdhci_host, start_addr, SDHCI_DMA_ADDRESS); + } + else + { + command->flags2 |= sdhci_enable_dma_flag; + start_addr = (rt_ubase_t)((uint8_t *)sdhci_data->txData + PV_OFFSET); + sdhci_writel(sdhci_host, start_addr, SDHCI_DMA_ADDRESS); + } +#endif + xfer_mode &= ~0xffff; + xfer_mode |= command->flags2 & 0x1ff; + sdhci_writew(sdhci_host, SDHCI_MAKE_BLKSZ(7, sdhci_data->blockSize), SDHCI_BLOCK_SIZE); + sdhci_writew(sdhci_host, sdhci_data->blockCount, SDHCI_BLOCK_COUNT); + sdhci_writew(sdhci_host, xfer_mode, SDHCI_TRANSFER_MODE); + } + sdhci_writel(sdhci_host, command->argument, SDHCI_ARGUMENT); + sdhci_writew(sdhci_host, cmd_r, SDHCI_COMMAND); +} + +static rt_err_t sdhci_wait_command_done(struct sdhci_host *sdhci_host, struct sdhci_command *command, rt_bool_t executeTuning) +{ + RT_ASSERT(RT_NULL != command); + + int error = 0; + uint32_t interruptStatus = 0U; + /* tuning cmd do not need to wait command done */ + if (!executeTuning) + { + /* Wait command complete or USDHC encounters error. */ + while (!(sdhci_get_int_status_flag(sdhci_host) & (SDHCI_INT_RESPONSE | sdhci_command_error_flag))) + { + } + + interruptStatus = sdhci_get_int_status_flag(sdhci_host); + + if ((interruptStatus & sdhci_sdr104_tuning_flag) != 0U) + { + error = sdhci_tuning_error_flag; + } + else if ((interruptStatus & sdhci_command_error_flag) != 0U) + { + error = 1; + } + else + { + } + /* Receive response when command completes successfully. */ + if (error == 0) + { + error = sdhci_receive_command_response(sdhci_host, command); + } + + sdhci_clear_int_status_flag( + sdhci_host, (sdhci_command_complete_flag | sdhci_command_error_flag | sdhci_tuning_error_flag)); + } + + return error; +} + +static rt_err_t sdhci_transfer_data_blocking(struct sdhci_host *sdhci_host, struct sdhci_data *data, rt_bool_t enDMA) +{ + rt_err_t error = RT_EOK; + uint32_t interruptStatus = 0U; + unsigned int stat, rdy, mask, timeout, block = 0; + rt_bool_t transfer_done = false; + int i = 0; + + if (enDMA) + { + /* Wait data complete or USDHC encounters error. */ + while (!(sdhci_get_int_status_flag(sdhci_host) & + (sdhci_data_complete_flag | sdhci_data_error_flag | sdhci_dma_error_flag | sdhci_tuning_error_flag))) + { + } + + interruptStatus = sdhci_get_int_status_flag(sdhci_host); + if ((interruptStatus & sdhci_tuning_error_flag) != 0U) + { + error = sdhci_status_tuning_error; + } + else if ((interruptStatus & (sdhci_data_error_flag | sdhci_dma_error_flag)) != 0U) + { + if (!(data->enableIgnoreError) || (interruptStatus & sdhci_data_timeout_flag)) + { + error = RT_ERROR; + emmc_reg_display(sdhci_host); + } + } + else + { + } + + sdhci_clear_int_status_flag(sdhci_host, (sdhci_data_complete_flag | sdhci_data_error_flag | sdhci_dma_error_flag | sdhci_tuning_error_flag)); + } + else + { +#ifdef SDHCI_SDMA_ENABLE + unsigned char ctrl; + ctrl = sdhci_readb(sdhci_host, SDHCI_HOST_CONTROL); + ctrl &= ~SDHCI_CTRL_DMA_MASK; + sdhci_writeb(sdhci_host, ctrl, SDHCI_HOST_CONTROL); +#endif + + timeout = 1000000; + rdy = SDHCI_INT_SPACE_AVAIL | SDHCI_INT_DATA_AVAIL; + mask = SDHCI_DATA_AVAILABLE | SDHCI_SPACE_AVAILABLE; + + do { + stat = sdhci_readl(sdhci_host, SDHCI_INT_STATUS); + if (stat & SDHCI_INT_ERROR) + { + LOG_D("%s: Error detected in status(0x%X)!\n", + __func__, stat); + emmc_reg_display(sdhci_host); + return -1; + } + + if (!transfer_done && (stat & rdy)) + { + if (!(sdhci_readl(sdhci_host, SDHCI_PRESENT_STATE) & mask)) + { + continue; + } + + sdhci_writel(sdhci_host, rdy, SDHCI_INT_STATUS); + if (data->rxData) + { + for (i = 0; i < data->blockSize/4; i++) + { + data->rxData[i + block * data->blockSize] = sdhci_readl(sdhci_host, SDHCI_BUFFER); + } + } + else + { + for (i = 0; i < data->blockSize/4; i++) + { + sdhci_writel(sdhci_host, data->txData[i + block * data->blockSize], SDHCI_BUFFER); + } + } + if (++block >= data->blockCount) + { + /* Keep looping until the SDHCI_INT_DATA_END is + * cleared, even if we finished sending all the + * blocks. + */ + transfer_done = true; + continue; + } + } + +#ifdef SDHCI_SDMA_ENABLE + if (!transfer_done && (stat & SDHCI_INT_DMA_END)) + { + uint32_t start_addr = 0; + if (data->rxData) + { + start_addr = (rt_ubase_t)((uint8_t *)data->rxData + PV_OFFSET); + sdhci_writel(sdhci_host, SDHCI_INT_DMA_END, SDHCI_INT_STATUS); + start_addr &= ~(SDHCI_DEFAULT_BOUNDARY_SIZE - 1); + start_addr += SDHCI_DEFAULT_BOUNDARY_SIZE; + sdhci_writel(sdhci_host, start_addr, SDHCI_DMA_ADDRESS); + } + else + { + start_addr = (rt_ubase_t)((uint8_t *)data->txData + PV_OFFSET); + sdhci_writel(sdhci_host, SDHCI_INT_DMA_END, SDHCI_INT_STATUS); + start_addr &= ~(SDHCI_DEFAULT_BOUNDARY_SIZE - 1); + start_addr += SDHCI_DEFAULT_BOUNDARY_SIZE; + sdhci_writel(sdhci_host, start_addr, SDHCI_DMA_ADDRESS); + } + + } +#endif + + if (timeout-- > 0) + { + delay_1k(1); + } + else + { + rt_kprintf("%s: Transfer data timeout\n", __func__); + return -1; + } + } while (!(stat & SDHCI_INT_DATA_END)); + } +#if defined(SDHCI_ENABLE_CACHE_CONTROL) + /* invalidate cache for read */ + // if ((data != RT_NULL) && (data->rxData != RT_NULL)) + // { + // /* invalidate the DCACHE */ + // rt_hw_dsb(); + // rt_hw_cpu_dcache_ops(RT_HW_CACHE_INVALIDATE, (void *)data->rxData, (data->blockSize) * (data->blockCount)); + // } +#endif + return error; +} + +rt_err_t sdhci_set_transfer_config(struct sdhci_host *sdhci_host, struct sdhci_command *sdhci_command, struct sdhci_data *sdhci_data) +{ + RT_ASSERT(sdhci_command); + /* Define the flag corresponding to each response type. */ + switch (sdhci_command->responseType) + { + case card_response_type_none: + break; + case card_response_type_r1: /* Response 1 */ + case card_response_type_r5: /* Response 5 */ + case card_response_type_r6: /* Response 6 */ + case card_response_type_r7: /* Response 7 */ + + sdhci_command->flags |= (sdhci_cmd_resp_short | sdhci_enable_cmd_crc_flag | sdhci_enable_cmd_index_chk_flag); + break; + + case card_response_type_r1b: /* Response 1 with busy */ + case card_response_type_r5b: /* Response 5 with busy */ + sdhci_command->flags |= + (sdhci_cmd_resp_short_busy | sdhci_enable_cmd_crc_flag | sdhci_enable_cmd_index_chk_flag); + break; + + case card_response_type_r2: /* Response 2 */ + sdhci_command->flags |= (sdhci_cmd_resp_long | sdhci_enable_cmd_crc_flag); + break; + + case card_response_type_r3: /* Response 3 */ + case card_response_type_r4: /* Response 4 */ + sdhci_command->flags |= (sdhci_cmd_resp_short); + break; + + default: + break; + } + + if (sdhci_command->type == card_command_type_abort) + { + sdhci_command->flags |= sdhci_enable_command_type_abort; + } + else if (sdhci_command->type == card_command_type_resume) + { + sdhci_command->flags |= sdhci_enable_command_type_resume; + } + else if (sdhci_command->type == card_command_type_suspend) + { + sdhci_command->flags |= sdhci_enable_command_type_suspend; + } + else if (sdhci_command->type == card_command_type_normal) + { + sdhci_command->flags |= sdhci_enable_command_type_normal; + } + sdhci_writeb(sdhci_host, 0xe, SDHCI_TIMEOUT_CONTROL); + if (sdhci_data) + { + sdhci_command->flags |= sdhci_enable_cmd_data_present_flag; + sdhci_command->flags2 |= sdhci_enable_block_count_flag | sdhci_enable_auto_command12_flag; + + if (sdhci_data->rxData) + { + sdhci_command->flags2 |= sdhci_data_read_flag; + } + if (sdhci_data->blockCount > 1U) + { + sdhci_command->flags2 |= (sdhci_multiple_block_flag); + /* auto command 12 */ + if (sdhci_data->enableAutoCommand12) + { + /* Enable Auto command 12. */ + sdhci_command->flags2 |= sdhci_enable_auto_command12_flag; + } + /* auto command 23 */ + if (sdhci_data->enableAutoCommand23) + { + sdhci_command->flags2 |= sdhci_enable_auto_command23_flag; + } + } + } + return 0; + +} + +static rt_err_t sdhci_receive_command_response(struct sdhci_host *sdhci_host, struct sdhci_command *command) +{ + uint32_t i; + + if (command->responseType == card_response_type_r2) + { + /* CRC is stripped so we need to do some shifting. */ + for (i = 0; i < 4; i++) + { + command->response[3-i] = sdhci_readl(sdhci_host, SDHCI_RESPONSE + (3-i)*4) << 8; + if (i != 3) + { + command->response[3-i] |= sdhci_readb(sdhci_host, SDHCI_RESPONSE + (3-i)*4-1); + } + } + + } + else + { + command->response[0] = sdhci_readl(sdhci_host, SDHCI_RESPONSE); + } + /* check response error flag */ + if ((command->responseErrorFlags != 0U) && + ((command->responseType == card_response_type_r1) || (command->responseType == card_response_type_r1b) || + (command->responseType == card_response_type_r6) || (command->responseType == card_response_type_r5))) + { + if (((command->responseErrorFlags) & (command->response[0U])) != 0U) + { + return -1;//kStatus_USDHC_SendCommandFailed; + } + } + + return 0; +} + +rt_err_t sdhci_transfer_blocking(struct sdhci_host *sdhci_host) +{ + RT_ASSERT(sdhci_host); + struct sdhci_command *sdhci_command = sdhci_host->sdhci_command; + struct sdhci_data *sdhci_data = sdhci_host->sdhci_data; + rt_bool_t enDMA = false; + int ret = RT_EOK; + + /* Wait until command/data bus out of busy status. */ + while (sdhci_get_present_status_flag(sdhci_host) & sdhci_command_inhibit_flag) + { + } + while (sdhci_data && (sdhci_get_present_status_flag(sdhci_host) & sdhci_data_inhibit_flag)) + { + } + sdhci_writel(sdhci_host, SDHCI_INT_ALL_MASK, SDHCI_INT_STATUS); +#if defined(SDHCI_ENABLE_CACHE_CONTROL) + if ((sdhci_data != RT_NULL) && (!(sdhci_data->executeTuning))) + { + if (sdhci_data->txData != RT_NULL) + { + /* clear the DCACHE */ + rt_hw_cpu_dcache_ops(RT_HW_CACHE_FLUSH, (void *)sdhci_data->txData, (sdhci_data->blockSize) * (sdhci_data->blockCount)); + } + else + { + /* clear the DCACHE */ + rt_hw_cpu_dcache_ops(RT_HW_CACHE_FLUSH, (void *)sdhci_data->rxData, (sdhci_data->blockSize) * (sdhci_data->blockCount)); + rt_hw_cpu_dcache_ops(RT_HW_CACHE_INVALIDATE, (void *)sdhci_data->rxData, (sdhci_data->blockSize) * (sdhci_data->blockCount)); + } + } +#endif + ret = sdhci_set_transfer_config(sdhci_host, sdhci_command, sdhci_data); + if (ret != 0) + { + return ret; + } + + sdhci_send_command(sdhci_host, sdhci_command, enDMA); + /* wait command done */ + ret = sdhci_wait_command_done(sdhci_host, sdhci_command, ((sdhci_data == RT_NULL) ? false : sdhci_data->executeTuning)); + /* transfer data */ + if ((sdhci_data != RT_NULL) && (ret == 0)) + { + ret = sdhci_transfer_data_blocking(sdhci_host, sdhci_data, enDMA); + } + sdhci_writel(sdhci_host, SDHCI_INT_ALL_MASK, SDHCI_INT_STATUS); + sdhci_reset(sdhci_host, SDHCI_RESET_CMD); + sdhci_reset(sdhci_host, SDHCI_RESET_DATA); + return ret; + +} + +static void kd_mmc_request(struct rt_mmcsd_host *host, struct rt_mmcsd_req *req) +{ + struct sdhci_host *mmcsd; + struct rt_mmcsd_cmd *cmd; + struct rt_mmcsd_data *data; + rt_err_t error; + struct sdhci_data sdhci_data = {0}; + struct sdhci_command sdhci_command = {0}; + + rt_mutex_take(mmcsd_mutex, RT_WAITING_FOREVER); + + RT_ASSERT(host != RT_NULL); + RT_ASSERT(req != RT_NULL); + + mmcsd = (struct sdhci_host *)host->private_data; + RT_ASSERT(mmcsd != RT_NULL); + + cmd = req->cmd; + RT_ASSERT(cmd != RT_NULL); + + LOG_D("\tcmd->cmd_code: %02d, cmd->arg: %08x, cmd->flags: %08x --> ", cmd->cmd_code, cmd->arg, cmd->flags); + + data = cmd->data; + + sdhci_command.index = cmd->cmd_code; + sdhci_command.argument = cmd->arg; + + if (cmd->cmd_code == STOP_TRANSMISSION) + sdhci_command.type = card_command_type_abort; + else + sdhci_command.type = card_command_type_normal; + + switch (cmd->flags & RESP_MASK) + { + case RESP_NONE: + sdhci_command.responseType = card_response_type_none; + break; + case RESP_R1: + sdhci_command.responseType = card_response_type_r1; + break; + case RESP_R1B: + sdhci_command.responseType = card_response_type_r1b; + break; + case RESP_R2: + sdhci_command.responseType = card_response_type_r2; + break; + case RESP_R3: + sdhci_command.responseType = card_response_type_r3; + break; + case RESP_R4: + sdhci_command.responseType = card_response_type_r4; + break; + case RESP_R6: + sdhci_command.responseType = card_response_type_r6; + break; + case RESP_R7: + sdhci_command.responseType = card_response_type_r7; + break; + case RESP_R5: + sdhci_command.responseType = card_response_type_r5; + break; + default: + RT_ASSERT(RT_NULL); + } + + sdhci_command.flags = 0; + mmcsd->sdhci_command = &sdhci_command; + + if (data) + { + if (req->stop != RT_NULL) + sdhci_data.enableAutoCommand12 = true; + else + sdhci_data.enableAutoCommand12 = false; + + sdhci_data.enableAutoCommand23 = false; + + + sdhci_data.blockSize = data->blksize; + sdhci_data.blockCount = data->blks; + + LOG_D(" buf: %p, blksize:%d, blks:%d ", data->buf, sdhci_data.blockSize, sdhci_data.blockCount); + if ((cmd->cmd_code == WRITE_BLOCK) || (cmd->cmd_code == WRITE_MULTIPLE_BLOCK)) + { + sdhci_data.txData = data->buf; + sdhci_data.rxData = RT_NULL; + } + else + { + sdhci_data.rxData = data->buf; + sdhci_data.txData = RT_NULL; + } + + mmcsd->sdhci_data = &sdhci_data; + } + else + { + mmcsd->sdhci_data = RT_NULL; + } + rt_base_t flag = rt_hw_interrupt_disable(); + error = sdhci_transfer_blocking(mmcsd); + rt_hw_interrupt_enable(flag); + if (error == 1) + { + sdhic_error_recovery(mmcsd); + LOG_D(" ***USDHC_TransferBlocking error: %d*** --> \n", error); + cmd->err = -RT_ERROR; + } + + if ((cmd->flags & RESP_MASK) == RESP_R2) + { + cmd->resp[3] = sdhci_command.response[0]; + cmd->resp[2] = sdhci_command.response[1]; + cmd->resp[1] = sdhci_command.response[2]; + cmd->resp[0] = sdhci_command.response[3]; + LOG_D(" resp 0x%08X 0x%08X 0x%08X 0x%08X\n", + cmd->resp[0], cmd->resp[1], cmd->resp[2], cmd->resp[3]); + } + else + { + cmd->resp[0] = sdhci_command.response[0]; + LOG_D(" resp 0x%08X\n", cmd->resp[0]); + } + mmcsd_req_complete(host); + + rt_mutex_release(mmcsd_mutex); + return; +} + +void kd_card_clk_enable(struct sdhci_host *host, uint32_t enable ) +{ + if(enable) + { + sdhci_writew(host,sdhci_readw(host, SDHCI_CLOCK_CONTROL)|SDHCI_CLOCK_CARD_EN|SDHCI_PROG_CLOCK_MODE,SDHCI_CLOCK_CONTROL); + } + else + { + sdhci_writew(host,sdhci_readw(host, SDHCI_CLOCK_CONTROL)&(~ SDHCI_CLOCK_CARD_EN), SDHCI_CLOCK_CONTROL); + } + +} + +void kd_pll_clk_enable(struct sdhci_host *host, uint32_t enable ) +{ + if(enable) + { + sdhci_writew(host,sdhci_readw(host, SDHCI_CLOCK_CONTROL)|SDHCI_CLOCK_PLL_EN, SDHCI_CLOCK_CONTROL); + } + else + { + sdhci_writew(host,sdhci_readw(host, SDHCI_CLOCK_CONTROL)&(~ SDHCI_CLOCK_PLL_EN), SDHCI_CLOCK_CONTROL); + } +} + +void kd_mmc_clock_freq_change(struct sdhci_host *host, uint32_t clock) +{ + uint32_t div = 0, clk = 0; + + //Execute SD Clock Stop Sequence + kd_card_clk_enable(host,0); + //Set CLK_CTRL_R.PLL_ENABLE to 0 + kd_pll_clk_enable(host,0); + if(clock == 0) + return; + + if (host->max_clk <= clock) { + div = 1; + } else { + for (div = 2; + div < SDHCI_MAX_DIV_SPEC_300; + div += 2) { + if ((host->max_clk / div) <= clock) + break; + } + } + div >>= 1; + clk |= (div & SDHCI_DIV_MASK) << SDHCI_DIVIDER_SHIFT; + clk |= ((div & SDHCI_DIV_HI_MASK) >> SDHCI_DIV_MASK_LEN) + << SDHCI_DIVIDER_HI_SHIFT; + + sdhci_writew(host, clk, SDHCI_CLOCK_CONTROL); + + kd_pll_clk_enable(host,1); + kd_card_clk_enable(host,1); + sdhci_writew(host,sdhci_readw(host, SDHCI_CLOCK_CONTROL)|SDHCI_CLOCK_INT_EN,SDHCI_CLOCK_CONTROL); +} + +static void kd_set_iocfg(struct rt_mmcsd_host *host, struct rt_mmcsd_io_cfg *io_cfg) +{ + struct sdhci_host *mmcsd; + unsigned int sdhci_clk; + unsigned int bus_width; + uint8_t ctrl = 0; + RT_ASSERT(host != RT_NULL); + RT_ASSERT(host->private_data != RT_NULL); + RT_ASSERT(io_cfg != RT_NULL); + + mmcsd = (struct sdhci_host *)host->private_data; + sdhci_clk = io_cfg->clock; + bus_width = io_cfg->bus_width; + + /* ToDo : Use the Clock Framework */ + LOG_D("%s: sdhci_clk=%d, bus_width:%d\n", __func__, sdhci_clk, bus_width); + + kd_mmc_clock_freq_change(mmcsd, sdhci_clk); + ctrl = sdhci_readb(mmcsd, SDHCI_HOST_CONTROL); + if (bus_width == 3) + { + ctrl &= ~SDHCI_CTRL_4BITBUS; + ctrl |= SDHCI_CTRL_8BITBUS; + } + else + { + ctrl &= ~SDHCI_CTRL_8BITBUS; + if (bus_width == 2) + { + ctrl |= SDHCI_CTRL_4BITBUS; + } + else + { + ctrl &= ~SDHCI_CTRL_4BITBUS; + } + } + sdhci_writeb(mmcsd, ctrl, SDHCI_HOST_CONTROL); +} + +static const struct rt_mmcsd_host_ops ops = +{ + kd_mmc_request, + kd_set_iocfg, + RT_NULL,//_mmc_get_card_status, + RT_NULL,//_mmc_enable_sdio_irq, +}; + +static int init_kd_mmc_core(struct sdhci_host *host) +{ + if ((sdhci_readb(host, SDHCI_SOFTWARE_RESET) & SDHCI_RESET_ALL)) + { + LOG_E("%s: sd host controller reset error\n", __func__); + return -1; + } + + return 0; +} + +static void kd_sdhci_clk_reset(void) +{ + static char *hi_sys_virt_addr; + static char *sysctl_virt_addr; + unsigned int data; + unsigned int hi_sys_config_addr = 0x91585000; + unsigned int sysctl_addr = 0x91101000; + + /*sdio:Hi_sys_config space,sdio write protect open */ + hi_sys_virt_addr = rt_ioremap((void *)hi_sys_config_addr,0x400); + sysctl_virt_addr = rt_ioremap((void *)sysctl_addr,0xb0); + data = readl(hi_sys_virt_addr + 8); + data |= 0x4; + writel(data, hi_sys_virt_addr + 8); + /*sysctl reset sdio1*/ + writel(0x2, sysctl_virt_addr + 0x34); + rt_thread_mdelay(1); + while(!(readl(sysctl_virt_addr + 0x34) & 0x20000000)); + writel(0x20000000, sysctl_virt_addr + 0x34); + rt_thread_mdelay(5); + +} + +rt_int32_t kd_sdhci_init(void) +{ +#ifdef RT_USING_SDIO0 + struct sdhci_host *mmcsd1; + + host1 = mmcsd_alloc_host(); + if (!host1) + { + goto err; + } + + mmcsd1 = rt_malloc(sizeof(struct sdhci_host)); + if (!mmcsd1) + { + LOG_E("alloc mci failed\n"); + goto err; + } + + rt_memset(mmcsd1, 0, sizeof(struct sdhci_host)); + mmcsd1->mapbase = (void *)rt_ioremap((void *)SDEMMC0_BASE, 0x1000); + emmc0_base = (void *)mmcsd1->mapbase; + mmcsd1->sdhci_data = RT_NULL; + mmcsd1->sdhci_command = RT_NULL; + mmcsd1->max_clk = 200000000; + strncpy(host1->name, "emmc", sizeof(host1->name)-1); + host1->ops = &ops; + host1->freq_min = 400000; + host1->freq_max = 200000000; + host1->valid_ocr = VDD_165_195;//VDD_32_33 | VDD_33_34 ; + host1->flags = MMCSD_BUSWIDTH_8 | MMCSD_MUTBLKWRITE | \ + MMCSD_SUP_HIGHSPEED | MMCSD_SUP_SDIO_IRQ; + host1->max_seg_size = 65535; + host1->max_dma_segs = 1; + host1->max_blk_size = 512; + host1->max_blk_count = 4096; + + mmcsd1->host = host1; + _mmcsd_clk_init(mmcsd1); + + _mmcsd_host_init(mmcsd1); + host1->private_data = mmcsd1; + + if (init_kd_mmc_core(mmcsd1)) + { + rt_free(mmcsd1); + goto err; + } + mmcsd_change(host1); +#endif +#ifdef RT_USING_SDIO1 + struct sdhci_host *mmcsd2; + + host2 = mmcsd_alloc_host(); + if (!host2) + { + goto err; + } + + mmcsd2 = rt_malloc(sizeof(struct sdhci_host)); + if (!mmcsd2) + { + LOG_E("alloc mci failed\n"); + goto err; + } + + rt_memset(mmcsd2, 0, sizeof(struct sdhci_host)); + mmcsd2->mapbase = (void *)rt_ioremap((void *)SDEMMC1_BASE, 0x1000); + emmc1_base = (void *)mmcsd2->mapbase; + mmcsd2->sdhci_data = RT_NULL; + mmcsd2->sdhci_command = RT_NULL; + mmcsd2->max_clk = 100000000; + strncpy(host2->name, "sd", sizeof(host2->name)-1); + host2->ops = &ops; + host2->freq_min = 375000; + host2->freq_max = 50000000; + host2->valid_ocr = VDD_32_33 | VDD_33_34 ; + host2->flags = MMCSD_BUSWIDTH_4 | MMCSD_MUTBLKWRITE | \ + MMCSD_SUP_HIGHSPEED | MMCSD_SUP_SDIO_IRQ; + host2->max_seg_size = 65535; + host2->max_dma_segs = 1; + host2->max_blk_size = 512; + host2->max_blk_count = 4096; + + mmcsd2->host = host2; + + kd_sdhci_clk_reset(); + _mmcsd_clk_init(mmcsd2); + _mmcsd_host_init(mmcsd2); + + host2->private_data = mmcsd2; + + if (init_kd_mmc_core(mmcsd2)) + { + rt_free(mmcsd2); + goto err; + } + mmcsd_change(host2); +#endif + + mmcsd_mutex = rt_mutex_create("mmutex", RT_IPC_FLAG_FIFO); + if (mmcsd_mutex == RT_NULL) + { + LOG_E("create mmcsd mutex failed.\n"); + goto err; + } + + return 0; + +err: +#ifdef RT_USING_SDIO0 + mmcsd_free_host(host1); +#endif +#ifdef RT_USING_SDIO1 + mmcsd_free_host(host2); +#endif + return -RT_ENOMEM; +} + +INIT_DEVICE_EXPORT(kd_sdhci_init); +#endif /*defined(RT_USING_SDIO0) || defined(RT_USING_SDIO1)*/ + +#endif/*defined(RT_USING_SDIO)*/ + diff --git a/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/rtconfig.h b/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/rtconfig.h index c475e03..fdf4b61 100644 --- a/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/rtconfig.h +++ b/k230_sdk_overlay/src/big/rt-smart/kernel/bsp/maix3/rtconfig.h @@ -44,7 +44,7 @@ #define RT_USING_DEVICE_OPS #define RT_USING_CONSOLE #define RT_CONSOLEBUF_SIZE 256 -#define RT_CONSOLE_DEVICE_NAME "uart" +#define RT_CONSOLE_DEVICE_NAME "uart3" #define RT_VER_NUM 0x50000 #define ARCH_CPU_64BIT #define RT_USING_CACHE @@ -152,6 +152,7 @@ #define RT_USING_HWTIMER #define RT_USING_HW_TIMER0 #define RT_USING_HW_TIMER1 +#define RT_USING_HW_TIMER2 #define RT_SDIO_STACK_SIZE 512 #define RT_SDIO_THREAD_PRIORITY 15 #define RT_MMCSD_STACK_SIZE 4096 @@ -159,7 +160,22 @@ #define RT_MMCSD_MAX_PARTITION 16 #define RT_USING_DEV_BUS #define RT_USING_REGULATOR - +/* canaan uart driver for uart1 uart2 uart4 */ +#define RT_USING_CANAAN_UART +#define RT_USING_UART1 +#define RT_USING_UART2 +#define RT_USING_UART4 +#define UART_BUFFER_SIZE (4096) +#define POLLIN_SIZE (UART_BUFFER_SIZE / 2) +#define UART_TIMEOUT (1000) + +//#define PKG_USING_CHERRYUSB +//#define CONFIG_ENABLE_USB_DEVICE 1 +//#define PKG_CHERRYUSB_DEVICE_DWC2 +//#define PKG_CHERRYUSB_DEVICE_DWC2_PORT_HS +//#define PKG_CHERRYUSB_DEVICE +//#define PKG_CHERRYUSB_DEVICE_CDC +//#define PKG_CHERRYUSB_DEVICE_MSC /* Using USB */ /*Using fast boot*/ diff --git a/k230_sdk_overlay/src/big/rt-smart/kernel/rt-thread/components/drivers/spi/spi_dev.c b/k230_sdk_overlay/src/big/rt-smart/kernel/rt-thread/components/drivers/spi/spi_dev.c new file mode 100755 index 0000000..a844883 --- /dev/null +++ b/k230_sdk_overlay/src/big/rt-smart/kernel/rt-thread/components/drivers/spi/spi_dev.c @@ -0,0 +1,243 @@ +/* + * Copyright (c) 2006-2018, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + */ + +#include +#include + +#define RT_SPI_DEV_CTRL_CONFIG (RT_DEVICE_CTRL_BASE(SPIBUS) + 0x01) +#define RT_SPI_DEV_CTRL_RW (RT_DEVICE_CTRL_BASE(SPIBUS) + 0x02) +#define RT_SPI_DEV_CTRL_CLK (RT_DEVICE_CTRL_BASE(SPIBUS) + 0x03) +#define SPI_BUS_NAME "spi1" +#define SPI1_DEVICE "spi_dev" +struct rt_spi_device *spi_device; + +struct rt_spi_priv_data { + const void *send_buf; + rt_size_t send_length; + void *recv_buf; + rt_size_t recv_length; +}; + +/* SPI bus device interface, compatible with RT-Thread 0.3.x/1.0.x */ +static rt_size_t _spi_bus_device_read(rt_device_t dev, + rt_off_t pos, + void *buffer, + rt_size_t size) +{ + struct rt_spi_bus *bus; + + bus = (struct rt_spi_bus *)dev; + RT_ASSERT(bus != RT_NULL); + RT_ASSERT(bus->owner != RT_NULL); + + return rt_spi_transfer(bus->owner, RT_NULL, buffer, size); +} + +static rt_size_t _spi_bus_device_write(rt_device_t dev, + rt_off_t pos, + const void *buffer, + rt_size_t size) +{ + struct rt_spi_bus *bus; + + bus = (struct rt_spi_bus *)dev; + RT_ASSERT(bus != RT_NULL); + RT_ASSERT(bus->owner != RT_NULL); + + return rt_spi_transfer(bus->owner, buffer, RT_NULL, size); +} + +static rt_err_t _spi_bus_device_control(rt_device_t dev, + int cmd, + void *args) +{ + struct rt_spi_bus *bus; + + bus = (struct rt_spi_bus *)dev; + RT_ASSERT(bus != RT_NULL); + RT_ASSERT(bus->owner != RT_NULL); + struct rt_spi_priv_data *priv_data; + + /* TODO: add control command handle */ + switch (cmd) + { + case RT_SPI_DEV_CTRL_CONFIG: + bus->owner->config = *(struct rt_spi_configuration *)args; + rt_spi_configure(bus->owner, args); + break; + case RT_SPI_DEV_CTRL_RW: /* set device */ + priv_data = (struct rt_spi_priv_data *)args; + rt_spi_send_then_recv(bus->owner, priv_data->send_buf, priv_data->send_length, + priv_data->recv_buf, priv_data->recv_length); + break; + default: + break; + } + + return RT_EOK; +} + +rt_err_t _spi_bus_device_open(rt_device_t dev, rt_uint16_t oflag) +{ + + struct rt_spi_bus *bus; + rt_err_t res; + struct rt_spi_configuration cfg = { + .mode = 1, + .data_width = 8, + .max_hz = 20, + }; + + spi_device = rt_malloc(sizeof(struct rt_spi_device )); + + res = rt_spi_bus_attach_device(spi_device, SPI1_DEVICE, SPI_BUS_NAME, spi_device); + if (res != RT_EOK) + { + rt_kprintf("rt_spi_bus_attach_device() failed!\n"); + return res; + } + + spi_device->bus->owner = spi_device; + + return 0; +} + +rt_err_t _spi_bus_device_close(rt_device_t dev) +{ + rt_err_t res; + struct rt_spi_bus *bus = (struct rt_spi_bus *)dev; + + res = rt_device_unregister(&bus->owner->parent); + if (res != RT_EOK) + { + rt_kprintf("device unregister failed!\n"); + return res; + } + spi_device->bus->owner = NULL; + rt_free(spi_device); + + return 0; +} + +#ifdef RT_USING_DEVICE_OPS +const static struct rt_device_ops spi_bus_ops = +{ + RT_NULL, + _spi_bus_device_open, + _spi_bus_device_close, + _spi_bus_device_read, + _spi_bus_device_write, + _spi_bus_device_control +}; +#endif + +rt_err_t rt_spi_bus_device_init(struct rt_spi_bus *bus, const char *name) +{ + struct rt_device *device; + RT_ASSERT(bus != RT_NULL); + + device = &bus->parent; + + /* set device type */ + device->type = RT_Device_Class_SPIBUS; + /* initialize device interface */ +#ifdef RT_USING_DEVICE_OPS + device->ops = &spi_bus_ops; +#else + device->init = RT_NULL; + device->open = RT_NULL; + device->close = RT_NULL; + device->read = _spi_bus_device_read; + device->write = _spi_bus_device_write; + device->control = _spi_bus_device_control; +#endif + + /* register to device manager */ + return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR); +} + +/* SPI Dev device interface, compatible with RT-Thread 0.3.x/1.0.x */ +static rt_size_t _spidev_device_read(rt_device_t dev, + rt_off_t pos, + void *buffer, + rt_size_t size) +{ + struct rt_spi_device *device; + + device = (struct rt_spi_device *)dev; + RT_ASSERT(device != RT_NULL); + RT_ASSERT(device->bus != RT_NULL); + + return rt_spi_transfer(device, RT_NULL, buffer, size); +} + +static rt_size_t _spidev_device_write(rt_device_t dev, + rt_off_t pos, + const void *buffer, + rt_size_t size) +{ + struct rt_spi_device *device; + + device = (struct rt_spi_device *)dev; + RT_ASSERT(device != RT_NULL); + RT_ASSERT(device->bus != RT_NULL); + + return rt_spi_transfer(device, buffer, RT_NULL, size); +} + +static rt_err_t _spidev_device_control(rt_device_t dev, + int cmd, + void *args) +{ + switch (cmd) + { + case 0: /* set device */ + break; + case 1: + break; + } + + return RT_EOK; +} + +#ifdef RT_USING_DEVICE_OPS +const static struct rt_device_ops spi_device_ops = +{ + RT_NULL, + RT_NULL, + RT_NULL, + _spidev_device_read, + _spidev_device_write, + _spidev_device_control +}; +#endif + +rt_err_t rt_spidev_device_init(struct rt_spi_device *dev, const char *name) +{ + struct rt_device *device; + RT_ASSERT(dev != RT_NULL); + + device = &(dev->parent); + + /* set device type */ + device->type = RT_Device_Class_SPIDevice; +#ifdef RT_USING_DEVICE_OPS + device->ops = &spi_device_ops; +#else + device->init = RT_NULL; + device->open = RT_NULL; + device->close = RT_NULL; + device->read = _spidev_device_read; + device->write = _spidev_device_write; + device->control = _spidev_device_control; +#endif + + /* register to device manager */ + return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR); +} diff --git a/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_canmv.dts b/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_canmv.dts index ea81aa8..b3fccbe 100755 --- a/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_canmv.dts +++ b/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_canmv.dts @@ -16,62 +16,21 @@ / { + aliases { + serial0 = &uart0; + }; + chosen { - bootargs = "console=ttyS0,115200 crashkernel=256M-:128M earlycon=sbi"; + bootargs = ""; linux,initrd-start = <0x0 0xa100000>; linux,initrd-end = <0x0 0x0>; - stdout-path = "/soc/serial@91400000:115200"; + stdout-path = "serial0:115200"; }; - - gpio52: gpio52@9140c000 { - #address-cells = <1>; - #size-cells = <0>; - compatible = "canaan,k230-apb-gpio"; - reg = <0x0 0x9140c000 0x0 0x1000>; - interrupt-controller; - interrupt-parent = <&intc>; - #interrupt-cells = <2>; - interrupts = <84 IRQ_TYPE_EDGE_BOTH>; - hardlock = <0>; - - port52: gpio-controller@0 { - gpio-controller; - #gpio-cells = <2>; - ngpios = <1>; - reg-bank = <0>; - id =<52>; - }; - }; - - gpio53: gpio53@9140c000 { - #address-cells = <1>; - #size-cells = <0>; - compatible = "canaan,k230-apb-gpio"; - reg = <0x0 0x9140c000 0x0 0x1000>; - interrupt-controller; - interrupt-parent = <&intc>; - #interrupt-cells = <2>; - interrupts = <85 IRQ_TYPE_EDGE_BOTH>; - hardlock = <0>; - - port53: gpio-controller@0 { - gpio-controller; - #gpio-cells = <2>; - ngpios = <1>; - reg-bank = <0>; - id =<53>; - }; - }; - }; &ddr { reg = <0x0 0x8200000 0x0 0x7dff000>; /*linux memory config*/ }; -&i2c4 { - status = "disabled"; -}; - &spi0 { spi-flash@0 { compatible = "jedec,spi-nor"; @@ -103,6 +62,11 @@ }; }; + +&usbotg0 { + status = "disabled"; +}; + &usbotg1 { dr_mode = "host"; status = "okay"; @@ -126,12 +90,44 @@ &mmc_sd0{ status = "disabled"; + io_fixed_1v8; + rx_delay_line = <0x00>; + tx_delay_line = <0x00>; + bcmdhd_wlan { + compatible = "android,bcmdhd_wlan"; + }; }; &mmc_sd1{ status = "disabled"; + no-1-8-v; + cap-sd-highspeed; + mshc_ctrl_r = <0x00>; }; -&usbotg0{ - status = "disabled"; -}; \ No newline at end of file +&dsi { + status = "disabled"; + + panel@0 { + compatible = "canaan,hx8399"; + reg = <0>; + + display-timings { + timing-0 { + clock-frequency = <74250000>; + hactive = <1920>; + vactive = <1080>; + hfront-porch = <88>; + hback-porch = <148>; + hsync-len = <44>; + vfront-porch = <36>; + vback-porch = <4>; + vsync-len = <5>; + }; + }; + }; +}; + +&uart0 { + status = "okay"; +}; diff --git a/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_evb.dts b/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_evb.dts index 648b40f..b1bb309 100755 --- a/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_evb.dts +++ b/k230_sdk_overlay/src/little/linux/arch/riscv/boot/dts/kendryte/k230_evb.dts @@ -16,17 +16,39 @@ / { + aliases { + serial0 = &uart0; + }; + chosen { - bootargs = "console=ttyS0,115200 crashkernel=256M-:128M earlycon=sbi"; + bootargs = ""; linux,initrd-start = <0x0 0xa100000>; linux,initrd-end = <0x0 0x0>; - stdout-path = "/soc/serial@91400000:115200"; + stdout-path = "serial0:115200"; }; }; &ddr { - reg = <0x0 0x8200000 0x0 0x7dff000>; /*linux memory config*/ + reg = <0x0 0x8300000 0x0 0x7dff000>; /*linux memory config*/ +}; + +&i2c0 { + status = "okay"; + tmp103: tmp103@70{ + compatible = "tmp103"; + reg = <0x70>; + }; +}; + +&gpio29 { + status = "okay"; +}; + +&gpio30 { + status = "okay"; }; + &i2c4 { + status = "okay"; gt911: touchscreen@5d { compatible = "goodix,gt911"; reg = <0x14>; @@ -62,6 +84,7 @@ }; &spi0 { + status = "okay"; spi-flash@0 { compatible = "jedec,spi-nor"; //compatible = "spi-nand"; @@ -78,62 +101,35 @@ #address-cells = <1>; #size-cells = <1>; - partition@0 { - /* spl boot */ - reg = <0x0 0x00080000>; - label = "spl_boot"; - }; - - partition@80000 { - /* normal boot */ - reg = <0x00080000 0x00180000>; - label = "uboot"; - }; - partition@200000 { - reg = <0x200000 0x80000>; - label = "quick_boot_cfg "; - }; - partition@280000 { - reg = <0x280000 0x80000>; - label = "face_db"; - }; - partition@300000 { - reg = <0x300000 0x40000>; - label = "sensor_cfg"; - }; - partition@640000 { - reg = <0x640000 0x200000>; - label = "speckle"; - }; - partition@a00000 { - reg = <0xa00000 0x5c0000>; - label = "rttapp"; - }; - partition@840000 { - reg = <0x840000 0x1c0000>; - label = "rttk"; - }; - - partition@fc0000 { - reg = <0xfc0000 0x700000>; - label = "linux"; - }; - - partition@16c0000 { - reg = <0x16c0000 0x900000>; - label = "rootfs"; - }; - partition@2000000 { - /* 32MB for update image*/ - reg = <0 0x2000000>; - label = "all_flash"; - }; + partition@0 { + /* spl boot */ + reg = <0x0 0x00080000>; + label = "spl_boot"; + }; + partition@2000000 { + /* 32MB for update image*/ + reg = <0 0x2000000>; + label = "all_flash"; + }; }; }; }; +&gpio18 { + status = "okay"; +}; + +&gpio22 { + status = "okay"; +}; + +&gpio20 { + status = "okay"; +}; + &spi1 { + status = "okay"; spi-lcd@0 { compatible = "sitronix,st7735s"; status = "disabled"; @@ -151,13 +147,33 @@ }; &mmc_sd0{ - status = "disabled"; + status = "okay"; + is_emmc; + io_fixed_1v8; + mmc-hs200-1_8v; + rx_delay_line = <0x00>; + tx_delay_line = <0xc0>; +}; + +&gpio53 { + status = "okay"; }; &mmc_sd1{ status = "disabled"; + cd-gpios = <&port53 0 GPIO_ACTIVE_LOW>; + no-1-8-v; + cap-sd-highspeed; + mshc_ctrl_r = <0x00>; }; +&uart0 { + status = "okay"; +}; &usbotg0{ status = "disabled"; +}; +&usbotg1 { + dr_mode = "host"; + status = "okay"; }; \ No newline at end of file diff --git a/k230_sdk_overlay/src/little/linux/arch/riscv/configs/k230_evb_defconfig b/k230_sdk_overlay/src/little/linux/arch/riscv/configs/k230_evb_defconfig index 586ed19..898928d 100755 --- a/k230_sdk_overlay/src/little/linux/arch/riscv/configs/k230_evb_defconfig +++ b/k230_sdk_overlay/src/little/linux/arch/riscv/configs/k230_evb_defconfig @@ -96,7 +96,7 @@ CONFIG_USB_RTL8152=y CONFIG_USB_LAN78XX=y CONFIG_USB_USBNET=y # CONFIG_WLAN_VENDOR_ADMTEK is not set -# CONFIG_WLAN_VENDOR_AICH is not set +CONFIG_AIW4211LV10=m # CONFIG_WLAN_VENDOR_ATH is not set # CONFIG_WLAN_VENDOR_ATMEL is not set # CONFIG_WLAN_VENDOR_BROADCOM is not set @@ -411,3 +411,4 @@ CONFIG_DETECT_HUNG_TASK=y CONFIG_DEFAULT_HUNG_TASK_TIMEOUT=60 CONFIG_DEBUG_ATOMIC_SLEEP=y # CONFIG_RCU_TRACE is not set +CONFIG_CANAAN_I2S_WS2812=n diff --git a/k230_sdk_overlay/tools/menuconfig_to_code.sh b/k230_sdk_overlay/tools/menuconfig_to_code.sh new file mode 100755 index 0000000..146b70b --- /dev/null +++ b/k230_sdk_overlay/tools/menuconfig_to_code.sh @@ -0,0 +1,595 @@ +#!/bin/bash + +set -e; + +source ${K230_SDK_ROOT}/.config + +function gen_spinor_dts_partion() +{ + local temp_file_name="$1" + cat >${temp_file_name} <<-EOF + partition@0 { + /* spl boot */ + reg = <0x0 0x00080000>; + label = "spl_boot"; + }; + + partition@80000 { + /* normal boot */ + reg = <0x00080000 0x00180000>; + label = "uboot"; + }; +EOF + + + if [ "${CONFIG_SPI_NOR_SUPPORT_CFG_PARAM}" = "y" ]; then + cat >>${temp_file_name} <<-EOF + partition@${CONFIG_SPI_NOR_QUICK_BOOT_CFG_BASE:2} { + reg = <${CONFIG_SPI_NOR_QUICK_BOOT_CFG_BASE} ${CONFIG_SPI_NOR_QUICK_BOOT_CFG_SIZE}>; + label = "quick_boot_cfg "; + }; + partition@${CONFIG_SPI_NOR_FACE_DB_CFG_BASE:2} { + reg = <${CONFIG_SPI_NOR_FACE_DB_CFG_BASE} ${CONFIG_SPI_NOR_FACE_DB_CFG_SIZE}>; + label = "face_db"; + }; + partition@${CONFIG_SPI_NOR_SENSOR_CFG_CFG_BASE:2} { + reg = <${CONFIG_SPI_NOR_SENSOR_CFG_CFG_BASE} ${CONFIG_SPI_NOR_SENSOR_CFG_CFG_SIZE}>; + label = "sensor_cfg"; + }; + partition@${CONFIG_SPI_NOR_SPECKLE_CFG_BASE:2} { + reg = <${CONFIG_SPI_NOR_SPECKLE_CFG_BASE} ${CONFIG_SPI_NOR_SPECKLE_CFG_SIZE}>; + label = "speckle"; + }; + partition@${CONFIG_SPI_NOR_RTT_APP_BASE:2} { + reg = <${CONFIG_SPI_NOR_RTT_APP_BASE} ${CONFIG_SPI_NOR_RTT_APP_SIZE}>; + label = "rttapp"; + }; +EOF + fi #CONFIG_SPI_NOR_SUPPORT_CFG_PARAM + + + + + if [ "${CONFIG_SUPPORT_RTSMART}" = "y" ]; then + + cat >>${temp_file_name} <<-EOF + partition@${CONFIG_SPI_NOR_RTTK_BASE:2} { + reg = <${CONFIG_SPI_NOR_RTTK_BASE} ${CONFIG_SPI_NOR_RTTK_SIZE}>; + label = "rttk"; + }; + +EOF + fi #CONFIG_SUPPORT_RTSMART + + + + if [ "${CONFIG_SUPPORT_LINUX}" = "y" ]; then + cat >>${temp_file_name} <<-EOF + partition@${CONFIG_SPI_NOR_LK_BASE:2} { + reg = <${CONFIG_SPI_NOR_LK_BASE} ${CONFIG_SPI_NOR_LK_SIZE}>; + label = "linux"; + }; + + partition@${CONFIG_SPI_NOR_LR_BASE:2} { + reg = <${CONFIG_SPI_NOR_LR_BASE} ${CONFIG_SPI_NOR_LR_SIZE}>; + label = "rootfs"; + }; +EOF + fi #CONFIG_SUPPORT_LINUX + + + +cat >>${temp_file_name} <<-EOF + partition@2000000 { + /* 32MB for update image*/ + reg = <0 0x2000000>; + label = "all_flash"; + }; +EOF + + +} + +#LINUX_DTS_PATH="${K230_SDK_ROOT}/src/little/linux/arch/riscv/boot/dts/kendryte/${CONFIG_LINUX_DTB}.dts" +function modify_linux_dts() +{ + + local LINUX_DTS_PATH="${K230_SDK_ROOT}/src/little/linux/arch/riscv/boot/dts/kendryte/${CONFIG_LINUX_DTB}.dts" + ##动态生成partition + + #tl=$(grep 0xdddddddd temp.c -n | cut -d: -f1); + if [ "${CONFIG_SPI_NOR}" = "y" ]; then + gen_spinor_dts_partion t.sh + + part_s=$(grep -n partition@0 ${LINUX_DTS_PATH} | head -1 | cut -d: -f1 ) + part_e=$(grep -n all_flash ${LINUX_DTS_PATH} | head -1 | cut -d: -f1 ) + part_e=$((${part_e}+1)) + + [ "${CONFIG_SPI_NOR}" = "y" ] && sed -i -e "${part_s},${part_e}d" ${LINUX_DTS_PATH} + [ "${CONFIG_SPI_NOR}" = "y" ] && sed -i -e "$((${part_s}-1)) r t.sh" ${LINUX_DTS_PATH} + echo "modify linux dts ${LINUX_DTS_PATH}" + fi + + { + #linux memory configuration + local LINUX_SYS_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_BASE}+0x200000])" + local LINUX_SYS_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_SIZE}-0x200000-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + sed -i "s/reg =.*linux memory config.*$/reg = <0x0 ${LINUX_SYS_BASE} 0x0 ${LINUX_SYS_SIZE}>; \/\*linux memory config\*\//g" ${LINUX_DTS_PATH} + } + + rm -rf t.sh +} + + + +#${K230_SDK_ROOT}/board/common/gen_image_cfg/${GENIMAGE_CFG_DIR}/genimage-spinor.cfg +function modify_gen_image_cfg() +{ + quick_boot_cfg_data_file="cfg_part/fn_ug_quick_boot.bin" + face_database_data_file="cfg_part/fn_ug_face_data.bin" + sensor_cfg_data_file="cfg_part/fn_ug_sensor_cfg.bin" + ai_mode_data_file="cfg_part/fn_ug_ai_mode.bin" + speckle_data_file="cfg_part/fn_ug_speckle.bin" + rtapp_data_file="cfg_part/fn_ug_fastboot_app.elf" + echo "modify genimage_cfg" + ubifs_max_size=$(( ((${CONFIG_SPI_NOR_LR_SIZE}/65536) - 4) * 65408 )) + + cat >cfg.t <<-EOF + + flash spinor-32M-gd25lx256e { + #The size of a physical eraseblock in bytes + pebsize = 65536 + #The size of a logical eraseblock in bytes (for ubifs) + lebsize = 65408 + #Number of physical eraseblocks on this device. The total size of the device is determined by pebsize * numpebs + numpebs = 512 + #The minimum size in bytes accessible on this device + minimum-io-unit-size = 1 + vid-header-offset = 64 + sub-page-size = 1 + } + image rootfs.jffs2 { + flashtype = "spinor-32M-gd25lx256e" + + jffs2 { + extraargs = "-q" + } + mountpoint = "" + } + + image sysimage-spinor32m_jffs2.img { + flash {} + flashtype = "spinor-32M-gd25lx256e" + + partition uboot_spl_1 { + offset = 0M + image = "little-core/uboot/swap_fn_u-boot-spl.bin" + size = 0x80000 + } + + partition uboot { + offset = 0x80000 + image = "little-core/uboot/fn_ug_u-boot.bin" + size = 0x160000 + } + partition uboot_env { + offset = 0x1e0000 + image = "little-core/uboot/jffs2.env" + size = 0x20000 + } + partition quick_boot_cfg { + offset = ${CONFIG_SPI_NOR_QUICK_BOOT_CFG_BASE} + image = "${quick_boot_cfg_data_file}" + size = ${CONFIG_SPI_NOR_QUICK_BOOT_CFG_SIZE} + } + + partition face_db { + offset = ${CONFIG_SPI_NOR_FACE_DB_CFG_BASE} + image = "${face_database_data_file}" + size = ${CONFIG_SPI_NOR_FACE_DB_CFG_SIZE} + } + + partition sensor_cfg { + offset = ${CONFIG_SPI_NOR_SENSOR_CFG_CFG_BASE} + image = "${sensor_cfg_data_file}" + size = ${CONFIG_SPI_NOR_SENSOR_CFG_CFG_SIZE} + } + + partition ai_mode { + offset = ${CONFIG_SPI_NOR_AI_MODE_CFG_BASE} + image = "${ai_mode_data_file}" + size = ${CONFIG_SPI_NOR_AI_MODE_CFG_SIZE} + } + + partition speckle_cfg { + offset = ${CONFIG_SPI_NOR_SPECKLE_CFG_BASE} + image = "${speckle_data_file}" + size = ${CONFIG_SPI_NOR_SPECKLE_CFG_SIZE} + } + + partition rtt { + offset = ${CONFIG_SPI_NOR_RTTK_BASE} + image = "big-core/rtt_system.bin" + size = ${CONFIG_SPI_NOR_RTTK_SIZE} + } + partition rtt_app { + offset = ${CONFIG_SPI_NOR_RTT_APP_BASE} + image = "${rtapp_data_file}" + size = ${CONFIG_SPI_NOR_RTT_APP_SIZE} + } + + partition linux { + offset = ${CONFIG_SPI_NOR_LK_BASE} + image = "little-core/linux_system.bin" + size = ${CONFIG_SPI_NOR_LK_SIZE} + } + partition rootfs_ubi { + offset = ${CONFIG_SPI_NOR_LR_BASE} + image = "rootfs.jffs2" + size = ${CONFIG_SPI_NOR_LR_SIZE} + } + } + + image rootfs.ubifs { + ubifs{ + extraargs = "-x zlib -U" + max-size = ${ubifs_max_size} + } + flashtype = "spinor-32M-gd25lx256e" + } + + + image rootfs.ubi { + ubi{ + extraargs="" + } + partition ubi_rootfs_part { + image = "rootfs.ubifs" + size = ${ubifs_max_size} + } + flashtype = "spinor-32M-gd25lx256e" + } + + image sysimage-spinor32m.img { + flash {} + flashtype = "spinor-32M-gd25lx256e" + + partition uboot_spl_1 { + offset = 0M + image = "little-core/uboot/swap_fn_u-boot-spl.bin" + size = 0x80000 + } + + partition uboot { + offset = 0x80000 + image = "little-core/uboot/fn_ug_u-boot.bin" + size = 0x160000 + } + partition uboot_env { + offset = 0x1e0000 + image = "little-core/uboot/env.env" + size = 0x20000 + } + partition quick_boot_cfg { + offset = ${CONFIG_SPI_NOR_QUICK_BOOT_CFG_BASE} + image = "${quick_boot_cfg_data_file}" + size = ${CONFIG_SPI_NOR_QUICK_BOOT_CFG_SIZE} + } + + partition face_db { + offset = ${CONFIG_SPI_NOR_FACE_DB_CFG_BASE} + image = "${face_database_data_file}" + size = ${CONFIG_SPI_NOR_FACE_DB_CFG_SIZE} + } + + partition sensor_cfg { + offset = ${CONFIG_SPI_NOR_SENSOR_CFG_CFG_BASE} + image = "${sensor_cfg_data_file}" + size = ${CONFIG_SPI_NOR_SENSOR_CFG_CFG_SIZE} + } + + partition ai_mode { + offset = ${CONFIG_SPI_NOR_AI_MODE_CFG_BASE} + image = "${ai_mode_data_file}" + size = ${CONFIG_SPI_NOR_AI_MODE_CFG_SIZE} + } + + partition speckle_cfg { + offset = ${CONFIG_SPI_NOR_SPECKLE_CFG_BASE} + image = "${speckle_data_file}" + size = ${CONFIG_SPI_NOR_SPECKLE_CFG_SIZE} + } + + partition rtt { + offset = ${CONFIG_SPI_NOR_RTTK_BASE} + image = "big-core/rtt_system.bin" + size = ${CONFIG_SPI_NOR_RTTK_SIZE} + } + partition rtt_app { + offset = ${CONFIG_SPI_NOR_RTT_APP_BASE} + image = "${rtapp_data_file}" + size = ${CONFIG_SPI_NOR_RTT_APP_SIZE} + } + + partition linux { + offset = ${CONFIG_SPI_NOR_LK_BASE} + image = "little-core/linux_system.bin" + size = ${CONFIG_SPI_NOR_LK_SIZE} + } + partition rootfs_ubi { + offset = ${CONFIG_SPI_NOR_LR_BASE} + image = "rootfs.ubi" + size = ${CONFIG_SPI_NOR_LR_SIZE} + } + } + EOF + + mv cfg.t ${K230_SDK_ROOT}/board/common/gen_image_cfg/${GENIMAGE_CFG_DIR}/genimage-spinor.cfg +} + +function modify_uboot_file() +{ + if [ "${CONFIG_SUPPORT_RTSMART}" = "y" ] && [ "${CONFIG_SUPPORT_LINUX}" != "y" ]; then + CONFIG_MEM_LINUX_SYS_BASE="${CONFIG_MEM_RTT_SYS_BASE}" + fi; + + { #env + local OPENSBI_LINUX_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_BASE}+0])" + DTB_ADDR="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000])" #32MB offset + FDT_HIGH="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000+0x100000])" + KERNEL_ADDR="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000+0x100000+0x2000000])" + RAMDISK_ADDR="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000+0x100000])" + + + UBOOT_ENV_PATH="${K230_SDK_ROOT}/board/common/env/default.env \ + ${K230_SDK_ROOT}/src/little/uboot/include/configs/k230_evb.h \ + ${K230_SDK_ROOT}/src/little/uboot/board/canaan/common/k230_img.c \ + ${K230_SDK_ROOT}/board/common/env/spinor.jffs2.env" + + sed -i -e "s/ubi.mtd=[0-9]*/ubi.mtd=9/g" ${UBOOT_ENV_PATH} + sed -i -e "s/mtdblock[0-9]*/mtdblock9/g" ${UBOOT_ENV_PATH} + ##sed -i 's/\"$(1)=.*$/\"$(1)=$(2)\\0" \\/g' $(UBOOT_CONFIGH_PATH) + + sed -i -e "s/dtb_addr=0x[0-9a-fA-F]*/dtb_addr=${DTB_ADDR}/g" ${UBOOT_ENV_PATH} #"dtb_addr=0xa000000 \0" \ + + sed -i -e "s/fdt_high=0x[0-9a-fA-F]*/fdt_high=${FDT_HIGH}/g" ${UBOOT_ENV_PATH} + sed -i -e "s/kernel_addr=0x[0-9a-fA-F]*/kernel_addr=${KERNEL_ADDR}/g" ${UBOOT_ENV_PATH} + #sed -i -e "s/ramdisk_addr=0x[0-9a-fA-F]*/ramdisk_addr=${RAMDISK_ADDR}/g" ${UBOOT_ENV_PATH} + } + + + if [ "${CONFIG_SUPPORT_RTSMART}" = "y" ] && [ "${CONFIG_SUPPORT_LINUX}" = "y" ]; then + { + local OPENSBI_LINUX_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_BASE}+0])" + local OPENSBI_LINUX_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + local OPENSBI_RTT_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_BASE}+0])" + local OPENSBI_RTT_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + UBOOT_DTS="$(cd ${K230_SDK_ROOT}/src/little/uboot/configs/; cat ${UBOOT_DEFCONFIG} | grep CONFIG_DEFAULT_DEVICE_TREE | cut -d = -f2 | tr -d \" )" + + UBOOT_DTS_PATH="${K230_SDK_ROOT}/src/little/uboot/arch/riscv/dts/${UBOOT_DTS}.dts" + echo "Modify file: ${UBOOT_DTS_PATH}" + sed -i "s/0x.*MEM_LINUX_SYS.*$/0x0 ${OPENSBI_LINUX_BASE} 0x0 ${OPENSBI_LINUX_SIZE} \/\*MEM_LINUX_SYS\*\//g" ${UBOOT_DTS_PATH} + sed -i "s/0x.*MEM_RTT_SYS.*$/0x0 ${OPENSBI_RTT_BASE} 0x0 ${OPENSBI_RTT_SIZE} \/\*MEM_RTT_SYS\*\//g" ${UBOOT_DTS_PATH} + + echo "Modify file: ${UBOOT_DEFCONFIG}" + sed -i "s/CONFIG_SYS_TEXT_BASE=.*$/CONFIG_SYS_TEXT_BASE=${OPENSBI_LINUX_BASE}/g" ${K230_SDK_ROOT}/src/little/uboot/configs/${UBOOT_DEFCONFIG} + } + fi + + if [ "${CONFIG_SUPPORT_RTSMART}" != "y" ] && [ "${CONFIG_SUPPORT_LINUX}" = "y" ]; then + { + local OPENSBI_LINUX_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_BASE}+0])" + local OPENSBI_LINUX_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + # local OPENSBI_RTT_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_BASE}+0])" + # local OPENSBI_RTT_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + UBOOT_DTS="$(cd ${K230_SDK_ROOT}/src/little/uboot/configs/; cat ${UBOOT_DEFCONFIG} | grep CONFIG_DEFAULT_DEVICE_TREE | cut -d = -f2 | tr -d \" )" + + UBOOT_DTS_PATH="${K230_SDK_ROOT}/src/little/uboot/arch/riscv/dts/${UBOOT_DTS}.dts" + echo "Modify file: ${UBOOT_DTS_PATH}" + sed -i "s/.*0x.*MEM_LINUX_SYS.*$/0x0 ${OPENSBI_LINUX_BASE} 0x0 ${OPENSBI_LINUX_SIZE} \/\*MEM_LINUX_SYS\*\//g" ${UBOOT_DTS_PATH} + sed -i "s/.*0x.*MEM_RTT_SYS.*$/\/\*0x0 ${OPENSBI_RTT_BASE} 0x0 ${OPENSBI_RTT_SIZE} \*\/ \/\*MEM_RTT_SYS\*\//g" ${UBOOT_DTS_PATH} + + echo "Modify file: ${UBOOT_DEFCONFIG}" + sed -i "s/CONFIG_SYS_TEXT_BASE=.*$/CONFIG_SYS_TEXT_BASE=${OPENSBI_LINUX_BASE}/g" ${K230_SDK_ROOT}/src/little/uboot/configs/${UBOOT_DEFCONFIG} + } + fi + + if [ "${CONFIG_SUPPORT_RTSMART}" = "y" ] && [ "${CONFIG_SUPPORT_LINUX}" != "y" ]; then + { + # local OPENSBI_LINUX_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_BASE}+0])" + # local OPENSBI_LINUX_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + local OPENSBI_RTT_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_BASE}+0])" + local OPENSBI_RTT_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + UBOOT_DTS="$(cd ${K230_SDK_ROOT}/src/little/uboot/configs/; cat ${UBOOT_DEFCONFIG} | grep CONFIG_DEFAULT_DEVICE_TREE | cut -d = -f2 | tr -d \" )" + + UBOOT_DTS_PATH="${K230_SDK_ROOT}/src/little/uboot/arch/riscv/dts/${UBOOT_DTS}.dts" + echo "Modify file: ${UBOOT_DTS_PATH}" + + sed -i "s/.*0x.*MEM_LINUX_SYS.*$/\/\*0x0 ${OPENSBI_LINUX_BASE} 0x0 ${OPENSBI_LINUX_SIZE} \*\/ \/\*MEM_LINUX_SYS\*\//g" ${UBOOT_DTS_PATH} + sed -i "s/.*0x.*MEM_RTT_SYS.*$/0x0 ${OPENSBI_RTT_BASE} 0x0 ${OPENSBI_RTT_SIZE} \/\*MEM_RTT_SYS\*\//g" ${UBOOT_DTS_PATH} + + + echo "Modify file: ${UBOOT_DEFCONFIG}" + sed -i "s/CONFIG_SYS_TEXT_BASE=.*$/CONFIG_SYS_TEXT_BASE=${OPENSBI_LINUX_BASE}/g" ${K230_SDK_ROOT}/src/little/uboot/configs/${UBOOT_DEFCONFIG} + } + fi + + + + +} + +function modify_big_code() +{ + + { #define UART_ADDR UART3_BASE_ADDR + #define UART_IRQ 0x13 + local OPENSBI_PLATFORM="${RTSMART_SRC_DIR}/kernel/bsp/maix3/board/interdrv/uart/drv_uart.c" + + local RTT_UART_REG_BASDE="0x9140${CONFIG_RTT_CONSOLE_ID}000UL" #0x91403000UL + local RTT_UART_IRQ="0x1${CONFIG_RTT_CONSOLE_ID}" #"0x13" + + if [ "${CONFIG_BOARD_K230D}" = "y" ]; then RTT_UART_REG_BASDE="0x91404000UL"; RTT_UART_IRQ="0x14"; fi; + sed -i "s/define *UART_ADDR.*$/define UART_ADDR ${RTT_UART_REG_BASDE}/g" ${OPENSBI_PLATFORM} + sed -i "s/define *UART_IRQ.*$/define UART_IRQ ${RTT_UART_IRQ}/g" ${OPENSBI_PLATFORM} + } + + + { + #base + MEM_CFG_RTT_LDS="${RTSMART_SRC_DIR}/kernel/bsp/maix3/link.lds" + MEM_CFG_RTT_RAMEND="${RTSMART_SRC_DIR}/kernel/bsp/maix3/board/board.h" + echo "Modify file: ${MEM_CFG_RTT_LDS}" + echo "Modify file: ${MEM_CFG_RTT_RAMEND}" + + + local RTT_SYS_BASE="$(printf '0x%x\n' $(( ${CONFIG_MEM_RTT_SYS_BASE} + 0x20000 )) )" + local RTT_SYS_SIZE="$(printf '%d\n' $(( (${CONFIG_MEM_RTT_SYS_SIZE} - 0x20000)/1024 -1 )) )" + local RTT_RAM_END="$(printf '0x%x\n' $(( ${CONFIG_MEM_RTT_SYS_BASE}+${CONFIG_MEM_RTT_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE} )) )" + + sed -i "s/. =.*rt-smart link start address.*$/. = ${RTT_SYS_BASE}; \/\*rt-smart link start address\*\//g" ${MEM_CFG_RTT_LDS} + sed -i "s/SRAM : ORIGIN.*$/SRAM : ORIGIN = ${RTT_SYS_BASE}, LENGTH = ${RTT_SYS_SIZE}K/g" ${MEM_CFG_RTT_LDS} + sed -i "s/#define RAM_END.*$/#define RAM_END ${RTT_RAM_END}/g" ${MEM_CFG_RTT_RAMEND} + + + ##define RT_HW_HEAP_END ((void *)(((rt_size_t)RT_HW_HEAP_BEGIN) + 4 * 1024 * 1024)) + #((void *)(((rt_size_t)RT_HW_HEAP_BEGIN) + ${RT_HW_HEAP_END_SIZE} )) + RT_HW_HEAP_END_SIZE="0x2000000" + if [ "${CONFIG_BOARD_K230D}" = "y" ]; then RT_HW_HEAP_END_SIZE="0x400000"; fi; + if [ "${CONFIG_BOARD_NAME}" = "k230_evb_doorlock" ]; then RT_HW_HEAP_END_SIZE="0x400000"; fi; + if [ "${CONFIG_BOARD_NAME}" = "k230_evb_peephole_device" ]; then RT_HW_HEAP_END_SIZE="0x400000"; fi; + sed -i "s/define *RT_HW_HEAP_END.*$/define RT_HW_HEAP_END \(\(void \*\)\(\(\(rt_size_t\)RT_HW_HEAP_BEGIN\) \+ ${RT_HW_HEAP_END_SIZE} \)\)/g" ${MEM_CFG_RTT_RAMEND} + } + { + # ipc + MEM_CFG_IPCM_RTT="${RTSMART_SRC_DIR}/kernel/bsp/maix3/board/board.c" + IPCM_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_IPCM_BASE}+0])" + IPCM_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_IPCM_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + echo "Modify file: ${MEM_CFG_IPCM_RTT}" + sed -i "s/#define MEM_IPCM_BASE.*$/#define MEM_IPCM_BASE ${IPCM_BASE}/g" ${MEM_CFG_IPCM_RTT} + sed -i "s/#define MEM_IPCM_SIZE.*$/#define MEM_IPCM_SIZE ${IPCM_SIZE}/g" ${MEM_CFG_IPCM_RTT} + + } + + { #mmz + #source files will be modified for mmz memory configuration + MEM_CFG_MMZ_MPP="${RTSMART_SRC_DIR}/kernel/bsp/maix3/board/mpp/mpp_init.c" + echo "Modify file: ${MEM_CFG_MMZ_MPP}" + + #mmz memory configuration + MMZ_BASE="$( printf '0x%xUL\n' $[${CONFIG_MEM_MMZ_BASE}+0])" + MMZ_SIZE="$( printf '0x%xUL\n' $[${CONFIG_MEM_MMZ_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + + [ ! -f ${MEM_CFG_MMZ_MPP} ] || sed -i "s/#define MEM_MMZ_BASE.*$/#define MEM_MMZ_BASE ${MMZ_BASE}/g" ${MEM_CFG_MMZ_MPP} + [ ! -f ${MEM_CFG_MMZ_MPP} ] || sed -i "s/#define MEM_MMZ_SIZE.*$/#define MEM_MMZ_SIZE ${MMZ_SIZE}/g" ${MEM_CFG_MMZ_MPP} + } + + +} +function modify_cdk_code() +{ + { + #ipc + MEM_CFG_IPCM_CDK_CONFIG="${CDK_SRC_DIR}/kernel/ipcm/arch/k230/configs/k230_riscv_rtsmart_config" + MEM_CFG_IPCM_CDK_PLATFORM="${CDK_SRC_DIR}/kernel/ipcm/arch/k230/ipcm_platform.h" + echo "Modify file: ${MEM_CFG_IPCM_CDK_CONFIG}" + echo "Modify file: ${MEM_CFG_IPCM_CDK_PLATFORM}" + #ipcm memory configuration + IPCM_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_IPCM_BASE}+0])" + IPCM_SHM_PHYS_1TO0="${IPCM_BASE}" + IPCM_SHM_SIZE_1TO0=0x80000 + IPCM_SHM_PHYS_0TO1="$( printf '0x%x\n' $[${IPCM_SHM_PHYS_1TO0}+${IPCM_SHM_SIZE_1TO0}])" + IPCM_SHM_SIZE_0TO1=0x79000 + IPCM_VIRT_TTY_PHYS="$( printf '0x%x\n' $[${IPCM_SHM_PHYS_0TO1}+${IPCM_SHM_SIZE_0TO1}])" + IPCM_VIRT_TTY_SIZE=0x4000 + IPCM_NODES_DESC_MEM_BASE="$( printf '0x%x\n' $[${IPCM_VIRT_TTY_PHYS}+${IPCM_VIRT_TTY_SIZE}])" + + + + [ ! -f ${MEM_CFG_IPCM_CDK_CONFIG} ] || sed -i "s/virt_tty_phys=.*$/virt_tty_phys=${IPCM_VIRT_TTY_PHYS}/g" ${MEM_CFG_IPCM_CDK_CONFIG} + [ ! -f ${MEM_CFG_IPCM_CDK_CONFIG} ] || sed -i "s/virt_tty_size=.*$/virt_tty_size=${IPCM_VIRT_TTY_SIZE}/g" ${MEM_CFG_IPCM_CDK_CONFIG} + [ ! -f ${MEM_CFG_IPCM_CDK_CONFIG} ] || sed -i "s/shm_phys_1to0=.*$/shm_phys_1to0=${IPCM_SHM_PHYS_1TO0}/g" ${MEM_CFG_IPCM_CDK_CONFIG} + [ ! -f ${MEM_CFG_IPCM_CDK_CONFIG} ] || sed -i "s/shm_size_1to0=.*$/shm_size_1to0=${IPCM_SHM_SIZE_1TO0}/g" ${MEM_CFG_IPCM_CDK_CONFIG} + [ ! -f ${MEM_CFG_IPCM_CDK_CONFIG} ] || sed -i "s/shm_phys_0to1=.*$/shm_phys_0to1=${IPCM_SHM_PHYS_0TO1}/g" ${MEM_CFG_IPCM_CDK_CONFIG} + [ ! -f ${MEM_CFG_IPCM_CDK_CONFIG} ] || sed -i "s/shm_size_0to1=.*$/shm_size_0to1=${IPCM_SHM_SIZE_0TO1}/g" ${MEM_CFG_IPCM_CDK_CONFIG} + [ ! -f ${MEM_CFG_IPCM_CDK_PLATFORM} ] || sed -i "s/#define __NODES_DESC_MEM_BASE__.*$/#define __NODES_DESC_MEM_BASE__ ${IPCM_NODES_DESC_MEM_BASE}/g" ${MEM_CFG_IPCM_CDK_PLATFORM} + } + +} + +function modify_opensbi_code() +{ + if [ "${CONFIG_SUPPORT_RTSMART}" = "y" ] ;then + { + #rtt opensbi memory configuration + local OPENSBI_RTT_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_BASE}+0])" + local OPENSBI_RTT_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_RTT_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + local RTT_SYS_BASE="$(printf '0x%x\n' $(( ${CONFIG_MEM_RTT_SYS_BASE} + 0x20000 )) )" + local OPENSBI_RTT_JUMP="${RTT_SYS_BASE}" + + #source files will be modified for rtt-opensbi memory configuration + local OPENSBI_CONFIG_RTT="${K230_SDK_ROOT}/src/common/opensbi/platform/kendryte/fpgac908/config.mk" + + echo "rt-smart opensbi BASE: ${OPENSBI_RTT_BASE}" + echo "rt-smart opensbi JUMP: ${OPENSBI_RTT_JUMP}" + echo "Modify file: ${OPENSBI_CONFIG_RTT}" + sed -i "s/FW_TEXT_START=.*$/FW_TEXT_START=${OPENSBI_RTT_BASE}/g" ${OPENSBI_CONFIG_RTT} + sed -i "s/FW_JUMP_ADDR=.*$/FW_JUMP_ADDR=${OPENSBI_RTT_JUMP}/g" ${OPENSBI_CONFIG_RTT} + } + fi + + if [ "${CONFIG_SUPPORT_LINUX}" = "y" ] ;then + { + #linux opensbi memory configuration + local OPENSBI_LINUX_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_BASE}+0])" + local OPENSBI_LINUX_SIZE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_SIZE}-${CONFIG_MEM_BOUNDARY_RESERVED_SIZE}])" + local OPENSBI_LINUX_PAYLOAD_OFFSET=0x200000 + local LINUX_SYS_BASE="$( printf '0x%x\n' $[${CONFIG_MEM_LINUX_SYS_BASE}+0x200000])" + local OPENSBI_LINUX_JUMP="${LINUX_SYS_BASE}" + + DTB_ADDR="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000])" #32MB offset + FDT_HIGH="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000+0x100000])" + KERNEL_ADDR="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000+0x100000+0x2000000])" + RAMDISK_ADDR="$( printf '0x%x\n' $[${OPENSBI_LINUX_BASE}+0x2000000+0x100000])" + + #source files will be modified for linux-opensbi memory configuration + OPENSBI_CONFIG_LINUX="${K230_SDK_ROOT}/src/common/opensbi/platform/generic/config.mk" + + echo "linux opensbi BASE: ${OPENSBI_LINUX_BASE}" + echo "linux opensbi JUMP: ${OPENSBI_LINUX_JUMP}" + echo "linux opensbi payload offset: ${OPENSBI_LINUX_PAYLOAD_OFFSET}" + echo "Modify file: ${OPENSBI_CONFIG_LINUX}" + sed -i "s/FW_TEXT_START=.*$/FW_TEXT_START=${OPENSBI_LINUX_BASE}/g" ${OPENSBI_CONFIG_LINUX} + sed -i "s/FW_JUMP_ADDR=.*$/FW_JUMP_ADDR=${OPENSBI_LINUX_JUMP}/g" ${OPENSBI_CONFIG_LINUX} + sed -i "s/FW_PAYLOAD_OFFSET=.*$/FW_PAYLOAD_OFFSET=${OPENSBI_LINUX_PAYLOAD_OFFSET}/g" ${OPENSBI_CONFIG_LINUX} + } + fi + + #opensbi/platform/kendryte/fpgac908/platform.c + { + OPENSBI_PLATFORM="${K230_SDK_ROOT}/src/common/opensbi/platform/kendryte/fpgac908/platform.c" + local RTT_UART_REG_BASDE="0x9140${CONFIG_RTT_CONSOLE_ID}000UL" #0x91403000UL + sed -i "s/define *UART_ADDR.*$/define UART_ADDR ${RTT_UART_REG_BASDE}/g" ${OPENSBI_PLATFORM} + } + +} + +modify_linux_dts; +[ "${CONFIG_SPI_NOR}" = "y" ] && modify_gen_image_cfg; +modify_uboot_file; +modify_opensbi_code; +[ "${CONFIG_SUPPORT_RTSMART}" = "y" ] && modify_big_code; +[ "${CONFIG_SUPPORT_RTSMART}" = "y" ] && modify_cdk_code; +pwd; + +#set -x; + + + diff --git a/micropython b/micropython index 24a6e95..e00a144 160000 --- a/micropython +++ b/micropython @@ -1 +1 @@ -Subproject commit 24a6e951ec7696b8d18d95fe5da36f7e489913d0 +Subproject commit e00a144008f368df878c12606fdbf651af2a1dc0 diff --git a/micropython_port/Makefile b/micropython_port/Makefile index dff0e43..8e41384 100644 --- a/micropython_port/Makefile +++ b/micropython_port/Makefile @@ -35,6 +35,10 @@ INC += -Iinclude/maix INC += -Iinclude/mpp INC += -Iinclude/kpu INC += -Iinclude/omv +INC += -Iinclude/ai_cube +INC += -Iinclude/ai_demo +INC += -Iinclude/ai_demo/kws +INC += -I$(K230_CANMV_ROOT)/k230_sdk/src/big/utils/lib/opencv/include/opencv4 INC += -I$(K230_CANMV_ROOT)/k230_sdk/src/big/mpp/include INC += -I$(K230_CANMV_ROOT)/k230_sdk/src/big/mpp/include/comm INC += -I$(K230_CANMV_ROOT)/k230_sdk/src/big/mpp/include/ioctl @@ -91,6 +95,11 @@ LDFLAGS_MP4 += -L$(MP4_LIB_PATH) -lmp4 LDFLAGS += $(LDFLAGS_MPP) $(LDFLAGS_MP4) +OPENCV_LIB_PATH = $(K230_CANMV_ROOT)/k230_sdk/src/big/utils/lib/opencv/lib +OPENCV_DEP_LIB_PATH= $(K230_CANMV_ROOT)/k230_sdk/src/big/utils/lib/opencv/lib/opencv4/3rdparty +OPENCV_LIBS = -lstdc++ -lopencv_core -lopencv_imgcodecs -lopencv_imgproc -lopencv_highgui -lopencv_videoio -lzlib -llibjpeg-turbo -llibopenjp2 -llibpng -llibtiff -llibwebp -lcsi_cv -latomic +LDFLAGS += -L$(OPENCV_LIB_PATH) -L$(OPENCV_DEP_LIB_PATH) -Wl,--start-group $(OPENCV_LIBS) -Wl,--end-group + ifeq ($(MICROPY_PY_TERMIOS),1) CFLAGS += -DMICROPY_PY_TERMIOS=1 endif @@ -112,6 +121,8 @@ MAIX_SRC_C = $(wildcard maix/*.c) MPP_SRC_C = $(wildcard mpp/*.c) KPU_SRC_C = $(wildcard kpu/*.c) OMV_SRC_C = $(wildcard omv/*.c) +AICUBE_SRC_C = $(wildcard ai_cube/*.c) +AIDEMO_SRC_C = $(wildcard ai_demo/*.c) OMV_SRC_C += $(wildcard omv/*/*.c) INC += -Iomv/alloc -Iomv/boards/canmv -Iomv/common -Iomv/imlib -Iomv/modules @@ -121,7 +132,9 @@ SRC_C += \ ${MAIX_SRC_C} \ ${MPP_SRC_C} \ ${KPU_SRC_C} \ - ${OMV_SRC_C} + ${OMV_SRC_C} \ + ${AICUBE_SRC_C} \ + ${AIDEMO_SRC_C} SHARED_SRC_C += $(addprefix shared/,\ runtime/gchelper_generic.c \ @@ -132,6 +145,12 @@ SHARED_SRC_C += $(addprefix shared/,\ KPU_SRC_CXX = $(wildcard kpu/*.cpp) SRC_CXX += ${KPU_SRC_CXX} +AICUBE_SRC_CXX = $(wildcard ai_cube/*.cpp) +SRC_CXX += ${AICUBE_SRC_CXX} +AIDEMO_SRC_CXX = $(wildcard ai_demo/*.cpp) +SRC_CXX += ${AIDEMO_SRC_CXX} +AIDEMO_KWS_SRC_CXX = $(wildcard ai_demo/kws/*.cpp) +SRC_CXX += ${AIDEMO_KWS_SRC_CXX} OBJ = $(PY_O) OBJ += $(addprefix $(BUILD)/, $(SRC_C:.c=.o)) diff --git a/micropython_port/ai_cube/ai_cube.c b/micropython_port/ai_cube/ai_cube.c new file mode 100644 index 0000000..a1ae66f --- /dev/null +++ b/micropython_port/ai_cube/ai_cube.c @@ -0,0 +1,376 @@ +#include "py/compile.h" +#include "py/runtime.h" +#include +#include +#include "ndarray.h" +#include "postprocess.h" + +STATIC mp_obj_t aicube_ocr_post_process(size_t n_args, const mp_obj_t *args) { + + ndarray_obj_t *data_mp_0 = MP_ROM_PTR(args[0]); + ndarray_obj_t *data_mp_1 = MP_ROM_PTR(args[1]); + float *data_0_tmp = data_mp_0->array; + uint8_t *data_1_tmp = data_mp_1->array; + + float *data_0 = (float *)malloc(data_mp_0->len * sizeof(float)); + uint8_t *data_1 = (uint8_t *)malloc(data_mp_1->len * sizeof(uint8_t)); + + for (int i = 0; i < data_mp_0->len; i++) + { + data_0[i] = data_0_tmp[i]; + } + + for (int i = 0; i < data_mp_1->len; i++) + { + data_1[i] = data_1_tmp[i]; + } + + mp_obj_list_t *kmodel_frame_size_mp = MP_OBJ_TO_PTR(args[2]); + mp_obj_list_t *frame_size_mp = MP_OBJ_TO_PTR(args[3]); + float threshold = mp_obj_get_float(args[4]); + float box_thresh = mp_obj_get_float(args[5]); + int results_size; + FrameSize frame_size; + FrameSize kmodel_frame_size; + frame_size.width = mp_obj_get_int(frame_size_mp->items[0]); + frame_size.height = mp_obj_get_int(frame_size_mp->items[1]); + kmodel_frame_size.width = mp_obj_get_int(kmodel_frame_size_mp->items[0]); + kmodel_frame_size.height = mp_obj_get_int(kmodel_frame_size_mp->items[1]); + ArrayWrapper* results = ocr_post_process(frame_size, kmodel_frame_size,box_thresh,threshold, data_0, data_1,&results_size); + + mp_obj_list_t *mp_list = mp_obj_new_list(0, NULL); + for (size_t i = 0; i < results_size; i++) { + mp_obj_list_t *result = mp_obj_new_list(0, NULL); + size_t ndarray_shape[4]; + + ndarray_shape[0] = 1; + ndarray_shape[1] = results[i].dimensions[1]; + ndarray_shape[2] = results[i].dimensions[2]; + ndarray_shape[3] = results[i].dimensions[0]; + + ndarray_obj_t *data_output = ndarray_new_ndarray(4, ndarray_shape, NULL, NDARRAY_UINT8); + + uint8_t *data = (uint8_t*)data_output->array; + for (int j = 0; j < results[i].dimensions[0]*results[i].dimensions[1]*results[i].dimensions[2]; j++) { + data[j] = results[i].data[j]; + } + + + mp_obj_list_append(result, data_output); + + size_t ndarray_shape_1[4]; + + ndarray_shape_1[3] = 8; + + ndarray_obj_t *data_output_1 = ndarray_new_ndarray(1, ndarray_shape_1, NULL, NDARRAY_FLOAT); + + float *data_1 = (float*)data_output_1->array; + for (int j = 0; j < 8; j++) { + data_1[j] = results[i].coordinates[j]; + } + mp_obj_list_append(result, data_output_1); + + if (results[i].data != NULL) { + free(results[i].data); + } + if (results[i].dimensions != NULL) { + free(results[i].dimensions); + } + + mp_obj_list_append(mp_list, result); + } + + free(results); + free(data_0); + free(data_1); + return mp_list; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aicube_ocr_post_process_obj, 6, 6, aicube_ocr_post_process); + + +STATIC mp_obj_t aicube_anchorbasedet_post_process(size_t n_args, const mp_obj_t *args) { + + + ndarray_obj_t *data_mp_0 = MP_ROM_PTR(args[0]); + ndarray_obj_t *data_mp_1 = MP_ROM_PTR(args[1]); + ndarray_obj_t *data_mp_2 = MP_ROM_PTR(args[2]); + + float *data_0_tmp = data_mp_0->array; + float *data_1_tmp = data_mp_1->array; + float *data_2_tmp = data_mp_2->array; + + mp_obj_list_t *kmodel_frame_size_mp = MP_OBJ_TO_PTR(args[3]); + mp_obj_list_t *frame_size_mp = MP_OBJ_TO_PTR(args[4]); + mp_obj_list_t *strides_mp = MP_OBJ_TO_PTR(args[5]); + int num_class = mp_obj_get_int(args[6]); + float ob_det_thresh = mp_obj_get_float(args[7]); + float ob_nms_thresh = mp_obj_get_float(args[8]); + mp_obj_list_t *anchors_mp = MP_OBJ_TO_PTR(args[9]); + bool nms_option = mp_obj_is_true(args[10]); + int results_size; + + float *data_0 = (float *)malloc(data_mp_0->len * sizeof(float)); + float *data_1 = (float *)malloc(data_mp_1->len * sizeof(float)); + float *data_2 = (float *)malloc(data_mp_2->len * sizeof(float)); + int strides[strides_mp->len]; + float anchors[anchors_mp->len]; + + FrameSize frame_size; + FrameSize kmodel_frame_size; + frame_size.width = mp_obj_get_int(frame_size_mp->items[0]); + frame_size.height = mp_obj_get_int(frame_size_mp->items[1]); + kmodel_frame_size.width = mp_obj_get_int(kmodel_frame_size_mp->items[0]); + kmodel_frame_size.height = mp_obj_get_int(kmodel_frame_size_mp->items[1]); + + for (int i = 0; i < data_mp_0->len; i++) + { + data_0[i] = data_0_tmp[i]; + } + + for (int i = 0; i < data_mp_1->len; i++) + { + data_1[i] = data_1_tmp[i]; + } + + for (int i = 0; i < data_mp_2->len; i++) + { + data_2[i] = data_2_tmp[i]; + } + + for (int i = 0; i < strides_mp->len; i++) + { + strides[i] = mp_obj_get_int(strides_mp->items[i]); + } + + for (int i = 0; i < anchors_mp->len; i++) + { + anchors[i] = mp_obj_get_float(anchors_mp->items[i]); + } + + ob_det_res *results = anchorbasedet_post_process(data_0, data_1, data_2, kmodel_frame_size, frame_size, strides, num_class, ob_det_thresh, ob_nms_thresh, anchors, nms_option, &results_size); + + mp_obj_list_t *mp_list = mp_obj_new_list(0, NULL); + for (size_t i = 0; i < results_size; i++) { + // for (size_t i = 0; i < 2; i++) { + mp_obj_list_t *result = mp_obj_new_list(0, NULL); + mp_obj_list_append(result, mp_obj_new_int(results[i].label_index)); + mp_obj_list_append(result, mp_obj_new_float(results[i].score)); + mp_obj_list_append(result, mp_obj_new_int(results[i].x1)); + mp_obj_list_append(result, mp_obj_new_int(results[i].y1)); + mp_obj_list_append(result, mp_obj_new_int(results[i].x2)); + mp_obj_list_append(result, mp_obj_new_int(results[i].y2)); + mp_obj_list_append(mp_list, result); + } + + free(results); + free(data_0); + free(data_1); + free(data_2); + return mp_list; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aicube_anchorbasedet_post_process_obj, 11, 11, aicube_anchorbasedet_post_process); + +STATIC mp_obj_t aicube_anchorfreedet_post_process(size_t n_args, const mp_obj_t *args) { + + ndarray_obj_t *data_mp_0 = MP_ROM_PTR(args[0]); + ndarray_obj_t *data_mp_1 = MP_ROM_PTR(args[1]); + ndarray_obj_t *data_mp_2 = MP_ROM_PTR(args[2]); + + float *data_0_tmp = data_mp_0->array; + float *data_1_tmp = data_mp_1->array; + float *data_2_tmp = data_mp_2->array; + + mp_obj_list_t *kmodel_frame_size_mp = MP_OBJ_TO_PTR(args[3]); + mp_obj_list_t *frame_size_mp = MP_OBJ_TO_PTR(args[4]); + mp_obj_list_t *strides_mp = MP_OBJ_TO_PTR(args[5]); + int num_class = mp_obj_get_int(args[6]); + float ob_det_thresh = mp_obj_get_float(args[7]); + float ob_nms_thresh = mp_obj_get_float(args[8]); + bool nms_option = mp_obj_is_true(args[9]); + int results_size; + + float *data_0 = (float *)malloc(data_mp_0->len * sizeof(float)); + float *data_1 = (float *)malloc(data_mp_1->len * sizeof(float)); + float *data_2 = (float *)malloc(data_mp_2->len * sizeof(float)); + int strides[strides_mp->len]; + + FrameSize frame_size; + FrameSize kmodel_frame_size; + frame_size.width = mp_obj_get_int(frame_size_mp->items[0]); + frame_size.height = mp_obj_get_int(frame_size_mp->items[1]); + kmodel_frame_size.width = mp_obj_get_int(kmodel_frame_size_mp->items[0]); + kmodel_frame_size.height = mp_obj_get_int(kmodel_frame_size_mp->items[1]); + + for (int i = 0; i < data_mp_0->len; i++) + { + data_0[i] = data_0_tmp[i]; + } + + for (int i = 0; i < data_mp_1->len; i++) + { + data_1[i] = data_1_tmp[i]; + } + + for (int i = 0; i < data_mp_2->len; i++) + { + data_2[i] = data_2_tmp[i]; + } + + for (int i = 0; i < strides_mp->len; i++) + { + strides[i] = mp_obj_get_int(strides_mp->items[i]); + } + + ob_det_res *results = anchorfreedet_post_process(data_0, data_1, data_2, kmodel_frame_size, frame_size, strides, num_class, ob_det_thresh, ob_nms_thresh, nms_option, &results_size); + + mp_obj_list_t *mp_list = mp_obj_new_list(0, NULL); + for (size_t i = 0; i < results_size; i++) { + // for (size_t i = 0; i < 2; i++) { + mp_obj_list_t *result = mp_obj_new_list(0, NULL); + mp_obj_list_append(result, mp_obj_new_int(results[i].label_index)); + mp_obj_list_append(result, mp_obj_new_float(results[i].score)); + mp_obj_list_append(result, mp_obj_new_int(results[i].x1)); + mp_obj_list_append(result, mp_obj_new_int(results[i].y1)); + mp_obj_list_append(result, mp_obj_new_int(results[i].x2)); + mp_obj_list_append(result, mp_obj_new_int(results[i].y2)); + mp_obj_list_append(mp_list, result); + } + + free(results); + free(data_0); + free(data_1); + free(data_2); + return mp_list; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aicube_anchorfreedet_post_process_obj, 10, 10, aicube_anchorfreedet_post_process); + +STATIC mp_obj_t aicube_gfldet_post_process(size_t n_args, const mp_obj_t *args) { + + ndarray_obj_t *data_mp_0 = MP_ROM_PTR(args[0]); + ndarray_obj_t *data_mp_1 = MP_ROM_PTR(args[1]); + ndarray_obj_t *data_mp_2 = MP_ROM_PTR(args[2]); + + float *data_0_tmp = data_mp_0->array; + float *data_1_tmp = data_mp_1->array; + float *data_2_tmp = data_mp_2->array; + + mp_obj_list_t *kmodel_frame_size_mp = MP_OBJ_TO_PTR(args[3]); + mp_obj_list_t *frame_size_mp = MP_OBJ_TO_PTR(args[4]); + mp_obj_list_t *strides_mp = MP_OBJ_TO_PTR(args[5]); + int num_class = mp_obj_get_int(args[6]); + float ob_det_thresh = mp_obj_get_float(args[7]); + float ob_nms_thresh = mp_obj_get_float(args[8]); + bool nms_option = mp_obj_is_true(args[9]); + int results_size; + + float *data_0 = (float *)malloc(data_mp_0->len * sizeof(float)); + float *data_1 = (float *)malloc(data_mp_1->len * sizeof(float)); + float *data_2 = (float *)malloc(data_mp_2->len * sizeof(float)); + int strides[strides_mp->len]; + + FrameSize frame_size; + FrameSize kmodel_frame_size; + frame_size.width = mp_obj_get_int(frame_size_mp->items[0]); + frame_size.height = mp_obj_get_int(frame_size_mp->items[1]); + kmodel_frame_size.width = mp_obj_get_int(kmodel_frame_size_mp->items[0]); + kmodel_frame_size.height = mp_obj_get_int(kmodel_frame_size_mp->items[1]); + + for (int i = 0; i < data_mp_0->len; i++) + { + data_0[i] = data_0_tmp[i]; + } + + for (int i = 0; i < data_mp_1->len; i++) + { + data_1[i] = data_1_tmp[i]; + } + + for (int i = 0; i < data_mp_2->len; i++) + { + data_2[i] = data_2_tmp[i]; + } + + for (int i = 0; i < strides_mp->len; i++) + { + strides[i] = mp_obj_get_int(strides_mp->items[i]); + } + + ob_det_res *results = gfldet_post_process(data_0, data_1, data_2, kmodel_frame_size, frame_size, strides, num_class, ob_det_thresh, ob_nms_thresh, nms_option, &results_size); + + mp_obj_list_t *mp_list = mp_obj_new_list(0, NULL); + for (size_t i = 0; i < results_size; i++) { + // for (size_t i = 0; i < 2; i++) { + mp_obj_list_t *result = mp_obj_new_list(0, NULL); + mp_obj_list_append(result, mp_obj_new_int(results[i].label_index)); + mp_obj_list_append(result, mp_obj_new_float(results[i].score)); + mp_obj_list_append(result, mp_obj_new_int(results[i].x1)); + mp_obj_list_append(result, mp_obj_new_int(results[i].y1)); + mp_obj_list_append(result, mp_obj_new_int(results[i].x2)); + mp_obj_list_append(result, mp_obj_new_int(results[i].y2)); + mp_obj_list_append(mp_list, result); + } + + free(results); + free(data_0); + free(data_1); + free(data_2); + return mp_list; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aicube_gfldet_post_process_obj, 10, 10, aicube_gfldet_post_process); + +STATIC mp_obj_t aicube_seg_post_process(size_t n_args, const mp_obj_t *args) { + ndarray_obj_t *data_mp = MP_ROM_PTR(args[0]); + float *data = data_mp->array; + int num_class = mp_obj_get_int(args[1]); + mp_obj_list_t *ori_shape_mp = MP_OBJ_TO_PTR(args[2]); + mp_obj_list_t *dst_shape_mp = MP_OBJ_TO_PTR(args[3]); + + FrameSize ori_shape; + FrameSize dst_shape; + + ori_shape.height = mp_obj_get_int(ori_shape_mp->items[0]); + ori_shape.width = mp_obj_get_int(ori_shape_mp->items[1]); + dst_shape.height = mp_obj_get_int(dst_shape_mp->items[0]); + dst_shape.width = mp_obj_get_int(dst_shape_mp->items[1]); + + uint8_t *result = seg_post_process(data, num_class, ori_shape, dst_shape); + + size_t ndarray_shape[4]; + ndarray_shape[1] = dst_shape.height; + ndarray_shape[2] = dst_shape.width; + ndarray_shape[3] = 4; + ndarray_obj_t *result_obj = ndarray_new_ndarray(3, ndarray_shape, NULL, NDARRAY_UINT8); + + uint8_t *result_data = (uint8_t *)result_obj->array; + for (int i=0; i +#include +#include +#include +#include +#include +#include +#include + +namespace ClipperLib { + +static double const pi = 3.141592653589793238; +static double const two_pi = pi *2; +static double const def_arc_tolerance = 0.25; + +enum Direction { dRightToLeft, dLeftToRight }; + +static int const Unassigned = -1; //edge not currently 'owning' a solution +static int const Skip = -2; //edge that would otherwise close a path + +#define HORIZONTAL (-1.0E+40) +#define TOLERANCE (1.0e-20) +#define NEAR_ZERO(val) (((val) > -TOLERANCE) && ((val) < TOLERANCE)) + +struct TEdge { + IntPoint Bot; + IntPoint Curr; //current (updated for every new scanbeam) + IntPoint Top; + double Dx; + PolyType PolyTyp; + EdgeSide Side; //side only refers to current side of solution poly + int WindDelta; //1 or -1 depending on winding direction + int WindCnt; + int WindCnt2; //winding count of the opposite polytype + int OutIdx; + TEdge *Next; + TEdge *Prev; + TEdge *NextInLML; + TEdge *NextInAEL; + TEdge *PrevInAEL; + TEdge *NextInSEL; + TEdge *PrevInSEL; +}; + +struct IntersectNode { + TEdge *Edge1; + TEdge *Edge2; + IntPoint Pt; +}; + +struct LocalMinimum { + cInt Y; + TEdge *LeftBound; + TEdge *RightBound; +}; + +struct OutPt; + +//OutRec: contains a path in the clipping solution. Edges in the AEL will +//carry a pointer to an OutRec when they are part of the clipping solution. +struct OutRec { + int Idx; + bool IsHole; + bool IsOpen; + OutRec *FirstLeft; //see comments in clipper.pas + PolyNode *PolyNd; + OutPt *Pts; + OutPt *BottomPt; +}; + +struct OutPt { + int Idx; + IntPoint Pt; + OutPt *Next; + OutPt *Prev; +}; + +struct Join { + OutPt *OutPt1; + OutPt *OutPt2; + IntPoint OffPt; +}; + +struct LocMinSorter +{ + inline bool operator()(const LocalMinimum& locMin1, const LocalMinimum& locMin2) + { + return locMin2.Y < locMin1.Y; + } +}; + +//------------------------------------------------------------------------------ +//------------------------------------------------------------------------------ + +inline cInt Round(double val) +{ + if ((val < 0)) return static_cast(val - 0.5); + else return static_cast(val + 0.5); +} +//------------------------------------------------------------------------------ + +inline cInt Abs(cInt val) +{ + return val < 0 ? -val : val; +} + +//------------------------------------------------------------------------------ +// PolyTree methods ... +//------------------------------------------------------------------------------ + +void PolyTree::Clear() +{ + for (PolyNodes::size_type i = 0; i < AllNodes.size(); ++i) + delete AllNodes[i]; + AllNodes.resize(0); + Childs.resize(0); +} +//------------------------------------------------------------------------------ + +PolyNode* PolyTree::GetFirst() const +{ + if (!Childs.empty()) + return Childs[0]; + else + return 0; +} +//------------------------------------------------------------------------------ + +int PolyTree::Total() const +{ + int result = (int)AllNodes.size(); + //with negative offsets, ignore the hidden outer polygon ... + if (result > 0 && Childs[0] != AllNodes[0]) result--; + return result; +} + +//------------------------------------------------------------------------------ +// PolyNode methods ... +//------------------------------------------------------------------------------ + +PolyNode::PolyNode(): Parent(0), Index(0), m_IsOpen(false) +{ +} +//------------------------------------------------------------------------------ + +int PolyNode::ChildCount() const +{ + return (int)Childs.size(); +} +//------------------------------------------------------------------------------ + +void PolyNode::AddChild(PolyNode& child) +{ + unsigned cnt = (unsigned)Childs.size(); + Childs.push_back(&child); + child.Parent = this; + child.Index = cnt; +} +//------------------------------------------------------------------------------ + +PolyNode* PolyNode::GetNext() const +{ + if (!Childs.empty()) + return Childs[0]; + else + return GetNextSiblingUp(); +} +//------------------------------------------------------------------------------ + +PolyNode* PolyNode::GetNextSiblingUp() const +{ + if (!Parent) //protects against PolyTree.GetNextSiblingUp() + return 0; + else if (Index == Parent->Childs.size() - 1) + return Parent->GetNextSiblingUp(); + else + return Parent->Childs[Index + 1]; +} +//------------------------------------------------------------------------------ + +bool PolyNode::IsHole() const +{ + bool result = true; + PolyNode* node = Parent; + while (node) + { + result = !result; + node = node->Parent; + } + return result; +} +//------------------------------------------------------------------------------ + +bool PolyNode::IsOpen() const +{ + return m_IsOpen; +} +//------------------------------------------------------------------------------ + +#ifndef use_int32 + +class Int128 +{ + public: + ulong64 lo; + long64 hi; + + Int128(long64 _lo = 0) + { + lo = (ulong64)_lo; + if (_lo < 0) hi = -1; else hi = 0; + } + + + Int128(const Int128 &val): lo(val.lo), hi(val.hi){} + + Int128(const long64& _hi, const ulong64& _lo): lo(_lo), hi(_hi){} + + Int128& operator = (const long64 &val) + { + lo = (ulong64)val; + if (val < 0) hi = -1; else hi = 0; + return *this; + } + + bool operator == (const Int128 &val) const + {return (hi == val.hi && lo == val.lo);} + + bool operator != (const Int128 &val) const + { return !(*this == val);} + + bool operator > (const Int128 &val) const + { + if (hi != val.hi) + return hi > val.hi; + else + return lo > val.lo; + } + + bool operator < (const Int128 &val) const + { + if (hi != val.hi) + return hi < val.hi; + else + return lo < val.lo; + } + + bool operator >= (const Int128 &val) const + { return !(*this < val);} + + bool operator <= (const Int128 &val) const + { return !(*this > val);} + + Int128& operator += (const Int128 &rhs) + { + hi += rhs.hi; + lo += rhs.lo; + if (lo < rhs.lo) hi++; + return *this; + } + + Int128 operator + (const Int128 &rhs) const + { + Int128 result(*this); + result+= rhs; + return result; + } + + Int128& operator -= (const Int128 &rhs) + { + *this += -rhs; + return *this; + } + + Int128 operator - (const Int128 &rhs) const + { + Int128 result(*this); + result -= rhs; + return result; + } + + Int128 operator-() const //unary negation + { + if (lo == 0) + return Int128(-hi, 0); + else + return Int128(~hi, ~lo + 1); + } + + operator double() const + { + const double shift64 = 18446744073709551616.0; //2^64 + if (hi < 0) + { + if (lo == 0) return (double)hi * shift64; + else return -(double)(~lo + ~hi * shift64); + } + else + return (double)(lo + hi * shift64); + } + +}; +//------------------------------------------------------------------------------ + +Int128 Int128Mul (long64 lhs, long64 rhs) +{ + bool negate = (lhs < 0) != (rhs < 0); + + if (lhs < 0) lhs = -lhs; + ulong64 int1Hi = ulong64(lhs) >> 32; + ulong64 int1Lo = ulong64(lhs & 0xFFFFFFFF); + + if (rhs < 0) rhs = -rhs; + ulong64 int2Hi = ulong64(rhs) >> 32; + ulong64 int2Lo = ulong64(rhs & 0xFFFFFFFF); + + //nb: see comments in clipper.pas + ulong64 a = int1Hi * int2Hi; + ulong64 b = int1Lo * int2Lo; + ulong64 c = int1Hi * int2Lo + int1Lo * int2Hi; + + Int128 tmp; + tmp.hi = long64(a + (c >> 32)); + tmp.lo = long64(c << 32); + tmp.lo += long64(b); + if (tmp.lo < b) tmp.hi++; + if (negate) tmp = -tmp; + return tmp; +}; +#endif + +bool Orientation(const Path &poly) +{ + return Area(poly) >= 0; +} +//------------------------------------------------------------------------------ + +double Area(const Path &poly) +{ + int size = (int)poly.size(); + if (size < 3) return 0; + + double a = 0; + for (int i = 0, j = size -1; i < size; ++i) + { + a += ((double)poly[j].X + poly[i].X) * ((double)poly[j].Y - poly[i].Y); + j = i; + } + return -a * 0.5; +} +//------------------------------------------------------------------------------ + +double Area(const OutPt *op) +{ + const OutPt *startOp = op; + if (!op) return 0; + double a = 0; + do { + a += (double)(op->Prev->Pt.X + op->Pt.X) * (double)(op->Prev->Pt.Y - op->Pt.Y); + op = op->Next; + } while (op != startOp); + return a * 0.5; +} +//------------------------------------------------------------------------------ + +double Area(const OutRec &outRec) +{ + return Area(outRec.Pts); +} +//------------------------------------------------------------------------------ + +bool PointIsVertex(const IntPoint &Pt, OutPt *pp) +{ + OutPt *pp2 = pp; + do + { + if (pp2->Pt == Pt) return true; + pp2 = pp2->Next; + } + while (pp2 != pp); + return false; +} +//------------------------------------------------------------------------------ + +//See "The Point in Polygon Problem for Arbitrary Polygons" by Hormann & Agathos +//http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.88.5498&rep=rep1&type=pdf +int PointInPolygon(const IntPoint &pt, const Path &path) +{ + //returns 0 if false, +1 if true, -1 if pt ON polygon boundary + int result = 0; + size_t cnt = path.size(); + if (cnt < 3) return 0; + IntPoint ip = path[0]; + for(size_t i = 1; i <= cnt; ++i) + { + IntPoint ipNext = (i == cnt ? path[0] : path[i]); + if (ipNext.Y == pt.Y) + { + if ((ipNext.X == pt.X) || (ip.Y == pt.Y && + ((ipNext.X > pt.X) == (ip.X < pt.X)))) return -1; + } + if ((ip.Y < pt.Y) != (ipNext.Y < pt.Y)) + { + if (ip.X >= pt.X) + { + if (ipNext.X > pt.X) result = 1 - result; + else + { + double d = (double)(ip.X - pt.X) * (ipNext.Y - pt.Y) - + (double)(ipNext.X - pt.X) * (ip.Y - pt.Y); + if (!d) return -1; + if ((d > 0) == (ipNext.Y > ip.Y)) result = 1 - result; + } + } else + { + if (ipNext.X > pt.X) + { + double d = (double)(ip.X - pt.X) * (ipNext.Y - pt.Y) - + (double)(ipNext.X - pt.X) * (ip.Y - pt.Y); + if (!d) return -1; + if ((d > 0) == (ipNext.Y > ip.Y)) result = 1 - result; + } + } + } + ip = ipNext; + } + return result; +} +//------------------------------------------------------------------------------ + +int PointInPolygon (const IntPoint &pt, OutPt *op) +{ + //returns 0 if false, +1 if true, -1 if pt ON polygon boundary + int result = 0; + OutPt* startOp = op; + for(;;) + { + if (op->Next->Pt.Y == pt.Y) + { + if ((op->Next->Pt.X == pt.X) || (op->Pt.Y == pt.Y && + ((op->Next->Pt.X > pt.X) == (op->Pt.X < pt.X)))) return -1; + } + if ((op->Pt.Y < pt.Y) != (op->Next->Pt.Y < pt.Y)) + { + if (op->Pt.X >= pt.X) + { + if (op->Next->Pt.X > pt.X) result = 1 - result; + else + { + double d = (double)(op->Pt.X - pt.X) * (op->Next->Pt.Y - pt.Y) - + (double)(op->Next->Pt.X - pt.X) * (op->Pt.Y - pt.Y); + if (!d) return -1; + if ((d > 0) == (op->Next->Pt.Y > op->Pt.Y)) result = 1 - result; + } + } else + { + if (op->Next->Pt.X > pt.X) + { + double d = (double)(op->Pt.X - pt.X) * (op->Next->Pt.Y - pt.Y) - + (double)(op->Next->Pt.X - pt.X) * (op->Pt.Y - pt.Y); + if (!d) return -1; + if ((d > 0) == (op->Next->Pt.Y > op->Pt.Y)) result = 1 - result; + } + } + } + op = op->Next; + if (startOp == op) break; + } + return result; +} + +bool Poly2ContainsPoly1(OutPt *OutPt1, OutPt *OutPt2) +{ + OutPt* op = OutPt1; + do + { + //nb: PointInPolygon returns 0 if false, +1 if true, -1 if pt on polygon + int res = PointInPolygon(op->Pt, OutPt2); + if (res >= 0) return res > 0; + op = op->Next; + } + while (op != OutPt1); + return true; +} + +bool SlopesEqual(const TEdge &e1, const TEdge &e2, bool UseFullInt64Range) +{ +#ifndef use_int32 + if (UseFullInt64Range) + return Int128Mul(e1.Top.Y - e1.Bot.Y, e2.Top.X - e2.Bot.X) == + Int128Mul(e1.Top.X - e1.Bot.X, e2.Top.Y - e2.Bot.Y); + else +#endif + return (e1.Top.Y - e1.Bot.Y) * (e2.Top.X - e2.Bot.X) == + (e1.Top.X - e1.Bot.X) * (e2.Top.Y - e2.Bot.Y); +} + +bool SlopesEqual(const IntPoint pt1, const IntPoint pt2, + const IntPoint pt3, bool UseFullInt64Range) +{ +#ifndef use_int32 + if (UseFullInt64Range) + return Int128Mul(pt1.Y-pt2.Y, pt2.X-pt3.X) == Int128Mul(pt1.X-pt2.X, pt2.Y-pt3.Y); + else +#endif + return (pt1.Y-pt2.Y)*(pt2.X-pt3.X) == (pt1.X-pt2.X)*(pt2.Y-pt3.Y); +} + +bool SlopesEqual(const IntPoint pt1, const IntPoint pt2, + const IntPoint pt3, const IntPoint pt4, bool UseFullInt64Range) +{ +#ifndef use_int32 + if (UseFullInt64Range) + return Int128Mul(pt1.Y-pt2.Y, pt3.X-pt4.X) == Int128Mul(pt1.X-pt2.X, pt3.Y-pt4.Y); + else +#endif + return (pt1.Y-pt2.Y)*(pt3.X-pt4.X) == (pt1.X-pt2.X)*(pt3.Y-pt4.Y); +} +//------------------------------------------------------------------------------ + +inline bool IsHorizontal(TEdge &e) +{ + return e.Dx == HORIZONTAL; +} +//------------------------------------------------------------------------------ + +inline double GetDx(const IntPoint pt1, const IntPoint pt2) +{ + return (pt1.Y == pt2.Y) ? + HORIZONTAL : (double)(pt2.X - pt1.X) / (pt2.Y - pt1.Y); +} +//--------------------------------------------------------------------------- + +inline void SetDx(TEdge &e) +{ + cInt dy = (e.Top.Y - e.Bot.Y); + if (dy == 0) e.Dx = HORIZONTAL; + else e.Dx = (double)(e.Top.X - e.Bot.X) / dy; +} +//--------------------------------------------------------------------------- + +inline void SwapSides(TEdge &Edge1, TEdge &Edge2) +{ + EdgeSide Side = Edge1.Side; + Edge1.Side = Edge2.Side; + Edge2.Side = Side; +} +//------------------------------------------------------------------------------ + +inline void SwapPolyIndexes(TEdge &Edge1, TEdge &Edge2) +{ + int OutIdx = Edge1.OutIdx; + Edge1.OutIdx = Edge2.OutIdx; + Edge2.OutIdx = OutIdx; +} +//------------------------------------------------------------------------------ + +inline cInt TopX(TEdge &edge, const cInt currentY) +{ + return ( currentY == edge.Top.Y ) ? + edge.Top.X : edge.Bot.X + Round(edge.Dx *(currentY - edge.Bot.Y)); +} +//------------------------------------------------------------------------------ + +void IntersectPoint(TEdge &Edge1, TEdge &Edge2, IntPoint &ip) +{ +#ifdef use_xyz + ip.Z = 0; +#endif + + double b1, b2; + if (Edge1.Dx == Edge2.Dx) + { + ip.Y = Edge1.Curr.Y; + ip.X = TopX(Edge1, ip.Y); + return; + } + else if (Edge1.Dx == 0) + { + ip.X = Edge1.Bot.X; + if (IsHorizontal(Edge2)) + ip.Y = Edge2.Bot.Y; + else + { + b2 = Edge2.Bot.Y - (Edge2.Bot.X / Edge2.Dx); + ip.Y = Round(ip.X / Edge2.Dx + b2); + } + } + else if (Edge2.Dx == 0) + { + ip.X = Edge2.Bot.X; + if (IsHorizontal(Edge1)) + ip.Y = Edge1.Bot.Y; + else + { + b1 = Edge1.Bot.Y - (Edge1.Bot.X / Edge1.Dx); + ip.Y = Round(ip.X / Edge1.Dx + b1); + } + } + else + { + b1 = Edge1.Bot.X - Edge1.Bot.Y * Edge1.Dx; + b2 = Edge2.Bot.X - Edge2.Bot.Y * Edge2.Dx; + double q = (b2-b1) / (Edge1.Dx - Edge2.Dx); + ip.Y = Round(q); + if (std::fabs(Edge1.Dx) < std::fabs(Edge2.Dx)) + ip.X = Round(Edge1.Dx * q + b1); + else + ip.X = Round(Edge2.Dx * q + b2); + } + + if (ip.Y < Edge1.Top.Y || ip.Y < Edge2.Top.Y) + { + if (Edge1.Top.Y > Edge2.Top.Y) + ip.Y = Edge1.Top.Y; + else + ip.Y = Edge2.Top.Y; + if (std::fabs(Edge1.Dx) < std::fabs(Edge2.Dx)) + ip.X = TopX(Edge1, ip.Y); + else + ip.X = TopX(Edge2, ip.Y); + } + //finally, don't allow 'ip' to be BELOW curr.Y (ie bottom of scanbeam) ... + if (ip.Y > Edge1.Curr.Y) + { + ip.Y = Edge1.Curr.Y; + //use the more vertical edge to derive X ... + if (std::fabs(Edge1.Dx) > std::fabs(Edge2.Dx)) + ip.X = TopX(Edge2, ip.Y); else + ip.X = TopX(Edge1, ip.Y); + } +} +//------------------------------------------------------------------------------ + +void ReversePolyPtLinks(OutPt *pp) +{ + if (!pp) return; + OutPt *pp1, *pp2; + pp1 = pp; + do { + pp2 = pp1->Next; + pp1->Next = pp1->Prev; + pp1->Prev = pp2; + pp1 = pp2; + } while( pp1 != pp ); +} +//------------------------------------------------------------------------------ + +void DisposeOutPts(OutPt*& pp) +{ + if (pp == 0) return; + pp->Prev->Next = 0; + while( pp ) + { + OutPt *tmpPp = pp; + pp = pp->Next; + delete tmpPp; + } +} +//------------------------------------------------------------------------------ + +inline void InitEdge(TEdge* e, TEdge* eNext, TEdge* ePrev, const IntPoint& Pt) +{ + std::memset(e, 0, sizeof(TEdge)); + e->Next = eNext; + e->Prev = ePrev; + e->Curr = Pt; + e->OutIdx = Unassigned; +} +//------------------------------------------------------------------------------ + +void InitEdge2(TEdge& e, PolyType Pt) +{ + if (e.Curr.Y >= e.Next->Curr.Y) + { + e.Bot = e.Curr; + e.Top = e.Next->Curr; + } else + { + e.Top = e.Curr; + e.Bot = e.Next->Curr; + } + SetDx(e); + e.PolyTyp = Pt; +} +//------------------------------------------------------------------------------ + +TEdge* RemoveEdge(TEdge* e) +{ + //removes e from double_linked_list (but without removing from memory) + e->Prev->Next = e->Next; + e->Next->Prev = e->Prev; + TEdge* result = e->Next; + e->Prev = 0; //flag as removed (see ClipperBase.Clear) + return result; +} +//------------------------------------------------------------------------------ + +inline void ReverseHorizontal(TEdge &e) +{ + //swap horizontal edges' Top and Bottom x's so they follow the natural + //progression of the bounds - ie so their xbots will align with the + //adjoining lower edge. [Helpful in the ProcessHorizontal() method.] + std::swap(e.Top.X, e.Bot.X); +#ifdef use_xyz + std::swap(e.Top.Z, e.Bot.Z); +#endif +} +//------------------------------------------------------------------------------ + +void SwapPoints(IntPoint &pt1, IntPoint &pt2) +{ + IntPoint tmp = pt1; + pt1 = pt2; + pt2 = tmp; +} +//------------------------------------------------------------------------------ + +bool GetOverlapSegment(IntPoint pt1a, IntPoint pt1b, IntPoint pt2a, + IntPoint pt2b, IntPoint &pt1, IntPoint &pt2) +{ + //precondition: segments are Collinear. + if (Abs(pt1a.X - pt1b.X) > Abs(pt1a.Y - pt1b.Y)) + { + if (pt1a.X > pt1b.X) SwapPoints(pt1a, pt1b); + if (pt2a.X > pt2b.X) SwapPoints(pt2a, pt2b); + if (pt1a.X > pt2a.X) pt1 = pt1a; else pt1 = pt2a; + if (pt1b.X < pt2b.X) pt2 = pt1b; else pt2 = pt2b; + return pt1.X < pt2.X; + } else + { + if (pt1a.Y < pt1b.Y) SwapPoints(pt1a, pt1b); + if (pt2a.Y < pt2b.Y) SwapPoints(pt2a, pt2b); + if (pt1a.Y < pt2a.Y) pt1 = pt1a; else pt1 = pt2a; + if (pt1b.Y > pt2b.Y) pt2 = pt1b; else pt2 = pt2b; + return pt1.Y > pt2.Y; + } +} +//------------------------------------------------------------------------------ + +bool FirstIsBottomPt(const OutPt* btmPt1, const OutPt* btmPt2) +{ + OutPt *p = btmPt1->Prev; + while ((p->Pt == btmPt1->Pt) && (p != btmPt1)) p = p->Prev; + double dx1p = std::fabs(GetDx(btmPt1->Pt, p->Pt)); + p = btmPt1->Next; + while ((p->Pt == btmPt1->Pt) && (p != btmPt1)) p = p->Next; + double dx1n = std::fabs(GetDx(btmPt1->Pt, p->Pt)); + + p = btmPt2->Prev; + while ((p->Pt == btmPt2->Pt) && (p != btmPt2)) p = p->Prev; + double dx2p = std::fabs(GetDx(btmPt2->Pt, p->Pt)); + p = btmPt2->Next; + while ((p->Pt == btmPt2->Pt) && (p != btmPt2)) p = p->Next; + double dx2n = std::fabs(GetDx(btmPt2->Pt, p->Pt)); + + if (std::max(dx1p, dx1n) == std::max(dx2p, dx2n) && + std::min(dx1p, dx1n) == std::min(dx2p, dx2n)) + return Area(btmPt1) > 0; //if otherwise identical use orientation + else + return (dx1p >= dx2p && dx1p >= dx2n) || (dx1n >= dx2p && dx1n >= dx2n); +} +//------------------------------------------------------------------------------ + +OutPt* GetBottomPt(OutPt *pp) +{ + OutPt* dups = 0; + OutPt* p = pp->Next; + while (p != pp) + { + if (p->Pt.Y > pp->Pt.Y) + { + pp = p; + dups = 0; + } + else if (p->Pt.Y == pp->Pt.Y && p->Pt.X <= pp->Pt.X) + { + if (p->Pt.X < pp->Pt.X) + { + dups = 0; + pp = p; + } else + { + if (p->Next != pp && p->Prev != pp) dups = p; + } + } + p = p->Next; + } + if (dups) + { + //there appears to be at least 2 vertices at BottomPt so ... + while (dups != p) + { + if (!FirstIsBottomPt(p, dups)) pp = dups; + dups = dups->Next; + while (dups->Pt != pp->Pt) dups = dups->Next; + } + } + return pp; +} +//------------------------------------------------------------------------------ + +bool Pt2IsBetweenPt1AndPt3(const IntPoint pt1, + const IntPoint pt2, const IntPoint pt3) +{ + if ((pt1 == pt3) || (pt1 == pt2) || (pt3 == pt2)) + return false; + else if (pt1.X != pt3.X) + return (pt2.X > pt1.X) == (pt2.X < pt3.X); + else + return (pt2.Y > pt1.Y) == (pt2.Y < pt3.Y); +} +//------------------------------------------------------------------------------ + +bool HorzSegmentsOverlap(cInt seg1a, cInt seg1b, cInt seg2a, cInt seg2b) +{ + if (seg1a > seg1b) std::swap(seg1a, seg1b); + if (seg2a > seg2b) std::swap(seg2a, seg2b); + return (seg1a < seg2b) && (seg2a < seg1b); +} + +//------------------------------------------------------------------------------ +// ClipperBase class methods ... +//------------------------------------------------------------------------------ + +ClipperBase::ClipperBase() //constructor +{ + m_CurrentLM = m_MinimaList.begin(); //begin() == end() here + m_UseFullRange = false; +} +//------------------------------------------------------------------------------ + +ClipperBase::~ClipperBase() //destructor +{ + Clear(); +} +//------------------------------------------------------------------------------ + +void RangeTest(const IntPoint& Pt, bool& useFullRange) +{ + if (useFullRange) + { + if (Pt.X > hiRange || Pt.Y > hiRange || -Pt.X > hiRange || -Pt.Y > hiRange) + throw clipperException("Coordinate outside allowed range"); + } + else if (Pt.X > loRange|| Pt.Y > loRange || -Pt.X > loRange || -Pt.Y > loRange) + { + useFullRange = true; + RangeTest(Pt, useFullRange); + } +} +//------------------------------------------------------------------------------ + +TEdge* FindNextLocMin(TEdge* E) +{ + for (;;) + { + while (E->Bot != E->Prev->Bot || E->Curr == E->Top) E = E->Next; + if (!IsHorizontal(*E) && !IsHorizontal(*E->Prev)) break; + while (IsHorizontal(*E->Prev)) E = E->Prev; + TEdge* E2 = E; + while (IsHorizontal(*E)) E = E->Next; + if (E->Top.Y == E->Prev->Bot.Y) continue; //ie just an intermediate horz. + if (E2->Prev->Bot.X < E->Bot.X) E = E2; + break; + } + return E; +} +//------------------------------------------------------------------------------ + +TEdge* ClipperBase::ProcessBound(TEdge* E, bool NextIsForward) +{ + TEdge *Result = E; + TEdge *Horz = 0; + + if (E->OutIdx == Skip) + { + //if edges still remain in the current bound beyond the skip edge then + //create another LocMin and call ProcessBound once more + if (NextIsForward) + { + while (E->Top.Y == E->Next->Bot.Y) E = E->Next; + //don't include top horizontals when parsing a bound a second time, + //they will be contained in the opposite bound ... + while (E != Result && IsHorizontal(*E)) E = E->Prev; + } + else + { + while (E->Top.Y == E->Prev->Bot.Y) E = E->Prev; + while (E != Result && IsHorizontal(*E)) E = E->Next; + } + + if (E == Result) + { + if (NextIsForward) Result = E->Next; + else Result = E->Prev; + } + else + { + //there are more edges in the bound beyond result starting with E + if (NextIsForward) + E = Result->Next; + else + E = Result->Prev; + MinimaList::value_type locMin; + locMin.Y = E->Bot.Y; + locMin.LeftBound = 0; + locMin.RightBound = E; + E->WindDelta = 0; + Result = ProcessBound(E, NextIsForward); + m_MinimaList.push_back(locMin); + } + return Result; + } + + TEdge *EStart; + + if (IsHorizontal(*E)) + { + //We need to be careful with open paths because this may not be a + //true local minima (ie E may be following a skip edge). + //Also, consecutive horz. edges may start heading left before going right. + if (NextIsForward) + EStart = E->Prev; + else + EStart = E->Next; + if (IsHorizontal(*EStart)) //ie an adjoining horizontal skip edge + { + if (EStart->Bot.X != E->Bot.X && EStart->Top.X != E->Bot.X) + ReverseHorizontal(*E); + } + else if (EStart->Bot.X != E->Bot.X) + ReverseHorizontal(*E); + } + + EStart = E; + if (NextIsForward) + { + while (Result->Top.Y == Result->Next->Bot.Y && Result->Next->OutIdx != Skip) + Result = Result->Next; + if (IsHorizontal(*Result) && Result->Next->OutIdx != Skip) + { + //nb: at the top of a bound, horizontals are added to the bound + //only when the preceding edge attaches to the horizontal's left vertex + //unless a Skip edge is encountered when that becomes the top divide + Horz = Result; + while (IsHorizontal(*Horz->Prev)) Horz = Horz->Prev; + if (Horz->Prev->Top.X > Result->Next->Top.X) Result = Horz->Prev; + } + while (E != Result) + { + E->NextInLML = E->Next; + if (IsHorizontal(*E) && E != EStart && + E->Bot.X != E->Prev->Top.X) ReverseHorizontal(*E); + E = E->Next; + } + if (IsHorizontal(*E) && E != EStart && E->Bot.X != E->Prev->Top.X) + ReverseHorizontal(*E); + Result = Result->Next; //move to the edge just beyond current bound + } else + { + while (Result->Top.Y == Result->Prev->Bot.Y && Result->Prev->OutIdx != Skip) + Result = Result->Prev; + if (IsHorizontal(*Result) && Result->Prev->OutIdx != Skip) + { + Horz = Result; + while (IsHorizontal(*Horz->Next)) Horz = Horz->Next; + if (Horz->Next->Top.X == Result->Prev->Top.X || + Horz->Next->Top.X > Result->Prev->Top.X) Result = Horz->Next; + } + + while (E != Result) + { + E->NextInLML = E->Prev; + if (IsHorizontal(*E) && E != EStart && E->Bot.X != E->Next->Top.X) + ReverseHorizontal(*E); + E = E->Prev; + } + if (IsHorizontal(*E) && E != EStart && E->Bot.X != E->Next->Top.X) + ReverseHorizontal(*E); + Result = Result->Prev; //move to the edge just beyond current bound + } + + return Result; +} +//------------------------------------------------------------------------------ + +bool ClipperBase::AddPath(const Path &pg, PolyType PolyTyp, bool Closed) +{ +#ifdef use_lines + if (!Closed && PolyTyp == ptClip) + throw clipperException("AddPath: Open paths must be subject."); +#else + if (!Closed) + throw clipperException("AddPath: Open paths have been disabled."); +#endif + + int highI = (int)pg.size() -1; + if (Closed) while (highI > 0 && (pg[highI] == pg[0])) --highI; + while (highI > 0 && (pg[highI] == pg[highI -1])) --highI; + if ((Closed && highI < 2) || (!Closed && highI < 1)) return false; + + //create a new edge array ... + TEdge *edges = new TEdge [highI +1]; + + bool IsFlat = true; + //1. Basic (first) edge initialization ... + try + { + edges[1].Curr = pg[1]; + RangeTest(pg[0], m_UseFullRange); + RangeTest(pg[highI], m_UseFullRange); + InitEdge(&edges[0], &edges[1], &edges[highI], pg[0]); + InitEdge(&edges[highI], &edges[0], &edges[highI-1], pg[highI]); + for (int i = highI - 1; i >= 1; --i) + { + RangeTest(pg[i], m_UseFullRange); + InitEdge(&edges[i], &edges[i+1], &edges[i-1], pg[i]); + } + } + catch(...) + { + delete [] edges; + throw; //range test fails + } + TEdge *eStart = &edges[0]; + + //2. Remove duplicate vertices, and (when closed) collinear edges ... + TEdge *E = eStart, *eLoopStop = eStart; + for (;;) + { + //nb: allows matching start and end points when not Closed ... + if (E->Curr == E->Next->Curr && (Closed || E->Next != eStart)) + { + if (E == E->Next) break; + if (E == eStart) eStart = E->Next; + E = RemoveEdge(E); + eLoopStop = E; + continue; + } + if (E->Prev == E->Next) + break; //only two vertices + else if (Closed && + SlopesEqual(E->Prev->Curr, E->Curr, E->Next->Curr, m_UseFullRange) && + (!m_PreserveCollinear || + !Pt2IsBetweenPt1AndPt3(E->Prev->Curr, E->Curr, E->Next->Curr))) + { + //Collinear edges are allowed for open paths but in closed paths + //the default is to merge adjacent collinear edges into a single edge. + //However, if the PreserveCollinear property is enabled, only overlapping + //collinear edges (ie spikes) will be removed from closed paths. + if (E == eStart) eStart = E->Next; + E = RemoveEdge(E); + E = E->Prev; + eLoopStop = E; + continue; + } + E = E->Next; + if ((E == eLoopStop) || (!Closed && E->Next == eStart)) break; + } + + if ((!Closed && (E == E->Next)) || (Closed && (E->Prev == E->Next))) + { + delete [] edges; + return false; + } + + if (!Closed) + { + m_HasOpenPaths = true; + eStart->Prev->OutIdx = Skip; + } + + //3. Do second stage of edge initialization ... + E = eStart; + do + { + InitEdge2(*E, PolyTyp); + E = E->Next; + if (IsFlat && E->Curr.Y != eStart->Curr.Y) IsFlat = false; + } + while (E != eStart); + + //4. Finally, add edge bounds to LocalMinima list ... + + //Totally flat paths must be handled differently when adding them + //to LocalMinima list to avoid endless loops etc ... + if (IsFlat) + { + if (Closed) + { + delete [] edges; + return false; + } + E->Prev->OutIdx = Skip; + MinimaList::value_type locMin; + locMin.Y = E->Bot.Y; + locMin.LeftBound = 0; + locMin.RightBound = E; + locMin.RightBound->Side = esRight; + locMin.RightBound->WindDelta = 0; + for (;;) + { + if (E->Bot.X != E->Prev->Top.X) ReverseHorizontal(*E); + if (E->Next->OutIdx == Skip) break; + E->NextInLML = E->Next; + E = E->Next; + } + m_MinimaList.push_back(locMin); + m_edges.push_back(edges); + return true; + } + + m_edges.push_back(edges); + bool leftBoundIsForward; + TEdge* EMin = 0; + + //workaround to avoid an endless loop in the while loop below when + //open paths have matching start and end points ... + if (E->Prev->Bot == E->Prev->Top) E = E->Next; + + for (;;) + { + E = FindNextLocMin(E); + if (E == EMin) break; + else if (!EMin) EMin = E; + + //E and E.Prev now share a local minima (left aligned if horizontal). + //Compare their slopes to find which starts which bound ... + MinimaList::value_type locMin; + locMin.Y = E->Bot.Y; + if (E->Dx < E->Prev->Dx) + { + locMin.LeftBound = E->Prev; + locMin.RightBound = E; + leftBoundIsForward = false; //Q.nextInLML = Q.prev + } else + { + locMin.LeftBound = E; + locMin.RightBound = E->Prev; + leftBoundIsForward = true; //Q.nextInLML = Q.next + } + + if (!Closed) locMin.LeftBound->WindDelta = 0; + else if (locMin.LeftBound->Next == locMin.RightBound) + locMin.LeftBound->WindDelta = -1; + else locMin.LeftBound->WindDelta = 1; + locMin.RightBound->WindDelta = -locMin.LeftBound->WindDelta; + + E = ProcessBound(locMin.LeftBound, leftBoundIsForward); + if (E->OutIdx == Skip) E = ProcessBound(E, leftBoundIsForward); + + TEdge* E2 = ProcessBound(locMin.RightBound, !leftBoundIsForward); + if (E2->OutIdx == Skip) E2 = ProcessBound(E2, !leftBoundIsForward); + + if (locMin.LeftBound->OutIdx == Skip) + locMin.LeftBound = 0; + else if (locMin.RightBound->OutIdx == Skip) + locMin.RightBound = 0; + m_MinimaList.push_back(locMin); + if (!leftBoundIsForward) E = E2; + } + return true; +} +//------------------------------------------------------------------------------ + +bool ClipperBase::AddPaths(const Paths &ppg, PolyType PolyTyp, bool Closed) +{ + bool result = false; + for (Paths::size_type i = 0; i < ppg.size(); ++i) + if (AddPath(ppg[i], PolyTyp, Closed)) result = true; + return result; +} +//------------------------------------------------------------------------------ + +void ClipperBase::Clear() +{ + DisposeLocalMinimaList(); + for (EdgeList::size_type i = 0; i < m_edges.size(); ++i) + { + TEdge* edges = m_edges[i]; + delete [] edges; + } + m_edges.clear(); + m_UseFullRange = false; + m_HasOpenPaths = false; +} +//------------------------------------------------------------------------------ + +void ClipperBase::Reset() +{ + m_CurrentLM = m_MinimaList.begin(); + if (m_CurrentLM == m_MinimaList.end()) return; //ie nothing to process + std::sort(m_MinimaList.begin(), m_MinimaList.end(), LocMinSorter()); + + m_Scanbeam = ScanbeamList(); //clears/resets priority_queue + //reset all edges ... + for (MinimaList::iterator lm = m_MinimaList.begin(); lm != m_MinimaList.end(); ++lm) + { + InsertScanbeam(lm->Y); + TEdge* e = lm->LeftBound; + if (e) + { + e->Curr = e->Bot; + e->Side = esLeft; + e->OutIdx = Unassigned; + } + + e = lm->RightBound; + if (e) + { + e->Curr = e->Bot; + e->Side = esRight; + e->OutIdx = Unassigned; + } + } + m_ActiveEdges = 0; + m_CurrentLM = m_MinimaList.begin(); +} +//------------------------------------------------------------------------------ + +void ClipperBase::DisposeLocalMinimaList() +{ + m_MinimaList.clear(); + m_CurrentLM = m_MinimaList.begin(); +} +//------------------------------------------------------------------------------ + +bool ClipperBase::PopLocalMinima(cInt Y, const LocalMinimum *&locMin) +{ + if (m_CurrentLM == m_MinimaList.end() || (*m_CurrentLM).Y != Y) return false; + locMin = &(*m_CurrentLM); + ++m_CurrentLM; + return true; +} +//------------------------------------------------------------------------------ + +IntRect ClipperBase::GetBounds() +{ + IntRect result; + MinimaList::iterator lm = m_MinimaList.begin(); + if (lm == m_MinimaList.end()) + { + result.left = result.top = result.right = result.bottom = 0; + return result; + } + result.left = lm->LeftBound->Bot.X; + result.top = lm->LeftBound->Bot.Y; + result.right = lm->LeftBound->Bot.X; + result.bottom = lm->LeftBound->Bot.Y; + while (lm != m_MinimaList.end()) + { + //todo - needs fixing for open paths + result.bottom = std::max(result.bottom, lm->LeftBound->Bot.Y); + TEdge* e = lm->LeftBound; + for (;;) { + TEdge* bottomE = e; + while (e->NextInLML) + { + if (e->Bot.X < result.left) result.left = e->Bot.X; + if (e->Bot.X > result.right) result.right = e->Bot.X; + e = e->NextInLML; + } + result.left = std::min(result.left, e->Bot.X); + result.right = std::max(result.right, e->Bot.X); + result.left = std::min(result.left, e->Top.X); + result.right = std::max(result.right, e->Top.X); + result.top = std::min(result.top, e->Top.Y); + if (bottomE == lm->LeftBound) e = lm->RightBound; + else break; + } + ++lm; + } + return result; +} +//------------------------------------------------------------------------------ + +void ClipperBase::InsertScanbeam(const cInt Y) +{ + m_Scanbeam.push(Y); +} +//------------------------------------------------------------------------------ + +bool ClipperBase::PopScanbeam(cInt &Y) +{ + if (m_Scanbeam.empty()) return false; + Y = m_Scanbeam.top(); + m_Scanbeam.pop(); + while (!m_Scanbeam.empty() && Y == m_Scanbeam.top()) { m_Scanbeam.pop(); } // Pop duplicates. + return true; +} +//------------------------------------------------------------------------------ + +void ClipperBase::DisposeAllOutRecs(){ + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); ++i) + DisposeOutRec(i); + m_PolyOuts.clear(); +} +//------------------------------------------------------------------------------ + +void ClipperBase::DisposeOutRec(PolyOutList::size_type index) +{ + OutRec *outRec = m_PolyOuts[index]; + if (outRec->Pts) DisposeOutPts(outRec->Pts); + delete outRec; + m_PolyOuts[index] = 0; +} +//------------------------------------------------------------------------------ + +void ClipperBase::DeleteFromAEL(TEdge *e) +{ + TEdge* AelPrev = e->PrevInAEL; + TEdge* AelNext = e->NextInAEL; + if (!AelPrev && !AelNext && (e != m_ActiveEdges)) return; //already deleted + if (AelPrev) AelPrev->NextInAEL = AelNext; + else m_ActiveEdges = AelNext; + if (AelNext) AelNext->PrevInAEL = AelPrev; + e->NextInAEL = 0; + e->PrevInAEL = 0; +} +//------------------------------------------------------------------------------ + +OutRec* ClipperBase::CreateOutRec() +{ + OutRec* result = new OutRec; + result->IsHole = false; + result->IsOpen = false; + result->FirstLeft = 0; + result->Pts = 0; + result->BottomPt = 0; + result->PolyNd = 0; + m_PolyOuts.push_back(result); + result->Idx = (int)m_PolyOuts.size() - 1; + return result; +} +//------------------------------------------------------------------------------ + +void ClipperBase::SwapPositionsInAEL(TEdge *Edge1, TEdge *Edge2) +{ + //check that one or other edge hasn't already been removed from AEL ... + if (Edge1->NextInAEL == Edge1->PrevInAEL || + Edge2->NextInAEL == Edge2->PrevInAEL) return; + + if (Edge1->NextInAEL == Edge2) + { + TEdge* Next = Edge2->NextInAEL; + if (Next) Next->PrevInAEL = Edge1; + TEdge* Prev = Edge1->PrevInAEL; + if (Prev) Prev->NextInAEL = Edge2; + Edge2->PrevInAEL = Prev; + Edge2->NextInAEL = Edge1; + Edge1->PrevInAEL = Edge2; + Edge1->NextInAEL = Next; + } + else if (Edge2->NextInAEL == Edge1) + { + TEdge* Next = Edge1->NextInAEL; + if (Next) Next->PrevInAEL = Edge2; + TEdge* Prev = Edge2->PrevInAEL; + if (Prev) Prev->NextInAEL = Edge1; + Edge1->PrevInAEL = Prev; + Edge1->NextInAEL = Edge2; + Edge2->PrevInAEL = Edge1; + Edge2->NextInAEL = Next; + } + else + { + TEdge* Next = Edge1->NextInAEL; + TEdge* Prev = Edge1->PrevInAEL; + Edge1->NextInAEL = Edge2->NextInAEL; + if (Edge1->NextInAEL) Edge1->NextInAEL->PrevInAEL = Edge1; + Edge1->PrevInAEL = Edge2->PrevInAEL; + if (Edge1->PrevInAEL) Edge1->PrevInAEL->NextInAEL = Edge1; + Edge2->NextInAEL = Next; + if (Edge2->NextInAEL) Edge2->NextInAEL->PrevInAEL = Edge2; + Edge2->PrevInAEL = Prev; + if (Edge2->PrevInAEL) Edge2->PrevInAEL->NextInAEL = Edge2; + } + + if (!Edge1->PrevInAEL) m_ActiveEdges = Edge1; + else if (!Edge2->PrevInAEL) m_ActiveEdges = Edge2; +} +//------------------------------------------------------------------------------ + +void ClipperBase::UpdateEdgeIntoAEL(TEdge *&e) +{ + if (!e->NextInLML) + throw clipperException("UpdateEdgeIntoAEL: invalid call"); + + e->NextInLML->OutIdx = e->OutIdx; + TEdge* AelPrev = e->PrevInAEL; + TEdge* AelNext = e->NextInAEL; + if (AelPrev) AelPrev->NextInAEL = e->NextInLML; + else m_ActiveEdges = e->NextInLML; + if (AelNext) AelNext->PrevInAEL = e->NextInLML; + e->NextInLML->Side = e->Side; + e->NextInLML->WindDelta = e->WindDelta; + e->NextInLML->WindCnt = e->WindCnt; + e->NextInLML->WindCnt2 = e->WindCnt2; + e = e->NextInLML; + e->Curr = e->Bot; + e->PrevInAEL = AelPrev; + e->NextInAEL = AelNext; + if (!IsHorizontal(*e)) InsertScanbeam(e->Top.Y); +} +//------------------------------------------------------------------------------ + +bool ClipperBase::LocalMinimaPending() +{ + return (m_CurrentLM != m_MinimaList.end()); +} + +//------------------------------------------------------------------------------ +// TClipper methods ... +//------------------------------------------------------------------------------ + +Clipper::Clipper(int initOptions) : ClipperBase() //constructor +{ + m_ExecuteLocked = false; + m_UseFullRange = false; + m_ReverseOutput = ((initOptions & ioReverseSolution) != 0); + m_StrictSimple = ((initOptions & ioStrictlySimple) != 0); + m_PreserveCollinear = ((initOptions & ioPreserveCollinear) != 0); + m_HasOpenPaths = false; +#ifdef use_xyz + m_ZFill = 0; +#endif +} +//------------------------------------------------------------------------------ + +#ifdef use_xyz +void Clipper::ZFillFunction(ZFillCallback zFillFunc) +{ + m_ZFill = zFillFunc; +} +//------------------------------------------------------------------------------ +#endif + +bool Clipper::Execute(ClipType clipType, Paths &solution, PolyFillType fillType) +{ + return Execute(clipType, solution, fillType, fillType); +} +//------------------------------------------------------------------------------ + +bool Clipper::Execute(ClipType clipType, PolyTree &polytree, PolyFillType fillType) +{ + return Execute(clipType, polytree, fillType, fillType); +} +//------------------------------------------------------------------------------ + +bool Clipper::Execute(ClipType clipType, Paths &solution, + PolyFillType subjFillType, PolyFillType clipFillType) +{ + if( m_ExecuteLocked ) return false; + if (m_HasOpenPaths) + throw clipperException("Error: PolyTree struct is needed for open path clipping."); + m_ExecuteLocked = true; + solution.resize(0); + m_SubjFillType = subjFillType; + m_ClipFillType = clipFillType; + m_ClipType = clipType; + m_UsingPolyTree = false; + bool succeeded = ExecuteInternal(); + if (succeeded) BuildResult(solution); + DisposeAllOutRecs(); + m_ExecuteLocked = false; + return succeeded; +} +//------------------------------------------------------------------------------ + +bool Clipper::Execute(ClipType clipType, PolyTree& polytree, + PolyFillType subjFillType, PolyFillType clipFillType) +{ + if( m_ExecuteLocked ) return false; + m_ExecuteLocked = true; + m_SubjFillType = subjFillType; + m_ClipFillType = clipFillType; + m_ClipType = clipType; + m_UsingPolyTree = true; + bool succeeded = ExecuteInternal(); + if (succeeded) BuildResult2(polytree); + DisposeAllOutRecs(); + m_ExecuteLocked = false; + return succeeded; +} +//------------------------------------------------------------------------------ + +void Clipper::FixHoleLinkage(OutRec &outrec) +{ + //skip OutRecs that (a) contain outermost polygons or + //(b) already have the correct owner/child linkage ... + if (!outrec.FirstLeft || + (outrec.IsHole != outrec.FirstLeft->IsHole && + outrec.FirstLeft->Pts)) return; + + OutRec* orfl = outrec.FirstLeft; + while (orfl && ((orfl->IsHole == outrec.IsHole) || !orfl->Pts)) + orfl = orfl->FirstLeft; + outrec.FirstLeft = orfl; +} +//------------------------------------------------------------------------------ + +bool Clipper::ExecuteInternal() +{ + bool succeeded = true; + try { + Reset(); + m_Maxima = MaximaList(); + m_SortedEdges = 0; + + succeeded = true; + cInt botY, topY; + if (!PopScanbeam(botY)) return false; + InsertLocalMinimaIntoAEL(botY); + while (PopScanbeam(topY) || LocalMinimaPending()) + { + ProcessHorizontals(); + ClearGhostJoins(); + if (!ProcessIntersections(topY)) + { + succeeded = false; + break; + } + ProcessEdgesAtTopOfScanbeam(topY); + botY = topY; + InsertLocalMinimaIntoAEL(botY); + } + } + catch(...) + { + succeeded = false; + } + + if (succeeded) + { + //fix orientations ... + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); ++i) + { + OutRec *outRec = m_PolyOuts[i]; + if (!outRec->Pts || outRec->IsOpen) continue; + if ((outRec->IsHole ^ m_ReverseOutput) == (Area(*outRec) > 0)) + ReversePolyPtLinks(outRec->Pts); + } + + if (!m_Joins.empty()) JoinCommonEdges(); + + //unfortunately FixupOutPolygon() must be done after JoinCommonEdges() + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); ++i) + { + OutRec *outRec = m_PolyOuts[i]; + if (!outRec->Pts) continue; + if (outRec->IsOpen) + FixupOutPolyline(*outRec); + else + FixupOutPolygon(*outRec); + } + + if (m_StrictSimple) DoSimplePolygons(); + } + + ClearJoins(); + ClearGhostJoins(); + return succeeded; +} +//------------------------------------------------------------------------------ + +void Clipper::SetWindingCount(TEdge &edge) +{ + TEdge *e = edge.PrevInAEL; + //find the edge of the same polytype that immediately preceeds 'edge' in AEL + while (e && ((e->PolyTyp != edge.PolyTyp) || (e->WindDelta == 0))) e = e->PrevInAEL; + if (!e) + { + if (edge.WindDelta == 0) + { + PolyFillType pft = (edge.PolyTyp == ptSubject ? m_SubjFillType : m_ClipFillType); + edge.WindCnt = (pft == pftNegative ? -1 : 1); + } + else + edge.WindCnt = edge.WindDelta; + edge.WindCnt2 = 0; + e = m_ActiveEdges; //ie get ready to calc WindCnt2 + } + else if (edge.WindDelta == 0 && m_ClipType != ctUnion) + { + edge.WindCnt = 1; + edge.WindCnt2 = e->WindCnt2; + e = e->NextInAEL; //ie get ready to calc WindCnt2 + } + else if (IsEvenOddFillType(edge)) + { + //EvenOdd filling ... + if (edge.WindDelta == 0) + { + //are we inside a subj polygon ... + bool Inside = true; + TEdge *e2 = e->PrevInAEL; + while (e2) + { + if (e2->PolyTyp == e->PolyTyp && e2->WindDelta != 0) + Inside = !Inside; + e2 = e2->PrevInAEL; + } + edge.WindCnt = (Inside ? 0 : 1); + } + else + { + edge.WindCnt = edge.WindDelta; + } + edge.WindCnt2 = e->WindCnt2; + e = e->NextInAEL; //ie get ready to calc WindCnt2 + } + else + { + //nonZero, Positive or Negative filling ... + if (e->WindCnt * e->WindDelta < 0) + { + //prev edge is 'decreasing' WindCount (WC) toward zero + //so we're outside the previous polygon ... + if (Abs(e->WindCnt) > 1) + { + //outside prev poly but still inside another. + //when reversing direction of prev poly use the same WC + if (e->WindDelta * edge.WindDelta < 0) edge.WindCnt = e->WindCnt; + //otherwise continue to 'decrease' WC ... + else edge.WindCnt = e->WindCnt + edge.WindDelta; + } + else + //now outside all polys of same polytype so set own WC ... + edge.WindCnt = (edge.WindDelta == 0 ? 1 : edge.WindDelta); + } else + { + //prev edge is 'increasing' WindCount (WC) away from zero + //so we're inside the previous polygon ... + if (edge.WindDelta == 0) + edge.WindCnt = (e->WindCnt < 0 ? e->WindCnt - 1 : e->WindCnt + 1); + //if wind direction is reversing prev then use same WC + else if (e->WindDelta * edge.WindDelta < 0) edge.WindCnt = e->WindCnt; + //otherwise add to WC ... + else edge.WindCnt = e->WindCnt + edge.WindDelta; + } + edge.WindCnt2 = e->WindCnt2; + e = e->NextInAEL; //ie get ready to calc WindCnt2 + } + + //update WindCnt2 ... + if (IsEvenOddAltFillType(edge)) + { + //EvenOdd filling ... + while (e != &edge) + { + if (e->WindDelta != 0) + edge.WindCnt2 = (edge.WindCnt2 == 0 ? 1 : 0); + e = e->NextInAEL; + } + } else + { + //nonZero, Positive or Negative filling ... + while ( e != &edge ) + { + edge.WindCnt2 += e->WindDelta; + e = e->NextInAEL; + } + } +} +//------------------------------------------------------------------------------ + +bool Clipper::IsEvenOddFillType(const TEdge& edge) const +{ + if (edge.PolyTyp == ptSubject) + return m_SubjFillType == pftEvenOdd; else + return m_ClipFillType == pftEvenOdd; +} +//------------------------------------------------------------------------------ + +bool Clipper::IsEvenOddAltFillType(const TEdge& edge) const +{ + if (edge.PolyTyp == ptSubject) + return m_ClipFillType == pftEvenOdd; else + return m_SubjFillType == pftEvenOdd; +} +//------------------------------------------------------------------------------ + +bool Clipper::IsContributing(const TEdge& edge) const +{ + PolyFillType pft, pft2; + if (edge.PolyTyp == ptSubject) + { + pft = m_SubjFillType; + pft2 = m_ClipFillType; + } else + { + pft = m_ClipFillType; + pft2 = m_SubjFillType; + } + + switch(pft) + { + case pftEvenOdd: + //return false if a subj line has been flagged as inside a subj polygon + if (edge.WindDelta == 0 && edge.WindCnt != 1) return false; + break; + case pftNonZero: + if (Abs(edge.WindCnt) != 1) return false; + break; + case pftPositive: + if (edge.WindCnt != 1) return false; + break; + default: //pftNegative + if (edge.WindCnt != -1) return false; + } + + switch(m_ClipType) + { + case ctIntersection: + switch(pft2) + { + case pftEvenOdd: + case pftNonZero: + return (edge.WindCnt2 != 0); + case pftPositive: + return (edge.WindCnt2 > 0); + default: + return (edge.WindCnt2 < 0); + } + break; + case ctUnion: + switch(pft2) + { + case pftEvenOdd: + case pftNonZero: + return (edge.WindCnt2 == 0); + case pftPositive: + return (edge.WindCnt2 <= 0); + default: + return (edge.WindCnt2 >= 0); + } + break; + case ctDifference: + if (edge.PolyTyp == ptSubject) + switch(pft2) + { + case pftEvenOdd: + case pftNonZero: + return (edge.WindCnt2 == 0); + case pftPositive: + return (edge.WindCnt2 <= 0); + default: + return (edge.WindCnt2 >= 0); + } + else + switch(pft2) + { + case pftEvenOdd: + case pftNonZero: + return (edge.WindCnt2 != 0); + case pftPositive: + return (edge.WindCnt2 > 0); + default: + return (edge.WindCnt2 < 0); + } + break; + case ctXor: + if (edge.WindDelta == 0) //XOr always contributing unless open + switch(pft2) + { + case pftEvenOdd: + case pftNonZero: + return (edge.WindCnt2 == 0); + case pftPositive: + return (edge.WindCnt2 <= 0); + default: + return (edge.WindCnt2 >= 0); + } + else + return true; + break; + default: + return true; + } +} +//------------------------------------------------------------------------------ + +OutPt* Clipper::AddLocalMinPoly(TEdge *e1, TEdge *e2, const IntPoint &Pt) +{ + OutPt* result; + TEdge *e, *prevE; + if (IsHorizontal(*e2) || ( e1->Dx > e2->Dx )) + { + result = AddOutPt(e1, Pt); + e2->OutIdx = e1->OutIdx; + e1->Side = esLeft; + e2->Side = esRight; + e = e1; + if (e->PrevInAEL == e2) + prevE = e2->PrevInAEL; + else + prevE = e->PrevInAEL; + } else + { + result = AddOutPt(e2, Pt); + e1->OutIdx = e2->OutIdx; + e1->Side = esRight; + e2->Side = esLeft; + e = e2; + if (e->PrevInAEL == e1) + prevE = e1->PrevInAEL; + else + prevE = e->PrevInAEL; + } + + if (prevE && prevE->OutIdx >= 0 && prevE->Top.Y < Pt.Y && e->Top.Y < Pt.Y) + { + cInt xPrev = TopX(*prevE, Pt.Y); + cInt xE = TopX(*e, Pt.Y); + if (xPrev == xE && (e->WindDelta != 0) && (prevE->WindDelta != 0) && + SlopesEqual(IntPoint(xPrev, Pt.Y), prevE->Top, IntPoint(xE, Pt.Y), e->Top, m_UseFullRange)) + { + OutPt* outPt = AddOutPt(prevE, Pt); + AddJoin(result, outPt, e->Top); + } + } + return result; +} +//------------------------------------------------------------------------------ + +void Clipper::AddLocalMaxPoly(TEdge *e1, TEdge *e2, const IntPoint &Pt) +{ + AddOutPt( e1, Pt ); + if (e2->WindDelta == 0) AddOutPt(e2, Pt); + if( e1->OutIdx == e2->OutIdx ) + { + e1->OutIdx = Unassigned; + e2->OutIdx = Unassigned; + } + else if (e1->OutIdx < e2->OutIdx) + AppendPolygon(e1, e2); + else + AppendPolygon(e2, e1); +} +//------------------------------------------------------------------------------ + +void Clipper::AddEdgeToSEL(TEdge *edge) +{ + //SEL pointers in PEdge are reused to build a list of horizontal edges. + //However, we don't need to worry about order with horizontal edge processing. + if( !m_SortedEdges ) + { + m_SortedEdges = edge; + edge->PrevInSEL = 0; + edge->NextInSEL = 0; + } + else + { + edge->NextInSEL = m_SortedEdges; + edge->PrevInSEL = 0; + m_SortedEdges->PrevInSEL = edge; + m_SortedEdges = edge; + } +} +//------------------------------------------------------------------------------ + +bool Clipper::PopEdgeFromSEL(TEdge *&edge) +{ + if (!m_SortedEdges) return false; + edge = m_SortedEdges; + DeleteFromSEL(m_SortedEdges); + return true; +} +//------------------------------------------------------------------------------ + +void Clipper::CopyAELToSEL() +{ + TEdge* e = m_ActiveEdges; + m_SortedEdges = e; + while ( e ) + { + e->PrevInSEL = e->PrevInAEL; + e->NextInSEL = e->NextInAEL; + e = e->NextInAEL; + } +} +//------------------------------------------------------------------------------ + +void Clipper::AddJoin(OutPt *op1, OutPt *op2, const IntPoint OffPt) +{ + Join* j = new Join; + j->OutPt1 = op1; + j->OutPt2 = op2; + j->OffPt = OffPt; + m_Joins.push_back(j); +} +//------------------------------------------------------------------------------ + +void Clipper::ClearJoins() +{ + for (JoinList::size_type i = 0; i < m_Joins.size(); i++) + delete m_Joins[i]; + m_Joins.resize(0); +} +//------------------------------------------------------------------------------ + +void Clipper::ClearGhostJoins() +{ + for (JoinList::size_type i = 0; i < m_GhostJoins.size(); i++) + delete m_GhostJoins[i]; + m_GhostJoins.resize(0); +} +//------------------------------------------------------------------------------ + +void Clipper::AddGhostJoin(OutPt *op, const IntPoint OffPt) +{ + Join* j = new Join; + j->OutPt1 = op; + j->OutPt2 = 0; + j->OffPt = OffPt; + m_GhostJoins.push_back(j); +} +//------------------------------------------------------------------------------ + +void Clipper::InsertLocalMinimaIntoAEL(const cInt botY) +{ + const LocalMinimum *lm; + while (PopLocalMinima(botY, lm)) + { + TEdge* lb = lm->LeftBound; + TEdge* rb = lm->RightBound; + + OutPt *Op1 = 0; + if (!lb) + { + //nb: don't insert LB into either AEL or SEL + InsertEdgeIntoAEL(rb, 0); + SetWindingCount(*rb); + if (IsContributing(*rb)) + Op1 = AddOutPt(rb, rb->Bot); + } + else if (!rb) + { + InsertEdgeIntoAEL(lb, 0); + SetWindingCount(*lb); + if (IsContributing(*lb)) + Op1 = AddOutPt(lb, lb->Bot); + InsertScanbeam(lb->Top.Y); + } + else + { + InsertEdgeIntoAEL(lb, 0); + InsertEdgeIntoAEL(rb, lb); + SetWindingCount( *lb ); + rb->WindCnt = lb->WindCnt; + rb->WindCnt2 = lb->WindCnt2; + if (IsContributing(*lb)) + Op1 = AddLocalMinPoly(lb, rb, lb->Bot); + InsertScanbeam(lb->Top.Y); + } + + if (rb) + { + if (IsHorizontal(*rb)) + { + AddEdgeToSEL(rb); + if (rb->NextInLML) + InsertScanbeam(rb->NextInLML->Top.Y); + } + else InsertScanbeam( rb->Top.Y ); + } + + if (!lb || !rb) continue; + + //if any output polygons share an edge, they'll need joining later ... + if (Op1 && IsHorizontal(*rb) && + m_GhostJoins.size() > 0 && (rb->WindDelta != 0)) + { + for (JoinList::size_type i = 0; i < m_GhostJoins.size(); ++i) + { + Join* jr = m_GhostJoins[i]; + //if the horizontal Rb and a 'ghost' horizontal overlap, then convert + //the 'ghost' join to a real join ready for later ... + if (HorzSegmentsOverlap(jr->OutPt1->Pt.X, jr->OffPt.X, rb->Bot.X, rb->Top.X)) + AddJoin(jr->OutPt1, Op1, jr->OffPt); + } + } + + if (lb->OutIdx >= 0 && lb->PrevInAEL && + lb->PrevInAEL->Curr.X == lb->Bot.X && + lb->PrevInAEL->OutIdx >= 0 && + SlopesEqual(lb->PrevInAEL->Bot, lb->PrevInAEL->Top, lb->Curr, lb->Top, m_UseFullRange) && + (lb->WindDelta != 0) && (lb->PrevInAEL->WindDelta != 0)) + { + OutPt *Op2 = AddOutPt(lb->PrevInAEL, lb->Bot); + AddJoin(Op1, Op2, lb->Top); + } + + if(lb->NextInAEL != rb) + { + + if (rb->OutIdx >= 0 && rb->PrevInAEL->OutIdx >= 0 && + SlopesEqual(rb->PrevInAEL->Curr, rb->PrevInAEL->Top, rb->Curr, rb->Top, m_UseFullRange) && + (rb->WindDelta != 0) && (rb->PrevInAEL->WindDelta != 0)) + { + OutPt *Op2 = AddOutPt(rb->PrevInAEL, rb->Bot); + AddJoin(Op1, Op2, rb->Top); + } + + TEdge* e = lb->NextInAEL; + if (e) + { + while( e != rb ) + { + //nb: For calculating winding counts etc, IntersectEdges() assumes + //that param1 will be to the Right of param2 ABOVE the intersection ... + IntersectEdges(rb , e , lb->Curr); //order important here + e = e->NextInAEL; + } + } + } + + } +} +//------------------------------------------------------------------------------ + +void Clipper::DeleteFromSEL(TEdge *e) +{ + TEdge* SelPrev = e->PrevInSEL; + TEdge* SelNext = e->NextInSEL; + if( !SelPrev && !SelNext && (e != m_SortedEdges) ) return; //already deleted + if( SelPrev ) SelPrev->NextInSEL = SelNext; + else m_SortedEdges = SelNext; + if( SelNext ) SelNext->PrevInSEL = SelPrev; + e->NextInSEL = 0; + e->PrevInSEL = 0; +} +//------------------------------------------------------------------------------ + +#ifdef use_xyz +void Clipper::SetZ(IntPoint& pt, TEdge& e1, TEdge& e2) +{ + if (pt.Z != 0 || !m_ZFill) return; + else if (pt == e1.Bot) pt.Z = e1.Bot.Z; + else if (pt == e1.Top) pt.Z = e1.Top.Z; + else if (pt == e2.Bot) pt.Z = e2.Bot.Z; + else if (pt == e2.Top) pt.Z = e2.Top.Z; + else (*m_ZFill)(e1.Bot, e1.Top, e2.Bot, e2.Top, pt); +} +//------------------------------------------------------------------------------ +#endif + +void Clipper::IntersectEdges(TEdge *e1, TEdge *e2, IntPoint &Pt) +{ + bool e1Contributing = ( e1->OutIdx >= 0 ); + bool e2Contributing = ( e2->OutIdx >= 0 ); + +#ifdef use_xyz + SetZ(Pt, *e1, *e2); +#endif + +#ifdef use_lines + //if either edge is on an OPEN path ... + if (e1->WindDelta == 0 || e2->WindDelta == 0) + { + //ignore subject-subject open path intersections UNLESS they + //are both open paths, AND they are both 'contributing maximas' ... + if (e1->WindDelta == 0 && e2->WindDelta == 0) return; + + //if intersecting a subj line with a subj poly ... + else if (e1->PolyTyp == e2->PolyTyp && + e1->WindDelta != e2->WindDelta && m_ClipType == ctUnion) + { + if (e1->WindDelta == 0) + { + if (e2Contributing) + { + AddOutPt(e1, Pt); + if (e1Contributing) e1->OutIdx = Unassigned; + } + } + else + { + if (e1Contributing) + { + AddOutPt(e2, Pt); + if (e2Contributing) e2->OutIdx = Unassigned; + } + } + } + else if (e1->PolyTyp != e2->PolyTyp) + { + //toggle subj open path OutIdx on/off when Abs(clip.WndCnt) == 1 ... + if ((e1->WindDelta == 0) && abs(e2->WindCnt) == 1 && + (m_ClipType != ctUnion || e2->WindCnt2 == 0)) + { + AddOutPt(e1, Pt); + if (e1Contributing) e1->OutIdx = Unassigned; + } + else if ((e2->WindDelta == 0) && (abs(e1->WindCnt) == 1) && + (m_ClipType != ctUnion || e1->WindCnt2 == 0)) + { + AddOutPt(e2, Pt); + if (e2Contributing) e2->OutIdx = Unassigned; + } + } + return; + } +#endif + + //update winding counts... + //assumes that e1 will be to the Right of e2 ABOVE the intersection + if ( e1->PolyTyp == e2->PolyTyp ) + { + if ( IsEvenOddFillType( *e1) ) + { + int oldE1WindCnt = e1->WindCnt; + e1->WindCnt = e2->WindCnt; + e2->WindCnt = oldE1WindCnt; + } else + { + if (e1->WindCnt + e2->WindDelta == 0 ) e1->WindCnt = -e1->WindCnt; + else e1->WindCnt += e2->WindDelta; + if ( e2->WindCnt - e1->WindDelta == 0 ) e2->WindCnt = -e2->WindCnt; + else e2->WindCnt -= e1->WindDelta; + } + } else + { + if (!IsEvenOddFillType(*e2)) e1->WindCnt2 += e2->WindDelta; + else e1->WindCnt2 = ( e1->WindCnt2 == 0 ) ? 1 : 0; + if (!IsEvenOddFillType(*e1)) e2->WindCnt2 -= e1->WindDelta; + else e2->WindCnt2 = ( e2->WindCnt2 == 0 ) ? 1 : 0; + } + + PolyFillType e1FillType, e2FillType, e1FillType2, e2FillType2; + if (e1->PolyTyp == ptSubject) + { + e1FillType = m_SubjFillType; + e1FillType2 = m_ClipFillType; + } else + { + e1FillType = m_ClipFillType; + e1FillType2 = m_SubjFillType; + } + if (e2->PolyTyp == ptSubject) + { + e2FillType = m_SubjFillType; + e2FillType2 = m_ClipFillType; + } else + { + e2FillType = m_ClipFillType; + e2FillType2 = m_SubjFillType; + } + + cInt e1Wc, e2Wc; + switch (e1FillType) + { + case pftPositive: e1Wc = e1->WindCnt; break; + case pftNegative: e1Wc = -e1->WindCnt; break; + default: e1Wc = Abs(e1->WindCnt); + } + switch(e2FillType) + { + case pftPositive: e2Wc = e2->WindCnt; break; + case pftNegative: e2Wc = -e2->WindCnt; break; + default: e2Wc = Abs(e2->WindCnt); + } + + if ( e1Contributing && e2Contributing ) + { + if ((e1Wc != 0 && e1Wc != 1) || (e2Wc != 0 && e2Wc != 1) || + (e1->PolyTyp != e2->PolyTyp && m_ClipType != ctXor) ) + { + AddLocalMaxPoly(e1, e2, Pt); + } + else + { + AddOutPt(e1, Pt); + AddOutPt(e2, Pt); + SwapSides( *e1 , *e2 ); + SwapPolyIndexes( *e1 , *e2 ); + } + } + else if ( e1Contributing ) + { + if (e2Wc == 0 || e2Wc == 1) + { + AddOutPt(e1, Pt); + SwapSides(*e1, *e2); + SwapPolyIndexes(*e1, *e2); + } + } + else if ( e2Contributing ) + { + if (e1Wc == 0 || e1Wc == 1) + { + AddOutPt(e2, Pt); + SwapSides(*e1, *e2); + SwapPolyIndexes(*e1, *e2); + } + } + else if ( (e1Wc == 0 || e1Wc == 1) && (e2Wc == 0 || e2Wc == 1)) + { + //neither edge is currently contributing ... + + cInt e1Wc2, e2Wc2; + switch (e1FillType2) + { + case pftPositive: e1Wc2 = e1->WindCnt2; break; + case pftNegative : e1Wc2 = -e1->WindCnt2; break; + default: e1Wc2 = Abs(e1->WindCnt2); + } + switch (e2FillType2) + { + case pftPositive: e2Wc2 = e2->WindCnt2; break; + case pftNegative: e2Wc2 = -e2->WindCnt2; break; + default: e2Wc2 = Abs(e2->WindCnt2); + } + + if (e1->PolyTyp != e2->PolyTyp) + { + AddLocalMinPoly(e1, e2, Pt); + } + else if (e1Wc == 1 && e2Wc == 1) + switch( m_ClipType ) { + case ctIntersection: + if (e1Wc2 > 0 && e2Wc2 > 0) + AddLocalMinPoly(e1, e2, Pt); + break; + case ctUnion: + if ( e1Wc2 <= 0 && e2Wc2 <= 0 ) + AddLocalMinPoly(e1, e2, Pt); + break; + case ctDifference: + if (((e1->PolyTyp == ptClip) && (e1Wc2 > 0) && (e2Wc2 > 0)) || + ((e1->PolyTyp == ptSubject) && (e1Wc2 <= 0) && (e2Wc2 <= 0))) + AddLocalMinPoly(e1, e2, Pt); + break; + case ctXor: + AddLocalMinPoly(e1, e2, Pt); + } + else + SwapSides( *e1, *e2 ); + } +} +//------------------------------------------------------------------------------ + +void Clipper::SetHoleState(TEdge *e, OutRec *outrec) +{ + TEdge *e2 = e->PrevInAEL; + TEdge *eTmp = 0; + while (e2) + { + if (e2->OutIdx >= 0 && e2->WindDelta != 0) + { + if (!eTmp) eTmp = e2; + else if (eTmp->OutIdx == e2->OutIdx) eTmp = 0; + } + e2 = e2->PrevInAEL; + } + if (!eTmp) + { + outrec->FirstLeft = 0; + outrec->IsHole = false; + } + else + { + outrec->FirstLeft = m_PolyOuts[eTmp->OutIdx]; + outrec->IsHole = !outrec->FirstLeft->IsHole; + } +} +//------------------------------------------------------------------------------ + +OutRec* GetLowermostRec(OutRec *outRec1, OutRec *outRec2) +{ + //work out which polygon fragment has the correct hole state ... + if (!outRec1->BottomPt) + outRec1->BottomPt = GetBottomPt(outRec1->Pts); + if (!outRec2->BottomPt) + outRec2->BottomPt = GetBottomPt(outRec2->Pts); + OutPt *OutPt1 = outRec1->BottomPt; + OutPt *OutPt2 = outRec2->BottomPt; + if (OutPt1->Pt.Y > OutPt2->Pt.Y) return outRec1; + else if (OutPt1->Pt.Y < OutPt2->Pt.Y) return outRec2; + else if (OutPt1->Pt.X < OutPt2->Pt.X) return outRec1; + else if (OutPt1->Pt.X > OutPt2->Pt.X) return outRec2; + else if (OutPt1->Next == OutPt1) return outRec2; + else if (OutPt2->Next == OutPt2) return outRec1; + else if (FirstIsBottomPt(OutPt1, OutPt2)) return outRec1; + else return outRec2; +} +//------------------------------------------------------------------------------ + +bool OutRec1RightOfOutRec2(OutRec* outRec1, OutRec* outRec2) +{ + do + { + outRec1 = outRec1->FirstLeft; + if (outRec1 == outRec2) return true; + } while (outRec1); + return false; +} +//------------------------------------------------------------------------------ + +OutRec* Clipper::GetOutRec(int Idx) +{ + OutRec* outrec = m_PolyOuts[Idx]; + while (outrec != m_PolyOuts[outrec->Idx]) + outrec = m_PolyOuts[outrec->Idx]; + return outrec; +} +//------------------------------------------------------------------------------ + +void Clipper::AppendPolygon(TEdge *e1, TEdge *e2) +{ + //get the start and ends of both output polygons ... + OutRec *outRec1 = m_PolyOuts[e1->OutIdx]; + OutRec *outRec2 = m_PolyOuts[e2->OutIdx]; + + OutRec *holeStateRec; + if (OutRec1RightOfOutRec2(outRec1, outRec2)) + holeStateRec = outRec2; + else if (OutRec1RightOfOutRec2(outRec2, outRec1)) + holeStateRec = outRec1; + else + holeStateRec = GetLowermostRec(outRec1, outRec2); + + //get the start and ends of both output polygons and + //join e2 poly onto e1 poly and delete pointers to e2 ... + + OutPt* p1_lft = outRec1->Pts; + OutPt* p1_rt = p1_lft->Prev; + OutPt* p2_lft = outRec2->Pts; + OutPt* p2_rt = p2_lft->Prev; + + //join e2 poly onto e1 poly and delete pointers to e2 ... + if( e1->Side == esLeft ) + { + if( e2->Side == esLeft ) + { + //z y x a b c + ReversePolyPtLinks(p2_lft); + p2_lft->Next = p1_lft; + p1_lft->Prev = p2_lft; + p1_rt->Next = p2_rt; + p2_rt->Prev = p1_rt; + outRec1->Pts = p2_rt; + } else + { + //x y z a b c + p2_rt->Next = p1_lft; + p1_lft->Prev = p2_rt; + p2_lft->Prev = p1_rt; + p1_rt->Next = p2_lft; + outRec1->Pts = p2_lft; + } + } else + { + if( e2->Side == esRight ) + { + //a b c z y x + ReversePolyPtLinks(p2_lft); + p1_rt->Next = p2_rt; + p2_rt->Prev = p1_rt; + p2_lft->Next = p1_lft; + p1_lft->Prev = p2_lft; + } else + { + //a b c x y z + p1_rt->Next = p2_lft; + p2_lft->Prev = p1_rt; + p1_lft->Prev = p2_rt; + p2_rt->Next = p1_lft; + } + } + + outRec1->BottomPt = 0; + if (holeStateRec == outRec2) + { + if (outRec2->FirstLeft != outRec1) + outRec1->FirstLeft = outRec2->FirstLeft; + outRec1->IsHole = outRec2->IsHole; + } + outRec2->Pts = 0; + outRec2->BottomPt = 0; + outRec2->FirstLeft = outRec1; + + int OKIdx = e1->OutIdx; + int ObsoleteIdx = e2->OutIdx; + + e1->OutIdx = Unassigned; //nb: safe because we only get here via AddLocalMaxPoly + e2->OutIdx = Unassigned; + + TEdge* e = m_ActiveEdges; + while( e ) + { + if( e->OutIdx == ObsoleteIdx ) + { + e->OutIdx = OKIdx; + e->Side = e1->Side; + break; + } + e = e->NextInAEL; + } + + outRec2->Idx = outRec1->Idx; +} +//------------------------------------------------------------------------------ + +OutPt* Clipper::AddOutPt(TEdge *e, const IntPoint &pt) +{ + if( e->OutIdx < 0 ) + { + OutRec *outRec = CreateOutRec(); + outRec->IsOpen = (e->WindDelta == 0); + OutPt* newOp = new OutPt; + outRec->Pts = newOp; + newOp->Idx = outRec->Idx; + newOp->Pt = pt; + newOp->Next = newOp; + newOp->Prev = newOp; + if (!outRec->IsOpen) + SetHoleState(e, outRec); + e->OutIdx = outRec->Idx; + return newOp; + } else + { + OutRec *outRec = m_PolyOuts[e->OutIdx]; + //OutRec.Pts is the 'Left-most' point & OutRec.Pts.Prev is the 'Right-most' + OutPt* op = outRec->Pts; + + bool ToFront = (e->Side == esLeft); + if (ToFront && (pt == op->Pt)) return op; + else if (!ToFront && (pt == op->Prev->Pt)) return op->Prev; + + OutPt* newOp = new OutPt; + newOp->Idx = outRec->Idx; + newOp->Pt = pt; + newOp->Next = op; + newOp->Prev = op->Prev; + newOp->Prev->Next = newOp; + op->Prev = newOp; + if (ToFront) outRec->Pts = newOp; + return newOp; + } +} +//------------------------------------------------------------------------------ + +OutPt* Clipper::GetLastOutPt(TEdge *e) +{ + OutRec *outRec = m_PolyOuts[e->OutIdx]; + if (e->Side == esLeft) + return outRec->Pts; + else + return outRec->Pts->Prev; +} +//------------------------------------------------------------------------------ + +void Clipper::ProcessHorizontals() +{ + TEdge* horzEdge; + while (PopEdgeFromSEL(horzEdge)) + ProcessHorizontal(horzEdge); +} +//------------------------------------------------------------------------------ + +inline bool IsMinima(TEdge *e) +{ + return e && (e->Prev->NextInLML != e) && (e->Next->NextInLML != e); +} +//------------------------------------------------------------------------------ + +inline bool IsMaxima(TEdge *e, const cInt Y) +{ + return e && e->Top.Y == Y && !e->NextInLML; +} +//------------------------------------------------------------------------------ + +inline bool IsIntermediate(TEdge *e, const cInt Y) +{ + return e->Top.Y == Y && e->NextInLML; +} +//------------------------------------------------------------------------------ + +TEdge *GetMaximaPair(TEdge *e) +{ + if ((e->Next->Top == e->Top) && !e->Next->NextInLML) + return e->Next; + else if ((e->Prev->Top == e->Top) && !e->Prev->NextInLML) + return e->Prev; + else return 0; +} +//------------------------------------------------------------------------------ + +TEdge *GetMaximaPairEx(TEdge *e) +{ + //as GetMaximaPair() but returns 0 if MaxPair isn't in AEL (unless it's horizontal) + TEdge* result = GetMaximaPair(e); + if (result && (result->OutIdx == Skip || + (result->NextInAEL == result->PrevInAEL && !IsHorizontal(*result)))) return 0; + return result; +} +//------------------------------------------------------------------------------ + +void Clipper::SwapPositionsInSEL(TEdge *Edge1, TEdge *Edge2) +{ + if( !( Edge1->NextInSEL ) && !( Edge1->PrevInSEL ) ) return; + if( !( Edge2->NextInSEL ) && !( Edge2->PrevInSEL ) ) return; + + if( Edge1->NextInSEL == Edge2 ) + { + TEdge* Next = Edge2->NextInSEL; + if( Next ) Next->PrevInSEL = Edge1; + TEdge* Prev = Edge1->PrevInSEL; + if( Prev ) Prev->NextInSEL = Edge2; + Edge2->PrevInSEL = Prev; + Edge2->NextInSEL = Edge1; + Edge1->PrevInSEL = Edge2; + Edge1->NextInSEL = Next; + } + else if( Edge2->NextInSEL == Edge1 ) + { + TEdge* Next = Edge1->NextInSEL; + if( Next ) Next->PrevInSEL = Edge2; + TEdge* Prev = Edge2->PrevInSEL; + if( Prev ) Prev->NextInSEL = Edge1; + Edge1->PrevInSEL = Prev; + Edge1->NextInSEL = Edge2; + Edge2->PrevInSEL = Edge1; + Edge2->NextInSEL = Next; + } + else + { + TEdge* Next = Edge1->NextInSEL; + TEdge* Prev = Edge1->PrevInSEL; + Edge1->NextInSEL = Edge2->NextInSEL; + if( Edge1->NextInSEL ) Edge1->NextInSEL->PrevInSEL = Edge1; + Edge1->PrevInSEL = Edge2->PrevInSEL; + if( Edge1->PrevInSEL ) Edge1->PrevInSEL->NextInSEL = Edge1; + Edge2->NextInSEL = Next; + if( Edge2->NextInSEL ) Edge2->NextInSEL->PrevInSEL = Edge2; + Edge2->PrevInSEL = Prev; + if( Edge2->PrevInSEL ) Edge2->PrevInSEL->NextInSEL = Edge2; + } + + if( !Edge1->PrevInSEL ) m_SortedEdges = Edge1; + else if( !Edge2->PrevInSEL ) m_SortedEdges = Edge2; +} +//------------------------------------------------------------------------------ + +TEdge* GetNextInAEL(TEdge *e, Direction dir) +{ + return dir == dLeftToRight ? e->NextInAEL : e->PrevInAEL; +} +//------------------------------------------------------------------------------ + +void GetHorzDirection(TEdge& HorzEdge, Direction& Dir, cInt& Left, cInt& Right) +{ + if (HorzEdge.Bot.X < HorzEdge.Top.X) + { + Left = HorzEdge.Bot.X; + Right = HorzEdge.Top.X; + Dir = dLeftToRight; + } else + { + Left = HorzEdge.Top.X; + Right = HorzEdge.Bot.X; + Dir = dRightToLeft; + } +} +//------------------------------------------------------------------------ + +/******************************************************************************* +* Notes: Horizontal edges (HEs) at scanline intersections (ie at the Top or * +* Bottom of a scanbeam) are processed as if layered. The order in which HEs * +* are processed doesn't matter. HEs intersect with other HE Bot.Xs only [#] * +* (or they could intersect with Top.Xs only, ie EITHER Bot.Xs OR Top.Xs), * +* and with other non-horizontal edges [*]. Once these intersections are * +* processed, intermediate HEs then 'promote' the Edge above (NextInLML) into * +* the AEL. These 'promoted' edges may in turn intersect [%] with other HEs. * +*******************************************************************************/ + +void Clipper::ProcessHorizontal(TEdge *horzEdge) +{ + Direction dir; + cInt horzLeft, horzRight; + bool IsOpen = (horzEdge->WindDelta == 0); + + GetHorzDirection(*horzEdge, dir, horzLeft, horzRight); + + TEdge* eLastHorz = horzEdge, *eMaxPair = 0; + while (eLastHorz->NextInLML && IsHorizontal(*eLastHorz->NextInLML)) + eLastHorz = eLastHorz->NextInLML; + if (!eLastHorz->NextInLML) + eMaxPair = GetMaximaPair(eLastHorz); + + MaximaList::const_iterator maxIt; + MaximaList::const_reverse_iterator maxRit; + if (m_Maxima.size() > 0) + { + //get the first maxima in range (X) ... + if (dir == dLeftToRight) + { + maxIt = m_Maxima.begin(); + while (maxIt != m_Maxima.end() && *maxIt <= horzEdge->Bot.X) maxIt++; + if (maxIt != m_Maxima.end() && *maxIt >= eLastHorz->Top.X) + maxIt = m_Maxima.end(); + } + else + { + maxRit = m_Maxima.rbegin(); + while (maxRit != m_Maxima.rend() && *maxRit > horzEdge->Bot.X) maxRit++; + if (maxRit != m_Maxima.rend() && *maxRit <= eLastHorz->Top.X) + maxRit = m_Maxima.rend(); + } + } + + OutPt* op1 = 0; + + for (;;) //loop through consec. horizontal edges + { + + bool IsLastHorz = (horzEdge == eLastHorz); + TEdge* e = GetNextInAEL(horzEdge, dir); + while(e) + { + + //this code block inserts extra coords into horizontal edges (in output + //polygons) whereever maxima touch these horizontal edges. This helps + //'simplifying' polygons (ie if the Simplify property is set). + if (m_Maxima.size() > 0) + { + if (dir == dLeftToRight) + { + while (maxIt != m_Maxima.end() && *maxIt < e->Curr.X) + { + if (horzEdge->OutIdx >= 0 && !IsOpen) + AddOutPt(horzEdge, IntPoint(*maxIt, horzEdge->Bot.Y)); + maxIt++; + } + } + else + { + while (maxRit != m_Maxima.rend() && *maxRit > e->Curr.X) + { + if (horzEdge->OutIdx >= 0 && !IsOpen) + AddOutPt(horzEdge, IntPoint(*maxRit, horzEdge->Bot.Y)); + maxRit++; + } + } + }; + + if ((dir == dLeftToRight && e->Curr.X > horzRight) || + (dir == dRightToLeft && e->Curr.X < horzLeft)) break; + + //Also break if we've got to the end of an intermediate horizontal edge ... + //nb: Smaller Dx's are to the right of larger Dx's ABOVE the horizontal. + if (e->Curr.X == horzEdge->Top.X && horzEdge->NextInLML && + e->Dx < horzEdge->NextInLML->Dx) break; + + if (horzEdge->OutIdx >= 0 && !IsOpen) //note: may be done multiple times + { +#ifdef use_xyz + if (dir == dLeftToRight) SetZ(e->Curr, *horzEdge, *e); + else SetZ(e->Curr, *e, *horzEdge); +#endif + op1 = AddOutPt(horzEdge, e->Curr); + TEdge* eNextHorz = m_SortedEdges; + while (eNextHorz) + { + if (eNextHorz->OutIdx >= 0 && + HorzSegmentsOverlap(horzEdge->Bot.X, + horzEdge->Top.X, eNextHorz->Bot.X, eNextHorz->Top.X)) + { + OutPt* op2 = GetLastOutPt(eNextHorz); + AddJoin(op2, op1, eNextHorz->Top); + } + eNextHorz = eNextHorz->NextInSEL; + } + AddGhostJoin(op1, horzEdge->Bot); + } + + //OK, so far we're still in range of the horizontal Edge but make sure + //we're at the last of consec. horizontals when matching with eMaxPair + if(e == eMaxPair && IsLastHorz) + { + if (horzEdge->OutIdx >= 0) + AddLocalMaxPoly(horzEdge, eMaxPair, horzEdge->Top); + DeleteFromAEL(horzEdge); + DeleteFromAEL(eMaxPair); + return; + } + + if(dir == dLeftToRight) + { + IntPoint Pt = IntPoint(e->Curr.X, horzEdge->Curr.Y); + IntersectEdges(horzEdge, e, Pt); + } + else + { + IntPoint Pt = IntPoint(e->Curr.X, horzEdge->Curr.Y); + IntersectEdges( e, horzEdge, Pt); + } + TEdge* eNext = GetNextInAEL(e, dir); + SwapPositionsInAEL( horzEdge, e ); + e = eNext; + } //end while(e) + + //Break out of loop if HorzEdge.NextInLML is not also horizontal ... + if (!horzEdge->NextInLML || !IsHorizontal(*horzEdge->NextInLML)) break; + + UpdateEdgeIntoAEL(horzEdge); + if (horzEdge->OutIdx >= 0) AddOutPt(horzEdge, horzEdge->Bot); + GetHorzDirection(*horzEdge, dir, horzLeft, horzRight); + + } //end for (;;) + + if (horzEdge->OutIdx >= 0 && !op1) + { + op1 = GetLastOutPt(horzEdge); + TEdge* eNextHorz = m_SortedEdges; + while (eNextHorz) + { + if (eNextHorz->OutIdx >= 0 && + HorzSegmentsOverlap(horzEdge->Bot.X, + horzEdge->Top.X, eNextHorz->Bot.X, eNextHorz->Top.X)) + { + OutPt* op2 = GetLastOutPt(eNextHorz); + AddJoin(op2, op1, eNextHorz->Top); + } + eNextHorz = eNextHorz->NextInSEL; + } + AddGhostJoin(op1, horzEdge->Top); + } + + if (horzEdge->NextInLML) + { + if(horzEdge->OutIdx >= 0) + { + op1 = AddOutPt( horzEdge, horzEdge->Top); + UpdateEdgeIntoAEL(horzEdge); + if (horzEdge->WindDelta == 0) return; + //nb: HorzEdge is no longer horizontal here + TEdge* ePrev = horzEdge->PrevInAEL; + TEdge* eNext = horzEdge->NextInAEL; + if (ePrev && ePrev->Curr.X == horzEdge->Bot.X && + ePrev->Curr.Y == horzEdge->Bot.Y && ePrev->WindDelta != 0 && + (ePrev->OutIdx >= 0 && ePrev->Curr.Y > ePrev->Top.Y && + SlopesEqual(*horzEdge, *ePrev, m_UseFullRange))) + { + OutPt* op2 = AddOutPt(ePrev, horzEdge->Bot); + AddJoin(op1, op2, horzEdge->Top); + } + else if (eNext && eNext->Curr.X == horzEdge->Bot.X && + eNext->Curr.Y == horzEdge->Bot.Y && eNext->WindDelta != 0 && + eNext->OutIdx >= 0 && eNext->Curr.Y > eNext->Top.Y && + SlopesEqual(*horzEdge, *eNext, m_UseFullRange)) + { + OutPt* op2 = AddOutPt(eNext, horzEdge->Bot); + AddJoin(op1, op2, horzEdge->Top); + } + } + else + UpdateEdgeIntoAEL(horzEdge); + } + else + { + if (horzEdge->OutIdx >= 0) AddOutPt(horzEdge, horzEdge->Top); + DeleteFromAEL(horzEdge); + } +} +//------------------------------------------------------------------------------ + +bool Clipper::ProcessIntersections(const cInt topY) +{ + if( !m_ActiveEdges ) return true; + try { + BuildIntersectList(topY); + size_t IlSize = m_IntersectList.size(); + if (IlSize == 0) return true; + if (IlSize == 1 || FixupIntersectionOrder()) ProcessIntersectList(); + else return false; + } + catch(...) + { + m_SortedEdges = 0; + DisposeIntersectNodes(); + throw clipperException("ProcessIntersections error"); + } + m_SortedEdges = 0; + return true; +} +//------------------------------------------------------------------------------ + +void Clipper::DisposeIntersectNodes() +{ + for (size_t i = 0; i < m_IntersectList.size(); ++i ) + delete m_IntersectList[i]; + m_IntersectList.clear(); +} +//------------------------------------------------------------------------------ + +void Clipper::BuildIntersectList(const cInt topY) +{ + if ( !m_ActiveEdges ) return; + + //prepare for sorting ... + TEdge* e = m_ActiveEdges; + m_SortedEdges = e; + while( e ) + { + e->PrevInSEL = e->PrevInAEL; + e->NextInSEL = e->NextInAEL; + e->Curr.X = TopX( *e, topY ); + e = e->NextInAEL; + } + + //bubblesort ... + bool isModified; + do + { + isModified = false; + e = m_SortedEdges; + while( e->NextInSEL ) + { + TEdge *eNext = e->NextInSEL; + IntPoint Pt; + if(e->Curr.X > eNext->Curr.X) + { + IntersectPoint(*e, *eNext, Pt); + if (Pt.Y < topY) Pt = IntPoint(TopX(*e, topY), topY); + IntersectNode * newNode = new IntersectNode; + newNode->Edge1 = e; + newNode->Edge2 = eNext; + newNode->Pt = Pt; + m_IntersectList.push_back(newNode); + + SwapPositionsInSEL(e, eNext); + isModified = true; + } + else + e = eNext; + } + if( e->PrevInSEL ) e->PrevInSEL->NextInSEL = 0; + else break; + } + while ( isModified ); + m_SortedEdges = 0; //important +} +//------------------------------------------------------------------------------ + + +void Clipper::ProcessIntersectList() +{ + for (size_t i = 0; i < m_IntersectList.size(); ++i) + { + IntersectNode* iNode = m_IntersectList[i]; + { + IntersectEdges( iNode->Edge1, iNode->Edge2, iNode->Pt); + SwapPositionsInAEL( iNode->Edge1 , iNode->Edge2 ); + } + delete iNode; + } + m_IntersectList.clear(); +} +//------------------------------------------------------------------------------ + +bool IntersectListSort(IntersectNode* node1, IntersectNode* node2) +{ + return node2->Pt.Y < node1->Pt.Y; +} +//------------------------------------------------------------------------------ + +inline bool EdgesAdjacent(const IntersectNode &inode) +{ + return (inode.Edge1->NextInSEL == inode.Edge2) || + (inode.Edge1->PrevInSEL == inode.Edge2); +} +//------------------------------------------------------------------------------ + +bool Clipper::FixupIntersectionOrder() +{ + //pre-condition: intersections are sorted Bottom-most first. + //Now it's crucial that intersections are made only between adjacent edges, + //so to ensure this the order of intersections may need adjusting ... + CopyAELToSEL(); + std::sort(m_IntersectList.begin(), m_IntersectList.end(), IntersectListSort); + size_t cnt = m_IntersectList.size(); + for (size_t i = 0; i < cnt; ++i) + { + if (!EdgesAdjacent(*m_IntersectList[i])) + { + size_t j = i + 1; + while (j < cnt && !EdgesAdjacent(*m_IntersectList[j])) j++; + if (j == cnt) return false; + std::swap(m_IntersectList[i], m_IntersectList[j]); + } + SwapPositionsInSEL(m_IntersectList[i]->Edge1, m_IntersectList[i]->Edge2); + } + return true; +} +//------------------------------------------------------------------------------ + +void Clipper::DoMaxima(TEdge *e) +{ + TEdge* eMaxPair = GetMaximaPairEx(e); + if (!eMaxPair) + { + if (e->OutIdx >= 0) + AddOutPt(e, e->Top); + DeleteFromAEL(e); + return; + } + + TEdge* eNext = e->NextInAEL; + while(eNext && eNext != eMaxPair) + { + IntersectEdges(e, eNext, e->Top); + SwapPositionsInAEL(e, eNext); + eNext = e->NextInAEL; + } + + if(e->OutIdx == Unassigned && eMaxPair->OutIdx == Unassigned) + { + DeleteFromAEL(e); + DeleteFromAEL(eMaxPair); + } + else if( e->OutIdx >= 0 && eMaxPair->OutIdx >= 0 ) + { + if (e->OutIdx >= 0) AddLocalMaxPoly(e, eMaxPair, e->Top); + DeleteFromAEL(e); + DeleteFromAEL(eMaxPair); + } +#ifdef use_lines + else if (e->WindDelta == 0) + { + if (e->OutIdx >= 0) + { + AddOutPt(e, e->Top); + e->OutIdx = Unassigned; + } + DeleteFromAEL(e); + + if (eMaxPair->OutIdx >= 0) + { + AddOutPt(eMaxPair, e->Top); + eMaxPair->OutIdx = Unassigned; + } + DeleteFromAEL(eMaxPair); + } +#endif + else throw clipperException("DoMaxima error"); +} +//------------------------------------------------------------------------------ + +void Clipper::ProcessEdgesAtTopOfScanbeam(const cInt topY) +{ + TEdge* e = m_ActiveEdges; + while( e ) + { + //1. process maxima, treating them as if they're 'bent' horizontal edges, + // but exclude maxima with horizontal edges. nb: e can't be a horizontal. + bool IsMaximaEdge = IsMaxima(e, topY); + + if(IsMaximaEdge) + { + TEdge* eMaxPair = GetMaximaPairEx(e); + IsMaximaEdge = (!eMaxPair || !IsHorizontal(*eMaxPair)); + } + + if(IsMaximaEdge) + { + if (m_StrictSimple) m_Maxima.push_back(e->Top.X); + TEdge* ePrev = e->PrevInAEL; + DoMaxima(e); + if( !ePrev ) e = m_ActiveEdges; + else e = ePrev->NextInAEL; + } + else + { + //2. promote horizontal edges, otherwise update Curr.X and Curr.Y ... + if (IsIntermediate(e, topY) && IsHorizontal(*e->NextInLML)) + { + UpdateEdgeIntoAEL(e); + if (e->OutIdx >= 0) + AddOutPt(e, e->Bot); + AddEdgeToSEL(e); + } + else + { + e->Curr.X = TopX( *e, topY ); + e->Curr.Y = topY; +#ifdef use_xyz + e->Curr.Z = topY == e->Top.Y ? e->Top.Z : (topY == e->Bot.Y ? e->Bot.Z : 0); +#endif + } + + //When StrictlySimple and 'e' is being touched by another edge, then + //make sure both edges have a vertex here ... + if (m_StrictSimple) + { + TEdge* ePrev = e->PrevInAEL; + if ((e->OutIdx >= 0) && (e->WindDelta != 0) && ePrev && (ePrev->OutIdx >= 0) && + (ePrev->Curr.X == e->Curr.X) && (ePrev->WindDelta != 0)) + { + IntPoint pt = e->Curr; +#ifdef use_xyz + SetZ(pt, *ePrev, *e); +#endif + OutPt* op = AddOutPt(ePrev, pt); + OutPt* op2 = AddOutPt(e, pt); + AddJoin(op, op2, pt); //StrictlySimple (type-3) join + } + } + + e = e->NextInAEL; + } + } + + //3. Process horizontals at the Top of the scanbeam ... + m_Maxima.sort(); + ProcessHorizontals(); + m_Maxima.clear(); + + //4. Promote intermediate vertices ... + e = m_ActiveEdges; + while(e) + { + if(IsIntermediate(e, topY)) + { + OutPt* op = 0; + if( e->OutIdx >= 0 ) + op = AddOutPt(e, e->Top); + UpdateEdgeIntoAEL(e); + + //if output polygons share an edge, they'll need joining later ... + TEdge* ePrev = e->PrevInAEL; + TEdge* eNext = e->NextInAEL; + if (ePrev && ePrev->Curr.X == e->Bot.X && + ePrev->Curr.Y == e->Bot.Y && op && + ePrev->OutIdx >= 0 && ePrev->Curr.Y > ePrev->Top.Y && + SlopesEqual(e->Curr, e->Top, ePrev->Curr, ePrev->Top, m_UseFullRange) && + (e->WindDelta != 0) && (ePrev->WindDelta != 0)) + { + OutPt* op2 = AddOutPt(ePrev, e->Bot); + AddJoin(op, op2, e->Top); + } + else if (eNext && eNext->Curr.X == e->Bot.X && + eNext->Curr.Y == e->Bot.Y && op && + eNext->OutIdx >= 0 && eNext->Curr.Y > eNext->Top.Y && + SlopesEqual(e->Curr, e->Top, eNext->Curr, eNext->Top, m_UseFullRange) && + (e->WindDelta != 0) && (eNext->WindDelta != 0)) + { + OutPt* op2 = AddOutPt(eNext, e->Bot); + AddJoin(op, op2, e->Top); + } + } + e = e->NextInAEL; + } +} +//------------------------------------------------------------------------------ + +void Clipper::FixupOutPolyline(OutRec &outrec) +{ + OutPt *pp = outrec.Pts; + OutPt *lastPP = pp->Prev; + while (pp != lastPP) + { + pp = pp->Next; + if (pp->Pt == pp->Prev->Pt) + { + if (pp == lastPP) lastPP = pp->Prev; + OutPt *tmpPP = pp->Prev; + tmpPP->Next = pp->Next; + pp->Next->Prev = tmpPP; + delete pp; + pp = tmpPP; + } + } + + if (pp == pp->Prev) + { + DisposeOutPts(pp); + outrec.Pts = 0; + return; + } +} +//------------------------------------------------------------------------------ + +void Clipper::FixupOutPolygon(OutRec &outrec) +{ + //FixupOutPolygon() - removes duplicate points and simplifies consecutive + //parallel edges by removing the middle vertex. + OutPt *lastOK = 0; + outrec.BottomPt = 0; + OutPt *pp = outrec.Pts; + bool preserveCol = m_PreserveCollinear || m_StrictSimple; + + for (;;) + { + if (pp->Prev == pp || pp->Prev == pp->Next) + { + DisposeOutPts(pp); + outrec.Pts = 0; + return; + } + + //test for duplicate points and collinear edges ... + if ((pp->Pt == pp->Next->Pt) || (pp->Pt == pp->Prev->Pt) || + (SlopesEqual(pp->Prev->Pt, pp->Pt, pp->Next->Pt, m_UseFullRange) && + (!preserveCol || !Pt2IsBetweenPt1AndPt3(pp->Prev->Pt, pp->Pt, pp->Next->Pt)))) + { + lastOK = 0; + OutPt *tmp = pp; + pp->Prev->Next = pp->Next; + pp->Next->Prev = pp->Prev; + pp = pp->Prev; + delete tmp; + } + else if (pp == lastOK) break; + else + { + if (!lastOK) lastOK = pp; + pp = pp->Next; + } + } + outrec.Pts = pp; +} +//------------------------------------------------------------------------------ + +int PointCount(OutPt *Pts) +{ + if (!Pts) return 0; + int result = 0; + OutPt* p = Pts; + do + { + result++; + p = p->Next; + } + while (p != Pts); + return result; +} +//------------------------------------------------------------------------------ + +void Clipper::BuildResult(Paths &polys) +{ + polys.reserve(m_PolyOuts.size()); + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); ++i) + { + if (!m_PolyOuts[i]->Pts) continue; + Path pg; + OutPt* p = m_PolyOuts[i]->Pts->Prev; + int cnt = PointCount(p); + if (cnt < 2) continue; + pg.reserve(cnt); + for (int i = 0; i < cnt; ++i) + { + pg.push_back(p->Pt); + p = p->Prev; + } + polys.push_back(pg); + } +} +//------------------------------------------------------------------------------ + +void Clipper::BuildResult2(PolyTree& polytree) +{ + polytree.Clear(); + polytree.AllNodes.reserve(m_PolyOuts.size()); + //add each output polygon/contour to polytree ... + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); i++) + { + OutRec* outRec = m_PolyOuts[i]; + int cnt = PointCount(outRec->Pts); + if ((outRec->IsOpen && cnt < 2) || (!outRec->IsOpen && cnt < 3)) continue; + FixHoleLinkage(*outRec); + PolyNode* pn = new PolyNode(); + //nb: polytree takes ownership of all the PolyNodes + polytree.AllNodes.push_back(pn); + outRec->PolyNd = pn; + pn->Parent = 0; + pn->Index = 0; + pn->Contour.reserve(cnt); + OutPt *op = outRec->Pts->Prev; + for (int j = 0; j < cnt; j++) + { + pn->Contour.push_back(op->Pt); + op = op->Prev; + } + } + + //fixup PolyNode links etc ... + polytree.Childs.reserve(m_PolyOuts.size()); + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); i++) + { + OutRec* outRec = m_PolyOuts[i]; + if (!outRec->PolyNd) continue; + if (outRec->IsOpen) + { + outRec->PolyNd->m_IsOpen = true; + polytree.AddChild(*outRec->PolyNd); + } + else if (outRec->FirstLeft && outRec->FirstLeft->PolyNd) + outRec->FirstLeft->PolyNd->AddChild(*outRec->PolyNd); + else + polytree.AddChild(*outRec->PolyNd); + } +} +//------------------------------------------------------------------------------ + +void SwapIntersectNodes(IntersectNode &int1, IntersectNode &int2) +{ + //just swap the contents (because fIntersectNodes is a single-linked-list) + IntersectNode inode = int1; //gets a copy of Int1 + int1.Edge1 = int2.Edge1; + int1.Edge2 = int2.Edge2; + int1.Pt = int2.Pt; + int2.Edge1 = inode.Edge1; + int2.Edge2 = inode.Edge2; + int2.Pt = inode.Pt; +} +//------------------------------------------------------------------------------ + +inline bool E2InsertsBeforeE1(TEdge &e1, TEdge &e2) +{ + if (e2.Curr.X == e1.Curr.X) + { + if (e2.Top.Y > e1.Top.Y) + return e2.Top.X < TopX(e1, e2.Top.Y); + else return e1.Top.X > TopX(e2, e1.Top.Y); + } + else return e2.Curr.X < e1.Curr.X; +} +//------------------------------------------------------------------------------ + +bool GetOverlap(const cInt a1, const cInt a2, const cInt b1, const cInt b2, + cInt& Left, cInt& Right) +{ + if (a1 < a2) + { + if (b1 < b2) {Left = std::max(a1,b1); Right = std::min(a2,b2);} + else {Left = std::max(a1,b2); Right = std::min(a2,b1);} + } + else + { + if (b1 < b2) {Left = std::max(a2,b1); Right = std::min(a1,b2);} + else {Left = std::max(a2,b2); Right = std::min(a1,b1);} + } + return Left < Right; +} +//------------------------------------------------------------------------------ + +inline void UpdateOutPtIdxs(OutRec& outrec) +{ + OutPt* op = outrec.Pts; + do + { + op->Idx = outrec.Idx; + op = op->Prev; + } + while(op != outrec.Pts); +} +//------------------------------------------------------------------------------ + +void Clipper::InsertEdgeIntoAEL(TEdge *edge, TEdge* startEdge) +{ + if(!m_ActiveEdges) + { + edge->PrevInAEL = 0; + edge->NextInAEL = 0; + m_ActiveEdges = edge; + } + else if(!startEdge && E2InsertsBeforeE1(*m_ActiveEdges, *edge)) + { + edge->PrevInAEL = 0; + edge->NextInAEL = m_ActiveEdges; + m_ActiveEdges->PrevInAEL = edge; + m_ActiveEdges = edge; + } + else + { + if(!startEdge) startEdge = m_ActiveEdges; + while(startEdge->NextInAEL && + !E2InsertsBeforeE1(*startEdge->NextInAEL , *edge)) + startEdge = startEdge->NextInAEL; + edge->NextInAEL = startEdge->NextInAEL; + if(startEdge->NextInAEL) startEdge->NextInAEL->PrevInAEL = edge; + edge->PrevInAEL = startEdge; + startEdge->NextInAEL = edge; + } +} +//---------------------------------------------------------------------- + +OutPt* DupOutPt(OutPt* outPt, bool InsertAfter) +{ + OutPt* result = new OutPt; + result->Pt = outPt->Pt; + result->Idx = outPt->Idx; + if (InsertAfter) + { + result->Next = outPt->Next; + result->Prev = outPt; + outPt->Next->Prev = result; + outPt->Next = result; + } + else + { + result->Prev = outPt->Prev; + result->Next = outPt; + outPt->Prev->Next = result; + outPt->Prev = result; + } + return result; +} +//------------------------------------------------------------------------------ + +bool JoinHorz(OutPt* op1, OutPt* op1b, OutPt* op2, OutPt* op2b, + const IntPoint Pt, bool DiscardLeft) +{ + Direction Dir1 = (op1->Pt.X > op1b->Pt.X ? dRightToLeft : dLeftToRight); + Direction Dir2 = (op2->Pt.X > op2b->Pt.X ? dRightToLeft : dLeftToRight); + if (Dir1 == Dir2) return false; + + //When DiscardLeft, we want Op1b to be on the Left of Op1, otherwise we + //want Op1b to be on the Right. (And likewise with Op2 and Op2b.) + //So, to facilitate this while inserting Op1b and Op2b ... + //when DiscardLeft, make sure we're AT or RIGHT of Pt before adding Op1b, + //otherwise make sure we're AT or LEFT of Pt. (Likewise with Op2b.) + if (Dir1 == dLeftToRight) + { + while (op1->Next->Pt.X <= Pt.X && + op1->Next->Pt.X >= op1->Pt.X && op1->Next->Pt.Y == Pt.Y) + op1 = op1->Next; + if (DiscardLeft && (op1->Pt.X != Pt.X)) op1 = op1->Next; + op1b = DupOutPt(op1, !DiscardLeft); + if (op1b->Pt != Pt) + { + op1 = op1b; + op1->Pt = Pt; + op1b = DupOutPt(op1, !DiscardLeft); + } + } + else + { + while (op1->Next->Pt.X >= Pt.X && + op1->Next->Pt.X <= op1->Pt.X && op1->Next->Pt.Y == Pt.Y) + op1 = op1->Next; + if (!DiscardLeft && (op1->Pt.X != Pt.X)) op1 = op1->Next; + op1b = DupOutPt(op1, DiscardLeft); + if (op1b->Pt != Pt) + { + op1 = op1b; + op1->Pt = Pt; + op1b = DupOutPt(op1, DiscardLeft); + } + } + + if (Dir2 == dLeftToRight) + { + while (op2->Next->Pt.X <= Pt.X && + op2->Next->Pt.X >= op2->Pt.X && op2->Next->Pt.Y == Pt.Y) + op2 = op2->Next; + if (DiscardLeft && (op2->Pt.X != Pt.X)) op2 = op2->Next; + op2b = DupOutPt(op2, !DiscardLeft); + if (op2b->Pt != Pt) + { + op2 = op2b; + op2->Pt = Pt; + op2b = DupOutPt(op2, !DiscardLeft); + }; + } else + { + while (op2->Next->Pt.X >= Pt.X && + op2->Next->Pt.X <= op2->Pt.X && op2->Next->Pt.Y == Pt.Y) + op2 = op2->Next; + if (!DiscardLeft && (op2->Pt.X != Pt.X)) op2 = op2->Next; + op2b = DupOutPt(op2, DiscardLeft); + if (op2b->Pt != Pt) + { + op2 = op2b; + op2->Pt = Pt; + op2b = DupOutPt(op2, DiscardLeft); + }; + }; + + if ((Dir1 == dLeftToRight) == DiscardLeft) + { + op1->Prev = op2; + op2->Next = op1; + op1b->Next = op2b; + op2b->Prev = op1b; + } + else + { + op1->Next = op2; + op2->Prev = op1; + op1b->Prev = op2b; + op2b->Next = op1b; + } + return true; +} +//------------------------------------------------------------------------------ + +bool Clipper::JoinPoints(Join *j, OutRec* outRec1, OutRec* outRec2) +{ + OutPt *op1 = j->OutPt1, *op1b; + OutPt *op2 = j->OutPt2, *op2b; + + //There are 3 kinds of joins for output polygons ... + //1. Horizontal joins where Join.OutPt1 & Join.OutPt2 are vertices anywhere + //along (horizontal) collinear edges (& Join.OffPt is on the same horizontal). + //2. Non-horizontal joins where Join.OutPt1 & Join.OutPt2 are at the same + //location at the Bottom of the overlapping segment (& Join.OffPt is above). + //3. StrictSimple joins where edges touch but are not collinear and where + //Join.OutPt1, Join.OutPt2 & Join.OffPt all share the same point. + bool isHorizontal = (j->OutPt1->Pt.Y == j->OffPt.Y); + + if (isHorizontal && (j->OffPt == j->OutPt1->Pt) && + (j->OffPt == j->OutPt2->Pt)) + { + //Strictly Simple join ... + if (outRec1 != outRec2) return false; + op1b = j->OutPt1->Next; + while (op1b != op1 && (op1b->Pt == j->OffPt)) + op1b = op1b->Next; + bool reverse1 = (op1b->Pt.Y > j->OffPt.Y); + op2b = j->OutPt2->Next; + while (op2b != op2 && (op2b->Pt == j->OffPt)) + op2b = op2b->Next; + bool reverse2 = (op2b->Pt.Y > j->OffPt.Y); + if (reverse1 == reverse2) return false; + if (reverse1) + { + op1b = DupOutPt(op1, false); + op2b = DupOutPt(op2, true); + op1->Prev = op2; + op2->Next = op1; + op1b->Next = op2b; + op2b->Prev = op1b; + j->OutPt1 = op1; + j->OutPt2 = op1b; + return true; + } else + { + op1b = DupOutPt(op1, true); + op2b = DupOutPt(op2, false); + op1->Next = op2; + op2->Prev = op1; + op1b->Prev = op2b; + op2b->Next = op1b; + j->OutPt1 = op1; + j->OutPt2 = op1b; + return true; + } + } + else if (isHorizontal) + { + //treat horizontal joins differently to non-horizontal joins since with + //them we're not yet sure where the overlapping is. OutPt1.Pt & OutPt2.Pt + //may be anywhere along the horizontal edge. + op1b = op1; + while (op1->Prev->Pt.Y == op1->Pt.Y && op1->Prev != op1b && op1->Prev != op2) + op1 = op1->Prev; + while (op1b->Next->Pt.Y == op1b->Pt.Y && op1b->Next != op1 && op1b->Next != op2) + op1b = op1b->Next; + if (op1b->Next == op1 || op1b->Next == op2) return false; //a flat 'polygon' + + op2b = op2; + while (op2->Prev->Pt.Y == op2->Pt.Y && op2->Prev != op2b && op2->Prev != op1b) + op2 = op2->Prev; + while (op2b->Next->Pt.Y == op2b->Pt.Y && op2b->Next != op2 && op2b->Next != op1) + op2b = op2b->Next; + if (op2b->Next == op2 || op2b->Next == op1) return false; //a flat 'polygon' + + cInt Left, Right; + //Op1 --> Op1b & Op2 --> Op2b are the extremites of the horizontal edges + if (!GetOverlap(op1->Pt.X, op1b->Pt.X, op2->Pt.X, op2b->Pt.X, Left, Right)) + return false; + + //DiscardLeftSide: when overlapping edges are joined, a spike will created + //which needs to be cleaned up. However, we don't want Op1 or Op2 caught up + //on the discard Side as either may still be needed for other joins ... + IntPoint Pt; + bool DiscardLeftSide; + if (op1->Pt.X >= Left && op1->Pt.X <= Right) + { + Pt = op1->Pt; DiscardLeftSide = (op1->Pt.X > op1b->Pt.X); + } + else if (op2->Pt.X >= Left&& op2->Pt.X <= Right) + { + Pt = op2->Pt; DiscardLeftSide = (op2->Pt.X > op2b->Pt.X); + } + else if (op1b->Pt.X >= Left && op1b->Pt.X <= Right) + { + Pt = op1b->Pt; DiscardLeftSide = op1b->Pt.X > op1->Pt.X; + } + else + { + Pt = op2b->Pt; DiscardLeftSide = (op2b->Pt.X > op2->Pt.X); + } + j->OutPt1 = op1; j->OutPt2 = op2; + return JoinHorz(op1, op1b, op2, op2b, Pt, DiscardLeftSide); + } else + { + //nb: For non-horizontal joins ... + // 1. Jr.OutPt1.Pt.Y == Jr.OutPt2.Pt.Y + // 2. Jr.OutPt1.Pt > Jr.OffPt.Y + + //make sure the polygons are correctly oriented ... + op1b = op1->Next; + while ((op1b->Pt == op1->Pt) && (op1b != op1)) op1b = op1b->Next; + bool Reverse1 = ((op1b->Pt.Y > op1->Pt.Y) || + !SlopesEqual(op1->Pt, op1b->Pt, j->OffPt, m_UseFullRange)); + if (Reverse1) + { + op1b = op1->Prev; + while ((op1b->Pt == op1->Pt) && (op1b != op1)) op1b = op1b->Prev; + if ((op1b->Pt.Y > op1->Pt.Y) || + !SlopesEqual(op1->Pt, op1b->Pt, j->OffPt, m_UseFullRange)) return false; + }; + op2b = op2->Next; + while ((op2b->Pt == op2->Pt) && (op2b != op2))op2b = op2b->Next; + bool Reverse2 = ((op2b->Pt.Y > op2->Pt.Y) || + !SlopesEqual(op2->Pt, op2b->Pt, j->OffPt, m_UseFullRange)); + if (Reverse2) + { + op2b = op2->Prev; + while ((op2b->Pt == op2->Pt) && (op2b != op2)) op2b = op2b->Prev; + if ((op2b->Pt.Y > op2->Pt.Y) || + !SlopesEqual(op2->Pt, op2b->Pt, j->OffPt, m_UseFullRange)) return false; + } + + if ((op1b == op1) || (op2b == op2) || (op1b == op2b) || + ((outRec1 == outRec2) && (Reverse1 == Reverse2))) return false; + + if (Reverse1) + { + op1b = DupOutPt(op1, false); + op2b = DupOutPt(op2, true); + op1->Prev = op2; + op2->Next = op1; + op1b->Next = op2b; + op2b->Prev = op1b; + j->OutPt1 = op1; + j->OutPt2 = op1b; + return true; + } else + { + op1b = DupOutPt(op1, true); + op2b = DupOutPt(op2, false); + op1->Next = op2; + op2->Prev = op1; + op1b->Prev = op2b; + op2b->Next = op1b; + j->OutPt1 = op1; + j->OutPt2 = op1b; + return true; + } + } +} +//---------------------------------------------------------------------- + +static OutRec* ParseFirstLeft(OutRec* FirstLeft) +{ + while (FirstLeft && !FirstLeft->Pts) + FirstLeft = FirstLeft->FirstLeft; + return FirstLeft; +} +//------------------------------------------------------------------------------ + +void Clipper::FixupFirstLefts1(OutRec* OldOutRec, OutRec* NewOutRec) +{ + //tests if NewOutRec contains the polygon before reassigning FirstLeft + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); ++i) + { + OutRec* outRec = m_PolyOuts[i]; + OutRec* firstLeft = ParseFirstLeft(outRec->FirstLeft); + if (outRec->Pts && firstLeft == OldOutRec) + { + if (Poly2ContainsPoly1(outRec->Pts, NewOutRec->Pts)) + outRec->FirstLeft = NewOutRec; + } + } +} +//---------------------------------------------------------------------- + +void Clipper::FixupFirstLefts2(OutRec* InnerOutRec, OutRec* OuterOutRec) +{ + //A polygon has split into two such that one is now the inner of the other. + //It's possible that these polygons now wrap around other polygons, so check + //every polygon that's also contained by OuterOutRec's FirstLeft container + //(including 0) to see if they've become inner to the new inner polygon ... + OutRec* orfl = OuterOutRec->FirstLeft; + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); ++i) + { + OutRec* outRec = m_PolyOuts[i]; + + if (!outRec->Pts || outRec == OuterOutRec || outRec == InnerOutRec) + continue; + OutRec* firstLeft = ParseFirstLeft(outRec->FirstLeft); + if (firstLeft != orfl && firstLeft != InnerOutRec && firstLeft != OuterOutRec) + continue; + if (Poly2ContainsPoly1(outRec->Pts, InnerOutRec->Pts)) + outRec->FirstLeft = InnerOutRec; + else if (Poly2ContainsPoly1(outRec->Pts, OuterOutRec->Pts)) + outRec->FirstLeft = OuterOutRec; + else if (outRec->FirstLeft == InnerOutRec || outRec->FirstLeft == OuterOutRec) + outRec->FirstLeft = orfl; + } +} +//---------------------------------------------------------------------- +void Clipper::FixupFirstLefts3(OutRec* OldOutRec, OutRec* NewOutRec) +{ + //reassigns FirstLeft WITHOUT testing if NewOutRec contains the polygon + for (PolyOutList::size_type i = 0; i < m_PolyOuts.size(); ++i) + { + OutRec* outRec = m_PolyOuts[i]; + OutRec* firstLeft = ParseFirstLeft(outRec->FirstLeft); + if (outRec->Pts && firstLeft == OldOutRec) + outRec->FirstLeft = NewOutRec; + } +} +//---------------------------------------------------------------------- + +void Clipper::JoinCommonEdges() +{ + for (JoinList::size_type i = 0; i < m_Joins.size(); i++) + { + Join* join = m_Joins[i]; + + OutRec *outRec1 = GetOutRec(join->OutPt1->Idx); + OutRec *outRec2 = GetOutRec(join->OutPt2->Idx); + + if (!outRec1->Pts || !outRec2->Pts) continue; + if (outRec1->IsOpen || outRec2->IsOpen) continue; + + //get the polygon fragment with the correct hole state (FirstLeft) + //before calling JoinPoints() ... + OutRec *holeStateRec; + if (outRec1 == outRec2) holeStateRec = outRec1; + else if (OutRec1RightOfOutRec2(outRec1, outRec2)) holeStateRec = outRec2; + else if (OutRec1RightOfOutRec2(outRec2, outRec1)) holeStateRec = outRec1; + else holeStateRec = GetLowermostRec(outRec1, outRec2); + + if (!JoinPoints(join, outRec1, outRec2)) continue; + + if (outRec1 == outRec2) + { + //instead of joining two polygons, we've just created a new one by + //splitting one polygon into two. + outRec1->Pts = join->OutPt1; + outRec1->BottomPt = 0; + outRec2 = CreateOutRec(); + outRec2->Pts = join->OutPt2; + + //update all OutRec2.Pts Idx's ... + UpdateOutPtIdxs(*outRec2); + + if (Poly2ContainsPoly1(outRec2->Pts, outRec1->Pts)) + { + //outRec1 contains outRec2 ... + outRec2->IsHole = !outRec1->IsHole; + outRec2->FirstLeft = outRec1; + + if (m_UsingPolyTree) FixupFirstLefts2(outRec2, outRec1); + + if ((outRec2->IsHole ^ m_ReverseOutput) == (Area(*outRec2) > 0)) + ReversePolyPtLinks(outRec2->Pts); + + } else if (Poly2ContainsPoly1(outRec1->Pts, outRec2->Pts)) + { + //outRec2 contains outRec1 ... + outRec2->IsHole = outRec1->IsHole; + outRec1->IsHole = !outRec2->IsHole; + outRec2->FirstLeft = outRec1->FirstLeft; + outRec1->FirstLeft = outRec2; + + if (m_UsingPolyTree) FixupFirstLefts2(outRec1, outRec2); + + if ((outRec1->IsHole ^ m_ReverseOutput) == (Area(*outRec1) > 0)) + ReversePolyPtLinks(outRec1->Pts); + } + else + { + //the 2 polygons are completely separate ... + outRec2->IsHole = outRec1->IsHole; + outRec2->FirstLeft = outRec1->FirstLeft; + + //fixup FirstLeft pointers that may need reassigning to OutRec2 + if (m_UsingPolyTree) FixupFirstLefts1(outRec1, outRec2); + } + + } else + { + //joined 2 polygons together ... + + outRec2->Pts = 0; + outRec2->BottomPt = 0; + outRec2->Idx = outRec1->Idx; + + outRec1->IsHole = holeStateRec->IsHole; + if (holeStateRec == outRec2) + outRec1->FirstLeft = outRec2->FirstLeft; + outRec2->FirstLeft = outRec1; + + if (m_UsingPolyTree) FixupFirstLefts3(outRec2, outRec1); + } + } +} + +//------------------------------------------------------------------------------ +// ClipperOffset support functions ... +//------------------------------------------------------------------------------ + +DoublePoint GetUnitNormal(const IntPoint &pt1, const IntPoint &pt2) +{ + if(pt2.X == pt1.X && pt2.Y == pt1.Y) + return DoublePoint(0, 0); + + double Dx = (double)(pt2.X - pt1.X); + double dy = (double)(pt2.Y - pt1.Y); + double f = 1 *1.0/ std::sqrt( Dx*Dx + dy*dy ); + Dx *= f; + dy *= f; + return DoublePoint(dy, -Dx); +} + +//------------------------------------------------------------------------------ +// ClipperOffset class +//------------------------------------------------------------------------------ + +ClipperOffset::ClipperOffset(double miterLimit, double arcTolerance) +{ + this->MiterLimit = miterLimit; + this->ArcTolerance = arcTolerance; + m_lowest.X = -1; +} +//------------------------------------------------------------------------------ + +ClipperOffset::~ClipperOffset() +{ + Clear(); +} +//------------------------------------------------------------------------------ + +void ClipperOffset::Clear() +{ + for (int i = 0; i < m_polyNodes.ChildCount(); ++i) + delete m_polyNodes.Childs[i]; + m_polyNodes.Childs.clear(); + m_lowest.X = -1; +} +//------------------------------------------------------------------------------ + +void ClipperOffset::AddPath(const Path& path, JoinType joinType, EndType endType) +{ + int highI = (int)path.size() - 1; + if (highI < 0) return; + PolyNode* newNode = new PolyNode(); + newNode->m_jointype = joinType; + newNode->m_endtype = endType; + + //strip duplicate points from path and also get index to the lowest point ... + if (endType == etClosedLine || endType == etClosedPolygon) + while (highI > 0 && path[0] == path[highI]) highI--; + newNode->Contour.reserve(highI + 1); + newNode->Contour.push_back(path[0]); + int j = 0, k = 0; + for (int i = 1; i <= highI; i++) + if (newNode->Contour[j] != path[i]) + { + j++; + newNode->Contour.push_back(path[i]); + if (path[i].Y > newNode->Contour[k].Y || + (path[i].Y == newNode->Contour[k].Y && + path[i].X < newNode->Contour[k].X)) k = j; + } + if (endType == etClosedPolygon && j < 2) + { + delete newNode; + return; + } + m_polyNodes.AddChild(*newNode); + + //if this path's lowest pt is lower than all the others then update m_lowest + if (endType != etClosedPolygon) return; + if (m_lowest.X < 0) + m_lowest = IntPoint(m_polyNodes.ChildCount() - 1, k); + else + { + IntPoint ip = m_polyNodes.Childs[(int)m_lowest.X]->Contour[(int)m_lowest.Y]; + if (newNode->Contour[k].Y > ip.Y || + (newNode->Contour[k].Y == ip.Y && + newNode->Contour[k].X < ip.X)) + m_lowest = IntPoint(m_polyNodes.ChildCount() - 1, k); + } +} +//------------------------------------------------------------------------------ + +void ClipperOffset::AddPaths(const Paths& paths, JoinType joinType, EndType endType) +{ + for (Paths::size_type i = 0; i < paths.size(); ++i) + AddPath(paths[i], joinType, endType); +} +//------------------------------------------------------------------------------ + +void ClipperOffset::FixOrientations() +{ + //fixup orientations of all closed paths if the orientation of the + //closed path with the lowermost vertex is wrong ... + if (m_lowest.X >= 0 && + !Orientation(m_polyNodes.Childs[(int)m_lowest.X]->Contour)) + { + for (int i = 0; i < m_polyNodes.ChildCount(); ++i) + { + PolyNode& node = *m_polyNodes.Childs[i]; + if (node.m_endtype == etClosedPolygon || + (node.m_endtype == etClosedLine && Orientation(node.Contour))) + ReversePath(node.Contour); + } + } else + { + for (int i = 0; i < m_polyNodes.ChildCount(); ++i) + { + PolyNode& node = *m_polyNodes.Childs[i]; + if (node.m_endtype == etClosedLine && !Orientation(node.Contour)) + ReversePath(node.Contour); + } + } +} +//------------------------------------------------------------------------------ + +void ClipperOffset::Execute(Paths& solution, double delta) +{ + solution.clear(); + FixOrientations(); + DoOffset(delta); + + //now clean up 'corners' ... + Clipper clpr; + clpr.AddPaths(m_destPolys, ptSubject, true); + if (delta > 0) + { + clpr.Execute(ctUnion, solution, pftPositive, pftPositive); + } + else + { + IntRect r = clpr.GetBounds(); + Path outer(4); + outer[0] = IntPoint(r.left - 10, r.bottom + 10); + outer[1] = IntPoint(r.right + 10, r.bottom + 10); + outer[2] = IntPoint(r.right + 10, r.top - 10); + outer[3] = IntPoint(r.left - 10, r.top - 10); + + clpr.AddPath(outer, ptSubject, true); + clpr.ReverseSolution(true); + clpr.Execute(ctUnion, solution, pftNegative, pftNegative); + if (solution.size() > 0) solution.erase(solution.begin()); + } +} +//------------------------------------------------------------------------------ + +void ClipperOffset::Execute(PolyTree& solution, double delta) +{ + solution.Clear(); + FixOrientations(); + DoOffset(delta); + + //now clean up 'corners' ... + Clipper clpr; + clpr.AddPaths(m_destPolys, ptSubject, true); + if (delta > 0) + { + clpr.Execute(ctUnion, solution, pftPositive, pftPositive); + } + else + { + IntRect r = clpr.GetBounds(); + Path outer(4); + outer[0] = IntPoint(r.left - 10, r.bottom + 10); + outer[1] = IntPoint(r.right + 10, r.bottom + 10); + outer[2] = IntPoint(r.right + 10, r.top - 10); + outer[3] = IntPoint(r.left - 10, r.top - 10); + + clpr.AddPath(outer, ptSubject, true); + clpr.ReverseSolution(true); + clpr.Execute(ctUnion, solution, pftNegative, pftNegative); + //remove the outer PolyNode rectangle ... + if (solution.ChildCount() == 1 && solution.Childs[0]->ChildCount() > 0) + { + PolyNode* outerNode = solution.Childs[0]; + solution.Childs.reserve(outerNode->ChildCount()); + solution.Childs[0] = outerNode->Childs[0]; + solution.Childs[0]->Parent = outerNode->Parent; + for (int i = 1; i < outerNode->ChildCount(); ++i) + solution.AddChild(*outerNode->Childs[i]); + } + else + solution.Clear(); + } +} +//------------------------------------------------------------------------------ + +void ClipperOffset::DoOffset(double delta) +{ + m_destPolys.clear(); + m_delta = delta; + + //if Zero offset, just copy any CLOSED polygons to m_p and return ... + if (NEAR_ZERO(delta)) + { + m_destPolys.reserve(m_polyNodes.ChildCount()); + for (int i = 0; i < m_polyNodes.ChildCount(); i++) + { + PolyNode& node = *m_polyNodes.Childs[i]; + if (node.m_endtype == etClosedPolygon) + m_destPolys.push_back(node.Contour); + } + return; + } + + //see offset_triginometry3.svg in the documentation folder ... + if (MiterLimit > 2) m_miterLim = 2/(MiterLimit * MiterLimit); + else m_miterLim = 0.5; + + double y; + if (ArcTolerance <= 0.0) y = def_arc_tolerance; + else if (ArcTolerance > std::fabs(delta) * def_arc_tolerance) + y = std::fabs(delta) * def_arc_tolerance; + else y = ArcTolerance; + //see offset_triginometry2.svg in the documentation folder ... + double steps = pi / std::acos(1 - y / std::fabs(delta)); + if (steps > std::fabs(delta) * pi) + steps = std::fabs(delta) * pi; //ie excessive precision check + m_sin = std::sin(two_pi / steps); + m_cos = std::cos(two_pi / steps); + m_StepsPerRad = steps / two_pi; + if (delta < 0.0) m_sin = -m_sin; + + m_destPolys.reserve(m_polyNodes.ChildCount() * 2); + for (int i = 0; i < m_polyNodes.ChildCount(); i++) + { + PolyNode& node = *m_polyNodes.Childs[i]; + m_srcPoly = node.Contour; + + int len = (int)m_srcPoly.size(); + if (len == 0 || (delta <= 0 && (len < 3 || node.m_endtype != etClosedPolygon))) + continue; + + m_destPoly.clear(); + if (len == 1) + { + if (node.m_jointype == jtRound) + { + double X = 1.0, Y = 0.0; + for (cInt j = 1; j <= steps; j++) + { + m_destPoly.push_back(IntPoint( + Round(m_srcPoly[0].X + X * delta), + Round(m_srcPoly[0].Y + Y * delta))); + double X2 = X; + X = X * m_cos - m_sin * Y; + Y = X2 * m_sin + Y * m_cos; + } + } + else + { + double X = -1.0, Y = -1.0; + for (int j = 0; j < 4; ++j) + { + m_destPoly.push_back(IntPoint( + Round(m_srcPoly[0].X + X * delta), + Round(m_srcPoly[0].Y + Y * delta))); + if (X < 0) X = 1; + else if (Y < 0) Y = 1; + else X = -1; + } + } + m_destPolys.push_back(m_destPoly); + continue; + } + //build m_normals ... + m_normals.clear(); + m_normals.reserve(len); + for (int j = 0; j < len - 1; ++j) + m_normals.push_back(GetUnitNormal(m_srcPoly[j], m_srcPoly[j + 1])); + if (node.m_endtype == etClosedLine || node.m_endtype == etClosedPolygon) + m_normals.push_back(GetUnitNormal(m_srcPoly[len - 1], m_srcPoly[0])); + else + m_normals.push_back(DoublePoint(m_normals[len - 2])); + + if (node.m_endtype == etClosedPolygon) + { + int k = len - 1; + for (int j = 0; j < len; ++j) + OffsetPoint(j, k, node.m_jointype); + m_destPolys.push_back(m_destPoly); + } + else if (node.m_endtype == etClosedLine) + { + int k = len - 1; + for (int j = 0; j < len; ++j) + OffsetPoint(j, k, node.m_jointype); + m_destPolys.push_back(m_destPoly); + m_destPoly.clear(); + //re-build m_normals ... + DoublePoint n = m_normals[len -1]; + for (int j = len - 1; j > 0; j--) + m_normals[j] = DoublePoint(-m_normals[j - 1].X, -m_normals[j - 1].Y); + m_normals[0] = DoublePoint(-n.X, -n.Y); + k = 0; + for (int j = len - 1; j >= 0; j--) + OffsetPoint(j, k, node.m_jointype); + m_destPolys.push_back(m_destPoly); + } + else + { + int k = 0; + for (int j = 1; j < len - 1; ++j) + OffsetPoint(j, k, node.m_jointype); + + IntPoint pt1; + if (node.m_endtype == etOpenButt) + { + int j = len - 1; + pt1 = IntPoint((cInt)Round(m_srcPoly[j].X + m_normals[j].X * + delta), (cInt)Round(m_srcPoly[j].Y + m_normals[j].Y * delta)); + m_destPoly.push_back(pt1); + pt1 = IntPoint((cInt)Round(m_srcPoly[j].X - m_normals[j].X * + delta), (cInt)Round(m_srcPoly[j].Y - m_normals[j].Y * delta)); + m_destPoly.push_back(pt1); + } + else + { + int j = len - 1; + k = len - 2; + m_sinA = 0; + m_normals[j] = DoublePoint(-m_normals[j].X, -m_normals[j].Y); + if (node.m_endtype == etOpenSquare) + DoSquare(j, k); + else + DoRound(j, k); + } + + //re-build m_normals ... + for (int j = len - 1; j > 0; j--) + m_normals[j] = DoublePoint(-m_normals[j - 1].X, -m_normals[j - 1].Y); + m_normals[0] = DoublePoint(-m_normals[1].X, -m_normals[1].Y); + + k = len - 1; + for (int j = k - 1; j > 0; --j) OffsetPoint(j, k, node.m_jointype); + + if (node.m_endtype == etOpenButt) + { + pt1 = IntPoint((cInt)Round(m_srcPoly[0].X - m_normals[0].X * delta), + (cInt)Round(m_srcPoly[0].Y - m_normals[0].Y * delta)); + m_destPoly.push_back(pt1); + pt1 = IntPoint((cInt)Round(m_srcPoly[0].X + m_normals[0].X * delta), + (cInt)Round(m_srcPoly[0].Y + m_normals[0].Y * delta)); + m_destPoly.push_back(pt1); + } + else + { + k = 1; + m_sinA = 0; + if (node.m_endtype == etOpenSquare) + DoSquare(0, 1); + else + DoRound(0, 1); + } + m_destPolys.push_back(m_destPoly); + } + } +} +//------------------------------------------------------------------------------ + +void ClipperOffset::OffsetPoint(int j, int& k, JoinType jointype) +{ + //cross product ... + m_sinA = (m_normals[k].X * m_normals[j].Y - m_normals[j].X * m_normals[k].Y); + if (std::fabs(m_sinA * m_delta) < 1.0) + { + //dot product ... + double cosA = (m_normals[k].X * m_normals[j].X + m_normals[j].Y * m_normals[k].Y ); + if (cosA > 0) // angle => 0 degrees + { + m_destPoly.push_back(IntPoint(Round(m_srcPoly[j].X + m_normals[k].X * m_delta), + Round(m_srcPoly[j].Y + m_normals[k].Y * m_delta))); + return; + } + //else angle => 180 degrees + } + else if (m_sinA > 1.0) m_sinA = 1.0; + else if (m_sinA < -1.0) m_sinA = -1.0; + + if (m_sinA * m_delta < 0) + { + m_destPoly.push_back(IntPoint(Round(m_srcPoly[j].X + m_normals[k].X * m_delta), + Round(m_srcPoly[j].Y + m_normals[k].Y * m_delta))); + m_destPoly.push_back(m_srcPoly[j]); + m_destPoly.push_back(IntPoint(Round(m_srcPoly[j].X + m_normals[j].X * m_delta), + Round(m_srcPoly[j].Y + m_normals[j].Y * m_delta))); + } + else + switch (jointype) + { + case jtMiter: + { + double r = 1 + (m_normals[j].X * m_normals[k].X + + m_normals[j].Y * m_normals[k].Y); + if (r >= m_miterLim) DoMiter(j, k, r); else DoSquare(j, k); + break; + } + case jtSquare: DoSquare(j, k); break; + case jtRound: DoRound(j, k); break; + } + k = j; +} +//------------------------------------------------------------------------------ + +void ClipperOffset::DoSquare(int j, int k) +{ + double dx = std::tan(std::atan2(m_sinA, + m_normals[k].X * m_normals[j].X + m_normals[k].Y * m_normals[j].Y) / 4); + m_destPoly.push_back(IntPoint( + Round(m_srcPoly[j].X + m_delta * (m_normals[k].X - m_normals[k].Y * dx)), + Round(m_srcPoly[j].Y + m_delta * (m_normals[k].Y + m_normals[k].X * dx)))); + m_destPoly.push_back(IntPoint( + Round(m_srcPoly[j].X + m_delta * (m_normals[j].X + m_normals[j].Y * dx)), + Round(m_srcPoly[j].Y + m_delta * (m_normals[j].Y - m_normals[j].X * dx)))); +} +//------------------------------------------------------------------------------ + +void ClipperOffset::DoMiter(int j, int k, double r) +{ + double q = m_delta / r; + m_destPoly.push_back(IntPoint(Round(m_srcPoly[j].X + (m_normals[k].X + m_normals[j].X) * q), + Round(m_srcPoly[j].Y + (m_normals[k].Y + m_normals[j].Y) * q))); +} +//------------------------------------------------------------------------------ + +void ClipperOffset::DoRound(int j, int k) +{ + double a = std::atan2(m_sinA, + m_normals[k].X * m_normals[j].X + m_normals[k].Y * m_normals[j].Y); + int steps = std::max((int)Round(m_StepsPerRad * std::fabs(a)), 1); + + double X = m_normals[k].X, Y = m_normals[k].Y, X2; + for (int i = 0; i < steps; ++i) + { + m_destPoly.push_back(IntPoint( + Round(m_srcPoly[j].X + X * m_delta), + Round(m_srcPoly[j].Y + Y * m_delta))); + X2 = X; + X = X * m_cos - m_sin * Y; + Y = X2 * m_sin + Y * m_cos; + } + m_destPoly.push_back(IntPoint( + Round(m_srcPoly[j].X + m_normals[j].X * m_delta), + Round(m_srcPoly[j].Y + m_normals[j].Y * m_delta))); +} + +//------------------------------------------------------------------------------ +// Miscellaneous public functions +//------------------------------------------------------------------------------ + +void Clipper::DoSimplePolygons() +{ + PolyOutList::size_type i = 0; + while (i < m_PolyOuts.size()) + { + OutRec* outrec = m_PolyOuts[i++]; + OutPt* op = outrec->Pts; + if (!op || outrec->IsOpen) continue; + do //for each Pt in Polygon until duplicate found do ... + { + OutPt* op2 = op->Next; + while (op2 != outrec->Pts) + { + if ((op->Pt == op2->Pt) && op2->Next != op && op2->Prev != op) + { + //split the polygon into two ... + OutPt* op3 = op->Prev; + OutPt* op4 = op2->Prev; + op->Prev = op4; + op4->Next = op; + op2->Prev = op3; + op3->Next = op2; + + outrec->Pts = op; + OutRec* outrec2 = CreateOutRec(); + outrec2->Pts = op2; + UpdateOutPtIdxs(*outrec2); + if (Poly2ContainsPoly1(outrec2->Pts, outrec->Pts)) + { + //OutRec2 is contained by OutRec1 ... + outrec2->IsHole = !outrec->IsHole; + outrec2->FirstLeft = outrec; + if (m_UsingPolyTree) FixupFirstLefts2(outrec2, outrec); + } + else + if (Poly2ContainsPoly1(outrec->Pts, outrec2->Pts)) + { + //OutRec1 is contained by OutRec2 ... + outrec2->IsHole = outrec->IsHole; + outrec->IsHole = !outrec2->IsHole; + outrec2->FirstLeft = outrec->FirstLeft; + outrec->FirstLeft = outrec2; + if (m_UsingPolyTree) FixupFirstLefts2(outrec, outrec2); + } + else + { + //the 2 polygons are separate ... + outrec2->IsHole = outrec->IsHole; + outrec2->FirstLeft = outrec->FirstLeft; + if (m_UsingPolyTree) FixupFirstLefts1(outrec, outrec2); + } + op2 = op; //ie get ready for the Next iteration + } + op2 = op2->Next; + } + op = op->Next; + } + while (op != outrec->Pts); + } +} +//------------------------------------------------------------------------------ + +void ReversePath(Path& p) +{ + std::reverse(p.begin(), p.end()); +} +//------------------------------------------------------------------------------ + +void ReversePaths(Paths& p) +{ + for (Paths::size_type i = 0; i < p.size(); ++i) + ReversePath(p[i]); +} +//------------------------------------------------------------------------------ + +void SimplifyPolygon(const Path &in_poly, Paths &out_polys, PolyFillType fillType) +{ + Clipper c; + c.StrictlySimple(true); + c.AddPath(in_poly, ptSubject, true); + c.Execute(ctUnion, out_polys, fillType, fillType); +} +//------------------------------------------------------------------------------ + +void SimplifyPolygons(const Paths &in_polys, Paths &out_polys, PolyFillType fillType) +{ + Clipper c; + c.StrictlySimple(true); + c.AddPaths(in_polys, ptSubject, true); + c.Execute(ctUnion, out_polys, fillType, fillType); +} +//------------------------------------------------------------------------------ + +void SimplifyPolygons(Paths &polys, PolyFillType fillType) +{ + SimplifyPolygons(polys, polys, fillType); +} +//------------------------------------------------------------------------------ + +inline double DistanceSqrd(const IntPoint& pt1, const IntPoint& pt2) +{ + double Dx = ((double)pt1.X - pt2.X); + double dy = ((double)pt1.Y - pt2.Y); + return (Dx*Dx + dy*dy); +} +//------------------------------------------------------------------------------ + +double DistanceFromLineSqrd( + const IntPoint& pt, const IntPoint& ln1, const IntPoint& ln2) +{ + //The equation of a line in general form (Ax + By + C = 0) + //given 2 points (x�,y�) & (x�,y�) is ... + //(y� - y�)x + (x� - x�)y + (y� - y�)x� - (x� - x�)y� = 0 + //A = (y� - y�); B = (x� - x�); C = (y� - y�)x� - (x� - x�)y� + //perpendicular distance of point (x�,y�) = (Ax� + By� + C)/Sqrt(A� + B�) + //see http://en.wikipedia.org/wiki/Perpendicular_distance + double A = double(ln1.Y - ln2.Y); + double B = double(ln2.X - ln1.X); + double C = A * ln1.X + B * ln1.Y; + C = A * pt.X + B * pt.Y - C; + return (C * C) / (A * A + B * B); +} +//--------------------------------------------------------------------------- + +bool SlopesNearCollinear(const IntPoint& pt1, + const IntPoint& pt2, const IntPoint& pt3, double distSqrd) +{ + //this function is more accurate when the point that's geometrically + //between the other 2 points is the one that's tested for distance. + //ie makes it more likely to pick up 'spikes' ... + if (Abs(pt1.X - pt2.X) > Abs(pt1.Y - pt2.Y)) + { + if ((pt1.X > pt2.X) == (pt1.X < pt3.X)) + return DistanceFromLineSqrd(pt1, pt2, pt3) < distSqrd; + else if ((pt2.X > pt1.X) == (pt2.X < pt3.X)) + return DistanceFromLineSqrd(pt2, pt1, pt3) < distSqrd; + else + return DistanceFromLineSqrd(pt3, pt1, pt2) < distSqrd; + } + else + { + if ((pt1.Y > pt2.Y) == (pt1.Y < pt3.Y)) + return DistanceFromLineSqrd(pt1, pt2, pt3) < distSqrd; + else if ((pt2.Y > pt1.Y) == (pt2.Y < pt3.Y)) + return DistanceFromLineSqrd(pt2, pt1, pt3) < distSqrd; + else + return DistanceFromLineSqrd(pt3, pt1, pt2) < distSqrd; + } +} +//------------------------------------------------------------------------------ + +bool PointsAreClose(IntPoint pt1, IntPoint pt2, double distSqrd) +{ + double Dx = (double)pt1.X - pt2.X; + double dy = (double)pt1.Y - pt2.Y; + return ((Dx * Dx) + (dy * dy) <= distSqrd); +} +//------------------------------------------------------------------------------ + +OutPt* ExcludeOp(OutPt* op) +{ + OutPt* result = op->Prev; + result->Next = op->Next; + op->Next->Prev = result; + result->Idx = 0; + return result; +} +//------------------------------------------------------------------------------ + +void CleanPolygon(const Path& in_poly, Path& out_poly, double distance) +{ + //distance = proximity in units/pixels below which vertices + //will be stripped. Default ~= sqrt(2). + + size_t size = in_poly.size(); + + if (size == 0) + { + out_poly.clear(); + return; + } + + OutPt* outPts = new OutPt[size]; + for (size_t i = 0; i < size; ++i) + { + outPts[i].Pt = in_poly[i]; + outPts[i].Next = &outPts[(i + 1) % size]; + outPts[i].Next->Prev = &outPts[i]; + outPts[i].Idx = 0; + } + + double distSqrd = distance * distance; + OutPt* op = &outPts[0]; + while (op->Idx == 0 && op->Next != op->Prev) + { + if (PointsAreClose(op->Pt, op->Prev->Pt, distSqrd)) + { + op = ExcludeOp(op); + size--; + } + else if (PointsAreClose(op->Prev->Pt, op->Next->Pt, distSqrd)) + { + ExcludeOp(op->Next); + op = ExcludeOp(op); + size -= 2; + } + else if (SlopesNearCollinear(op->Prev->Pt, op->Pt, op->Next->Pt, distSqrd)) + { + op = ExcludeOp(op); + size--; + } + else + { + op->Idx = 1; + op = op->Next; + } + } + + if (size < 3) size = 0; + out_poly.resize(size); + for (size_t i = 0; i < size; ++i) + { + out_poly[i] = op->Pt; + op = op->Next; + } + delete [] outPts; +} +//------------------------------------------------------------------------------ + +void CleanPolygon(Path& poly, double distance) +{ + CleanPolygon(poly, poly, distance); +} +//------------------------------------------------------------------------------ + +void CleanPolygons(const Paths& in_polys, Paths& out_polys, double distance) +{ + out_polys.resize(in_polys.size()); + for (Paths::size_type i = 0; i < in_polys.size(); ++i) + CleanPolygon(in_polys[i], out_polys[i], distance); +} +//------------------------------------------------------------------------------ + +void CleanPolygons(Paths& polys, double distance) +{ + CleanPolygons(polys, polys, distance); +} +//------------------------------------------------------------------------------ + +void Minkowski(const Path& poly, const Path& path, + Paths& solution, bool isSum, bool isClosed) +{ + int delta = (isClosed ? 1 : 0); + size_t polyCnt = poly.size(); + size_t pathCnt = path.size(); + Paths pp; + pp.reserve(pathCnt); + if (isSum) + for (size_t i = 0; i < pathCnt; ++i) + { + Path p; + p.reserve(polyCnt); + for (size_t j = 0; j < poly.size(); ++j) + p.push_back(IntPoint(path[i].X + poly[j].X, path[i].Y + poly[j].Y)); + pp.push_back(p); + } + else + for (size_t i = 0; i < pathCnt; ++i) + { + Path p; + p.reserve(polyCnt); + for (size_t j = 0; j < poly.size(); ++j) + p.push_back(IntPoint(path[i].X - poly[j].X, path[i].Y - poly[j].Y)); + pp.push_back(p); + } + + solution.clear(); + solution.reserve((pathCnt + delta) * (polyCnt + 1)); + for (size_t i = 0; i < pathCnt - 1 + delta; ++i) + for (size_t j = 0; j < polyCnt; ++j) + { + Path quad; + quad.reserve(4); + quad.push_back(pp[i % pathCnt][j % polyCnt]); + quad.push_back(pp[(i + 1) % pathCnt][j % polyCnt]); + quad.push_back(pp[(i + 1) % pathCnt][(j + 1) % polyCnt]); + quad.push_back(pp[i % pathCnt][(j + 1) % polyCnt]); + if (!Orientation(quad)) ReversePath(quad); + solution.push_back(quad); + } +} +//------------------------------------------------------------------------------ + +void MinkowskiSum(const Path& pattern, const Path& path, Paths& solution, bool pathIsClosed) +{ + Minkowski(pattern, path, solution, true, pathIsClosed); + Clipper c; + c.AddPaths(solution, ptSubject, true); + c.Execute(ctUnion, solution, pftNonZero, pftNonZero); +} +//------------------------------------------------------------------------------ + +void TranslatePath(const Path& input, Path& output, const IntPoint delta) +{ + //precondition: input != output + output.resize(input.size()); + for (size_t i = 0; i < input.size(); ++i) + output[i] = IntPoint(input[i].X + delta.X, input[i].Y + delta.Y); +} +//------------------------------------------------------------------------------ + +void MinkowskiSum(const Path& pattern, const Paths& paths, Paths& solution, bool pathIsClosed) +{ + Clipper c; + for (size_t i = 0; i < paths.size(); ++i) + { + Paths tmp; + Minkowski(pattern, paths[i], tmp, true, pathIsClosed); + c.AddPaths(tmp, ptSubject, true); + if (pathIsClosed) + { + Path tmp2; + TranslatePath(paths[i], tmp2, pattern[0]); + c.AddPath(tmp2, ptClip, true); + } + } + c.Execute(ctUnion, solution, pftNonZero, pftNonZero); +} +//------------------------------------------------------------------------------ + +void MinkowskiDiff(const Path& poly1, const Path& poly2, Paths& solution) +{ + Minkowski(poly1, poly2, solution, false, true); + Clipper c; + c.AddPaths(solution, ptSubject, true); + c.Execute(ctUnion, solution, pftNonZero, pftNonZero); +} +//------------------------------------------------------------------------------ + +enum NodeType {ntAny, ntOpen, ntClosed}; + +void AddPolyNodeToPaths(const PolyNode& polynode, NodeType nodetype, Paths& paths) +{ + bool match = true; + if (nodetype == ntClosed) match = !polynode.IsOpen(); + else if (nodetype == ntOpen) return; + + if (!polynode.Contour.empty() && match) + paths.push_back(polynode.Contour); + for (int i = 0; i < polynode.ChildCount(); ++i) + AddPolyNodeToPaths(*polynode.Childs[i], nodetype, paths); +} +//------------------------------------------------------------------------------ + +void PolyTreeToPaths(const PolyTree& polytree, Paths& paths) +{ + paths.resize(0); + paths.reserve(polytree.Total()); + AddPolyNodeToPaths(polytree, ntAny, paths); +} +//------------------------------------------------------------------------------ + +void ClosedPathsFromPolyTree(const PolyTree& polytree, Paths& paths) +{ + paths.resize(0); + paths.reserve(polytree.Total()); + AddPolyNodeToPaths(polytree, ntClosed, paths); +} +//------------------------------------------------------------------------------ + +void OpenPathsFromPolyTree(PolyTree& polytree, Paths& paths) +{ + paths.resize(0); + paths.reserve(polytree.Total()); + //Open paths are top level only, so ... + for (int i = 0; i < polytree.ChildCount(); ++i) + if (polytree.Childs[i]->IsOpen()) + paths.push_back(polytree.Childs[i]->Contour); +} +//------------------------------------------------------------------------------ + +std::ostream& operator <<(std::ostream &s, const IntPoint &p) +{ + s << "(" << p.X << "," << p.Y << ")"; + return s; +} +//------------------------------------------------------------------------------ + +std::ostream& operator <<(std::ostream &s, const Path &p) +{ + if (p.empty()) return s; + Path::size_type last = p.size() -1; + for (Path::size_type i = 0; i < last; i++) + s << "(" << p[i].X << "," << p[i].Y << "), "; + s << "(" << p[last].X << "," << p[last].Y << ")\n"; + return s; +} +//------------------------------------------------------------------------------ + +std::ostream& operator <<(std::ostream &s, const Paths &p) +{ + for (Paths::size_type i = 0; i < p.size(); i++) + s << p[i]; + s << "\n"; + return s; +} +//------------------------------------------------------------------------------ + +} //ClipperLib namespace diff --git a/micropython_port/ai_cube/fuction_ocrdet.cpp b/micropython_port/ai_cube/fuction_ocrdet.cpp new file mode 100644 index 0000000..3a3b883 --- /dev/null +++ b/micropython_port/ai_cube/fuction_ocrdet.cpp @@ -0,0 +1,323 @@ +#include +#include +#include +#include "postprocess.h" +#include +#include "clipper.h" + + +typedef struct ocr_det_res +{ + float meanx; + float meany; + cv::Point2f vertices[4]; + cv::Point2f ver_src[4]; + float score; +}ocr_det_res; + +double distance(cv::Point p0, cv::Point p1) +{ + return sqrt((p0.x - p1.x) * (p0.x - p1.x) + (p1.y - p0.y) * (p1.y - p0.y)); +} + +void getBox(ocr_det_res& b,std::vector contours) +{ + cv::RotatedRect minrect = cv::minAreaRect(contours); + cv::Point2f vtx[4]; + minrect.points(vtx); + for(int i = 0; i < 4; i++) + { + b.vertices[i].x = vtx[i].x; + b.vertices[i].y = vtx[i].y; + } +} + +void unclip(std::vector contours, std::vector& con) +{ + ClipperLib::Path subj; + ClipperLib::Paths solution; + double dis = 0.0; + for(int i = 0; i < contours.size(); i++) + subj << ClipperLib::IntPoint(contours[i].x, contours[i].y); + for(int i = 0; i < contours.size() - 1; i++) + dis += distance(contours[i], contours[i+1]); + double dis1 = (-1 * Area(subj)) * 1.5 / dis; + ClipperLib::ClipperOffset co; + co.AddPath(subj, ClipperLib::jtSquare, ClipperLib::etClosedPolygon); + co.Execute(solution, dis1); + ClipperLib::Path tmp = solution[0]; + for(int i = 0; i < tmp.size(); i++) + { + cv::Point p(tmp[i].X, tmp[i].Y); + con.push_back(p); + } + for(int i = 0; i < con.size(); i++) + subj << ClipperLib::IntPoint(con[i].x, con[i].y); +} + +float boxScore(cv::Mat src,std::vector contours, ocr_det_res& b, int w, int h, FrameSize frame_size,int input_width ,int input_height) +{ + int xmin = input_width; + int xmax = 0; + int ymin = input_height; + int ymax = 0; + for(int i = 0; i < contours.size(); i++) + { + xmin = std::floor((contours[i].x < xmin ? contours[i].x : xmin)); + xmax = std::ceil((contours[i].x > xmax ? contours[i].x : xmax)); + ymin = std::floor((contours[i].y < ymin ? contours[i].y : ymin)); + ymax = std::ceil((contours[i].y > ymax ? contours[i].y : ymax)); + } + for(int i = 0; i < contours.size(); i++) + { + contours[i].x = contours[i].x - xmin; + contours[i].y = contours[i].y - ymin; + } + std::vector> vec; + vec.clear(); + vec.push_back(contours); + float ratiow = 1.0 * input_width / frame_size.width; + float ratioh = 1.0 * input_height / frame_size.height; + b.meanx = ((1.0 * xmin + xmax) / 2 - w) / (input_width - 2 * w) * frame_size.width; + b.meany = ((1.0 * ymin + ymax) / 2 - h) / (input_height - 2 * h) * frame_size.height; + cv::Mat img = cv::Mat::zeros(ymax - ymin + 1, xmax - xmin + 1, CV_8UC1); + cv::fillPoly(img, vec, cv::Scalar(1)); + return (float)cv::mean(src(cv::Rect(xmin, ymin, xmax-xmin+1, ymax-ymin+1)), img)[0]; +} + +std::vector sort_indices(const std::vector& vec) +{ + std::vector> indexedVec; + indexedVec.reserve(vec.size()); + + // 创建带有索引的副本 + for (size_t i = 0; i < vec.size(); ++i) { + indexedVec.emplace_back(vec[i], i); + } + + // 按值对副本进行排序 + std::sort(indexedVec.begin(), indexedVec.end(), + [](const auto& a, const auto& b) { + return a.first.x < b.first.x; + }); + + // 提取排序后的索引 + std::vector sortedIndices; + sortedIndices.reserve(vec.size()); + for (const auto& element : indexedVec) { + sortedIndices.push_back(element.second); + } + + return sortedIndices; +} + +void find_rectangle_vertices(const std::vector& points, cv::Point2f& topLeft, cv::Point2f& topRight, cv::Point2f& bottomRight, cv::Point2f& bottomLeft) +{ + //先按照x排序,比较左右，再按照y比较上下 + auto sorted_x_id = sort_indices(points); + + if (points[sorted_x_id[0]].y < points[sorted_x_id[1]].y) + { + topLeft = points[sorted_x_id[0]]; + bottomLeft = points[sorted_x_id[1]]; + } + else + { + topLeft = points[sorted_x_id[1]]; + bottomLeft = points[sorted_x_id[0]]; + } + + if (points[sorted_x_id[2]].y < points[sorted_x_id[3]].y) + { + bottomRight = points[sorted_x_id[3]]; + topRight = points[sorted_x_id[2]]; + + } + else + { + bottomRight = points[sorted_x_id[2]]; + topRight = points[sorted_x_id[3]]; + } + +} + + +void expandRectangle(cv::Point2f& topLeft, cv::Point2f& topRight, cv::Point2f& bottomRight, cv::Point2f& bottomLeft, float scaleFactor_width,float scaleFactor_high, int maxWidth, int maxHeight) { + // Calculate the center of the original rectangle + + cv::Point2f newTopLeft(scaleFactor_width * topLeft.x - (scaleFactor_width-1)*topRight.x, scaleFactor_high * topLeft.y - (scaleFactor_high-1)*bottomLeft.y); + cv::Point2f newTopRight(scaleFactor_width * topRight.x - (scaleFactor_width-1)*topLeft.x, scaleFactor_high * topRight.y - (scaleFactor_high-1)*bottomRight.y); + cv::Point2f newBottomRight(scaleFactor_width * bottomRight.x - (scaleFactor_width-1)*bottomLeft.x, scaleFactor_high * bottomRight.y - (scaleFactor_high-1)*topRight.y); + cv::Point2f newBottomLeft(scaleFactor_width * bottomLeft.x - (scaleFactor_width-1)*bottomRight.x, scaleFactor_high * bottomLeft.y - (scaleFactor_high-1)*topLeft.y); + + // Check and adjust vertices to stay within specified boundaries + if (newTopLeft.x < 0) newTopLeft.x = 0; + if (newTopLeft.y < 0) newTopLeft.y = 0; + if (newTopRight.x > maxWidth) newTopRight.x = maxWidth; + if (newTopRight.y < 0) newTopRight.y = 0; + if (newBottomRight.x > maxWidth) newBottomRight.x = maxWidth; + if (newBottomRight.y > maxHeight) newBottomRight.y = maxHeight; + if (newBottomLeft.x < 0) newBottomLeft.x = 0; + if (newBottomLeft.y > maxHeight) newBottomLeft.y = maxHeight; + + // Update the input points with the adjusted vertices + topLeft = newTopLeft; + topRight = newTopRight; + bottomRight = newBottomRight; + bottomLeft = newBottomLeft; + +} + + +void warppersp(cv::Mat src, cv::Mat& dst, ocr_det_res b, std::vector& vtd) +{ + cv::Mat rotation; + std::vector con; + for(auto i : b.vertices) + con.push_back(i); + + cv::RotatedRect minrect = cv::minAreaRect(con); + std::vector vtx(4),vt(4); + minrect.points(vtx.data()); + + + find_rectangle_vertices(vtx, vtd[0], vtd[1], vtd[2], vtd[3]); + + + int maxWidth = src.cols; + int maxHeight = src.rows; + float scaleFactor_width = 1.025; + float scaleFactor_higt = 1.15; + + expandRectangle(vtd[0], vtd[1], vtd[2], vtd[3],scaleFactor_width,scaleFactor_higt,maxWidth,maxHeight); + + + float tmp_w = cv::norm(vtd[1]-vtd[0]); + float tmp_h = cv::norm(vtd[2]-vtd[1]); + float w = std::max(tmp_w,tmp_h); + float h = std::min(tmp_w,tmp_h); + + vt[0].x = 0; + vt[0].y = 0; + vt[1].x = w; + vt[1].y = 0; + vt[2].x = w; + vt[2].y = h; + vt[3].x = 0; + vt[3].y = h;//h + rotation = cv::getPerspectiveTransform(vtd, vt); + + cv::warpPerspective(src, dst, rotation, cv::Size(w, h)); +} + +ArrayWrapper* ocr_post_process(FrameSize frame_size,FrameSize kmodel_frame_size,float box_thresh,float threshold, float *data_0, uint8_t *data_1, int* results_size) +{ + int input_width=kmodel_frame_size.width; + int input_height=kmodel_frame_size.height; + int h; + int w; + int row = frame_size.height; + int col = frame_size.width; + float ratio_w = 1.0 * input_width / col; + float ratio_h = 1.0 * input_height / row; + float ratio = std::min(ratio_h, ratio_w); + int unpad_w = (int)round(col * ratio); + int unpad_h = (int)round(row * ratio); + + + + cv::Mat img_src = cv::Mat(row , col, CV_8UC3, data_1); + cv::Mat src(input_height, input_width, CV_32FC1, data_0); + cv::Mat mask(src > threshold); + std::vector> contours; + std::vector hierarchy; + cv::findContours(mask, contours, hierarchy, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE); + + int num = contours.size(); + int l=0; + int num_result=0; + std::vector list_num; + + ocr_det_res* b=new ocr_det_res[num]; + for(int i = 0; i < num; i++) + { + std::vector con; + cv::Mat crop; + if(contours[i].size() < 4) + continue; + getBox(b[i], contours[i]); + unclip(contours[i], con); + getBox(b[i], con); + float score = boxScore(src, contours[i], b[i], w, h, frame_size,input_width ,input_height); + if (score < box_thresh) + continue; + b[i].score = score; + for(int m = 0; m < 4; m++) + { + b[i].vertices[m].x = std::max(std::min((int)b[i].vertices[m].x, input_width), 0); + b[i].vertices[m].y = std::max(std::min((int)b[i].vertices[m].y, input_height), 0); + b[i].vertices[m].x = b[i].vertices[m].x / unpad_w * frame_size.width; + b[i].vertices[m].y = b[i].vertices[m].y / unpad_h * frame_size.height; + b[i].ver_src[m].x = b[i].vertices[m].x; + b[i].ver_src[m].y = b[i].vertices[m].y; + b[i].vertices[m].x = std::max((float)0, std::min(b[i].vertices[m].x, (float)frame_size.width)); + b[i].vertices[m].y = std::max((float)0, std::min(b[i].vertices[m].y, (float)frame_size.height)); + } + + + l+=1; + list_num.push_back(i); + } + ArrayWrapper* arrayWrapper = (ArrayWrapper*)malloc(l*sizeof(ArrayWrapper)); + + + + for (auto &i: list_num) + { + std::vector sort_vtd(4); + std::vector vec; + std::vector ver(4),vtd(4); + cv::Mat crop; + warppersp(img_src, crop, b[i], sort_vtd); + arrayWrapper[num_result].data = (uint8_t*)malloc(crop.total()*3*sizeof(uint8_t)); + arrayWrapper[num_result].dimensions=(int*)malloc(3*sizeof(int)); + + uint8_t* matData = crop.ptr(); // 获取cv::Mat的数据指针 + std::memcpy(arrayWrapper[num_result].data, matData, crop.total()*3 * sizeof(uint8_t)); // 复制数据 + + + arrayWrapper[num_result].dimensions[0] = crop.channels(); + arrayWrapper[num_result].dimensions[1] = crop.rows; + arrayWrapper[num_result].dimensions[2] = crop.cols; + + + + + crop.release(); + vec.clear(); + for(int j = 0; j < 4; j++) + { + cv::Point tmp = b[i].vertices[j]; + vec.push_back(tmp); + } + cv::RotatedRect rect = minAreaRect(vec); + rect.points(ver.data()); + int maxWidth = frame_size.width; + int maxHeight = frame_size.height; + float scaleFactor_width = 1.025; + float scaleFactor_higt = 1.15; + find_rectangle_vertices(ver, vtd[0], vtd[1], vtd[2], vtd[3]); + expandRectangle(vtd[0], vtd[1], vtd[2], vtd[3],scaleFactor_width,scaleFactor_higt,maxWidth,maxHeight); + for (int j = 0; j < 4; j++) { + arrayWrapper[num_result].coordinates[2 * j] = vtd[j].x; + arrayWrapper[num_result].coordinates[2 * j + 1] = vtd[j].y; + } + num_result+=1; + } + delete[] b; + *results_size=l; + return arrayWrapper; +} + + + diff --git a/micropython_port/ai_cube/postprocess.cpp b/micropython_port/ai_cube/postprocess.cpp new file mode 100644 index 0000000..76abe69 --- /dev/null +++ b/micropython_port/ai_cube/postprocess.cpp @@ -0,0 +1,651 @@ +#include "postprocess.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// #include +#include +#include + +using namespace std; + +#define REG_MAX 16 +#define STRIDE_NUM 3 +#define STAGE_NUM 3 + +vector anchorbasedet_decode_infer(float* data, FrameSize kmodel_frame_size, FrameSize frame_size, int stride, int num_class, float ob_det_thresh, float anchors[3][2]) +{ + float ratiow = (float)kmodel_frame_size.width / frame_size.width; + float ratioh = (float)kmodel_frame_size.height / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size_w = kmodel_frame_size.width / stride; + int grid_size_h = kmodel_frame_size.height / stride; + int one_rsize = num_class + 5; + float cx, cy, w, h; + + for (int shift_y = 0; shift_y < grid_size_h; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size_w; shift_x++) + { + int loc = shift_x + shift_y * grid_size_w; + for (int i = 0; i < 3; i++) + { + float* record = data + (loc * 3 + i) * one_rsize; + float* cls_ptr = record + 5; + for (int cls = 0; cls < num_class; cls++) + { + float score = (cls_ptr[cls]) * (record[4]); + if (score > ob_det_thresh) + { + cx = ((record[0]) * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = ((record[1]) * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow((record[2]) * 2.f, 2) * anchors[i][0]; + h = pow((record[3]) * 2.f, 2) * anchors[i][1]; + cx -= ((kmodel_frame_size.width - frame_size.width * gain) / 2); + cy -= ((kmodel_frame_size.height - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + ob_det_res box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + box.score = score; + box.label_index = cls; + result.push_back(box); + } + } + } + } + } + return result; +} + +vector> anchorbasedet_decode_infer_class(float* data, FrameSize kmodel_frame_size, FrameSize frame_size, int stride, int num_class, float ob_det_thresh, float anchors[3][2]) +{ + float ratiow = (float)kmodel_frame_size.width / frame_size.width; + float ratioh = (float)kmodel_frame_size.height / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector> result; + for (int i = 0; i < num_class; i++) + { + result.push_back(vector()); + } + int grid_size_w = kmodel_frame_size.width / stride; + int grid_size_h = kmodel_frame_size.height / stride; + int one_rsize = num_class + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size_h; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size_w; shift_x++) + { + int loc = shift_x + shift_y * grid_size_w; + for (int i = 0; i < 3; i++) + { + float* record = data + (loc * 3 + i) * one_rsize; + float* cls_ptr = record + 5; + for (int cls = 0; cls < num_class; cls++) + { + float score = (cls_ptr[cls]) * (record[4]); + if (score > ob_det_thresh) + { + cx = ((record[0]) * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = ((record[1]) * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow((record[2]) * 2.f, 2) * anchors[i][0]; + h = pow((record[3]) * 2.f, 2) * anchors[i][1]; + cx -= ((kmodel_frame_size.width - frame_size.width * gain) / 2); + cy -= ((kmodel_frame_size.height - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + ob_det_res box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + box.score = score; + box.label_index = cls; + result[cls].push_back(box); + } + } + } + } + } + return result; +} + + +vector anchorfreedet_decode_infer(float* data, FrameSize kmodel_frame_size, FrameSize frame_size, int stride, int num_class, float ob_det_thresh) +{ + float ratiow = (float)kmodel_frame_size.width / frame_size.width; + float ratioh = (float)kmodel_frame_size.height / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size_w = kmodel_frame_size.width / stride; + int grid_size_h = kmodel_frame_size.height / stride; + int one_rsize = num_class + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size_h; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size_w; shift_x++) + { + + int loc = shift_x + shift_y * grid_size_w; + for (int i = 0; i < 1; i++) + { + float* record = data + (loc + i) * one_rsize; + float* cls_ptr = record + 5; + for (int cls = 0; cls < num_class; cls++) + { + // float score = sigmoid(record[4]); + float score = record[4]; + if (score > ob_det_thresh) + { + cx = ((record[0]) + (float)shift_x) * (float)stride; + cy = ((record[1]) + (float)shift_y) * (float)stride; + w = exp((record[2])) * (float)stride; + h = exp((record[3])) * (float)stride; + cx -= ((kmodel_frame_size.width - frame_size.width * gain) / 2); + cy -= ((kmodel_frame_size.height - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + ob_det_res box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + box.score = score; + box.label_index = cls; + result.push_back(box); + } + } + } + } + } + return result; +} + +vector> anchorfreedet_decode_infer_class(float* data, FrameSize kmodel_frame_size, FrameSize frame_size, int stride, int num_class, float ob_det_thresh) +{ + float ratiow = (float)kmodel_frame_size.width / frame_size.width; + float ratioh = (float)kmodel_frame_size.height / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector> result; + for (int i = 0; i < num_class; i++) + { + result.push_back(vector());//不断往v2d里加行 + } + int grid_size_w = kmodel_frame_size.width / stride; + int grid_size_h = kmodel_frame_size.height / stride; + int one_rsize = num_class + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size_h; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size_w; shift_x++) + { + + int loc = shift_x + shift_y * grid_size_w; + for (int i = 0; i < 1; i++) + { + float* record = data + (loc + i) * one_rsize; + float* cls_ptr = record + 5; + for (int cls = 0; cls < num_class; cls++) + { + // float score = sigmoid(record[4]); + float score = record[4]; + if (score > ob_det_thresh) + { + cx = ((record[0]) + (float)shift_x) * (float)stride; + cy = ((record[1]) + (float)shift_y) * (float)stride; + w = exp((record[2])) * (float)stride; + h = exp((record[3])) * (float)stride; + cx -= ((kmodel_frame_size.width - frame_size.width * gain) / 2); + cy -= ((kmodel_frame_size.height - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + ob_det_res box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + box.score = score; + box.label_index = cls; + result[cls].push_back(box); + } + } + } + } + } + return result; +} + +void nms(vector& input_boxes, float ob_nms_thresh) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](ob_det_res a, ob_det_res b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= ob_nms_thresh) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +float fast_exp(float x) +{ + union { + uint32_t i; + float f; + } v{}; + v.i = (1 << 23) * (1.4426950409 * x + 126.93490512f); + return v.f; +} + +float sigmoid(float x) +{ + return 1.0f / (1.0f + fast_exp(-x)); + //return 1.0f / (1.0f + exp(-x)); +} + +template +int activation_function_softmax(const _Tp* src, _Tp* dst, int length) +{ + const _Tp alpha = *std::max_element(src, src + length); + _Tp denominator{ 0 }; + + for (int i = 0; i < length; ++i) + { + dst[i] = fast_exp(src[i] - alpha); + //dst[i] = exp(src[i] - alpha); + denominator += dst[i]; + } + + for (int i = 0; i < length; ++i) + { + dst[i] /= denominator; + } + + return 0; +} + +ob_det_res disPred2Bbox(const float*& dfl_det, int label, float score, int x, int y, int stride, int reg_max, int input_height,int input_width,float ratiow, float ratioh, float gain,FrameSize frame_size, FrameSize kmodel_frame_size) +{ + float ct_x = x * stride; + float ct_y = y * stride; + + ct_x -= ((kmodel_frame_size.width - frame_size.width * gain) / 2); + ct_y -= ((kmodel_frame_size.height - frame_size.height * gain) / 2); + ct_x /= gain; + ct_y /= gain; + + std::vector dis_pred; + dis_pred.resize(4); + for (int i = 0; i < 4; i++) + { + float dis = 0; + float* dis_after_sm = new float[reg_max + 1]; + activation_function_softmax(dfl_det + i * (reg_max + 1), dis_after_sm, reg_max + 1); + for (int j = 0; j < reg_max + 1; j++) + dis += j * dis_after_sm[j]; + + dis *= stride; + dis_pred[i] = dis; + delete[] dis_after_sm; + } + float xmin = (std::max)(ct_x - dis_pred[0] /gain, .0f); + float ymin = (std::max)(ct_y - dis_pred[1] /gain, .0f); + float xmax = (std::min)(ct_x + dis_pred[2] / gain, (float)frame_size.width); + float ymax = (std::min)(ct_y + dis_pred[3] / gain, (float)frame_size.height); + + return ob_det_res{ xmin, ymin, xmax, ymax, score, label}; +} + + +void gfldet_decode_infer(float* pred, std::vector& center_priors, std::vector& results, FrameSize frame_size, FrameSize kmodel_frame_size, int num_class, float ob_det_thresh) +{ + int reg_max = REG_MAX; + float ratiow = (float)kmodel_frame_size.width / frame_size.width; + float ratioh = (float)kmodel_frame_size.height / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + const int num_points = center_priors.size(); + const int num_channels = num_class + (reg_max + 1) * 4; + for (int idx = 0; idx < num_points; idx++) + { + int ct_x = center_priors[idx].x; + int ct_y = center_priors[idx].y; + int stride = center_priors[idx].stride; + float score = 0; + int cur_label = 0; + + for (int label = 0; label < num_class; label++) + { + + float sig_score = sigmoid(pred[idx * num_channels + label]); + if (sig_score > score) + { + score = sig_score; + cur_label = label; + } + } + + if (score > ob_det_thresh) + { + const float* bbox_pred = pred + idx * num_channels + num_class; + results.push_back(disPred2Bbox(bbox_pred, cur_label, score, ct_x, ct_y, stride, reg_max, kmodel_frame_size.height, kmodel_frame_size.width, ratiow, ratioh, gain, frame_size, kmodel_frame_size)); + } + } +} + +void gfldet_decode_infer_class(float* pred, std::vector& center_priors, std::vector>& results, FrameSize frame_size, FrameSize kmodel_frame_size, int num_class, float ob_det_thresh) +{ + int reg_max = REG_MAX; + float ratiow = (float)kmodel_frame_size.width / frame_size.width; + float ratioh = (float)kmodel_frame_size.height / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + const int num_points = center_priors.size(); + const int num_channels = num_class + (reg_max + 1) * 4; + for (int idx = 0; idx < num_points; idx++) + { + int ct_x = center_priors[idx].x; + int ct_y = center_priors[idx].y; + int stride = center_priors[idx].stride; + float score = 0; + int cur_label = 0; + + for (int label = 0; label < num_class; label++) + { + + float sig_score = sigmoid(pred[idx * num_channels + label]); + if (sig_score > score) + { + score = sig_score; + cur_label = label; + } + } + + if (score > ob_det_thresh) + { + const float* bbox_pred = pred + idx * num_channels + num_class; + ob_det_res tmp_res = disPred2Bbox(bbox_pred, cur_label, score, ct_x, ct_y, stride, reg_max, kmodel_frame_size.height, kmodel_frame_size.width, ratiow, ratioh, gain, frame_size, kmodel_frame_size); + results[tmp_res.label_index].push_back(tmp_res); + } + } +} + + + +ob_det_res* anchorbasedet_post_process(float* data0, float* data1, float* data2, FrameSize kmodel_frame_size, FrameSize frame_size, int* strides, int num_class, float ob_det_thresh, float ob_nms_thresh, float* anchors, bool nms_option, int* results_size) +{ + float *output_0 = data0; + float *output_1 = data1; + float *output_2 = data2; + + float anchors_0[3][2]; + float anchors_1[3][2]; + float anchors_2[3][2]; + for(int i = 0; i < 3; i++) + { + for(int j = 0; j < 2; j++) + { + anchors_0[i][j] = anchors[i*2+j]; + } + + } + + for(int i = 0; i < 3; i++) + { + for(int j = 0; j < 2; j++) + { + anchors_1[i][j] = anchors[1*2*3 + i*2 + j]; + } + + } + + for(int i = 0; i < 3; i++) + { + for(int j = 0; j < 2; j++) + { + anchors_2[i][j] = anchors[2*2*3 + i*2 + j]; + } + + } + + + vector results; + if (nms_option) + { + vector box0, box1, box2; + box0 = anchorbasedet_decode_infer(output_0, kmodel_frame_size, frame_size, strides[0], num_class, ob_det_thresh, anchors_0); + box1 = anchorbasedet_decode_infer(output_1, kmodel_frame_size, frame_size, strides[1], num_class, ob_det_thresh, anchors_1); + box2 = anchorbasedet_decode_infer(output_2, kmodel_frame_size, frame_size, strides[2], num_class, ob_det_thresh, anchors_2); + + results.insert(results.begin(), box0.begin(), box0.end()); + results.insert(results.begin(), box1.begin(), box1.end()); + results.insert(results.begin(), box2.begin(), box2.end()); + + nms(results, ob_nms_thresh); + } + else + { + vector> box0, box1, box2; + + box0 = anchorbasedet_decode_infer_class(output_0, kmodel_frame_size, frame_size, strides[0], num_class, ob_det_thresh, anchors_0); + box1 = anchorbasedet_decode_infer_class(output_1, kmodel_frame_size, frame_size, strides[1], num_class, ob_det_thresh, anchors_1); + box2 = anchorbasedet_decode_infer_class(output_2, kmodel_frame_size, frame_size, strides[2], num_class, ob_det_thresh, anchors_2); + + for(int i = 0; i < num_class; i++) + { + box0[i].insert(box0[i].begin(), box1[i].begin(), box1[i].end()); + box0[i].insert(box0[i].begin(), box2[i].begin(), box2[i].end()); + nms(box0[i], ob_nms_thresh); + results.insert(results.begin(), box0[i].begin(), box0[i].end()); + } + } + + *results_size = results.size(); + ob_det_res* results_ob = (ob_det_res *)malloc(*results_size * sizeof(ob_det_res)); + for (int i = 0; i < *results_size; i++) { + results_ob[i] = results[i]; + } + return results_ob; +} + + +ob_det_res* anchorfreedet_post_process(float* data0, float* data1, float* data2, FrameSize kmodel_frame_size, FrameSize frame_size, int* strides, int num_class, float ob_det_thresh, float ob_nms_thresh, bool nms_option, int* results_size) +{ + float *output_0 = data0; + float *output_1 = data1; + float *output_2 = data2; + + + vector results; + if (nms_option) + { + vector box0, box1, box2; + + box0 = anchorfreedet_decode_infer(output_0, kmodel_frame_size, frame_size, strides[0], num_class, ob_det_thresh); + box1 = anchorfreedet_decode_infer(output_1, kmodel_frame_size, frame_size, strides[1], num_class, ob_det_thresh); + box2 = anchorfreedet_decode_infer(output_2, kmodel_frame_size, frame_size, strides[2], num_class, ob_det_thresh); + + results.insert(results.begin(), box0.begin(), box0.end()); + results.insert(results.begin(), box1.begin(), box1.end()); + results.insert(results.begin(), box2.begin(), box2.end()); + + nms(results, ob_nms_thresh); + } + else + { + vector> box0, box1, box2; + + box0 = anchorfreedet_decode_infer_class(output_0, kmodel_frame_size, frame_size, strides[0], num_class, ob_det_thresh); + box1 = anchorfreedet_decode_infer_class(output_1, kmodel_frame_size, frame_size, strides[1], num_class, ob_det_thresh); + box2 = anchorfreedet_decode_infer_class(output_2, kmodel_frame_size, frame_size, strides[2], num_class, ob_det_thresh); + + for(int i = 0; i < num_class; i++) + { + box0[i].insert(box0[i].begin(), box1[i].begin(), box1[i].end()); + box0[i].insert(box0[i].begin(), box2[i].begin(), box2[i].end()); + nms(box0[i], ob_nms_thresh); + results.insert(results.begin(), box0[i].begin(), box0[i].end()); + } + } + + *results_size = results.size(); + ob_det_res* results_ob = (ob_det_res *)malloc(*results_size * sizeof(ob_det_res)); + for (int i = 0; i < *results_size; i++) { + results_ob[i] = results[i]; + } + return results_ob; +} + + +ob_det_res* gfldet_post_process(float* data0, float* data1, float* data2, FrameSize kmodel_frame_size, FrameSize frame_size, int* strides, int num_class, float ob_det_thresh, float ob_nms_thresh, bool nms_option, int* results_size) +{ + float *output_0 = data0; + float *output_1 = data1; + float *output_2 = data2; + + vector center_priors[3]; + for (int i = 0; i < STAGE_NUM; i++) + { + int stride = strides[i]; + int feat_w = ceil((float)kmodel_frame_size.width / stride); + int feat_h = ceil((float)kmodel_frame_size.height / stride); + for (int y = 0; y < feat_h; y++) + for (int x = 0; x < feat_w; x++) + { + CenterPrior ct; + ct.x = x; + ct.y = y; + ct.stride = stride; + center_priors[i].push_back(ct); + } + + } + + vector results; + if(nms_option) + { + vector b0, b1, b2; + + gfldet_decode_infer(output_0, center_priors[0], b0, frame_size, kmodel_frame_size, num_class, ob_det_thresh); + gfldet_decode_infer(output_1, center_priors[1], b1, frame_size, kmodel_frame_size, num_class, ob_det_thresh); + gfldet_decode_infer(output_2, center_priors[2], b2, frame_size, kmodel_frame_size, num_class, ob_det_thresh); + + results.insert(results.begin(), b0.begin(), b0.end()); + results.insert(results.begin(), b1.begin(), b1.end()); + results.insert(results.begin(), b2.begin(), b2.end()); + + nms(results, ob_nms_thresh); + } + else + { + vector> b0, b1, b2; + for (int i = 0; i < num_class; i++) + { + b0.push_back(vector());//不断往v2d里加行 + b1.push_back(vector());//不断往v2d里加行 + b2.push_back(vector());//不断往v2d里加行 + } + + gfldet_decode_infer_class(output_0, center_priors[0], b0, frame_size, kmodel_frame_size, num_class, ob_det_thresh); + gfldet_decode_infer_class(output_1, center_priors[1], b1, frame_size, kmodel_frame_size, num_class, ob_det_thresh); + gfldet_decode_infer_class(output_2, center_priors[2], b2, frame_size, kmodel_frame_size, num_class, ob_det_thresh); + + for(int i = 0; i < num_class; i++) + { + b0[i].insert(b0[i].begin(), b1[i].begin(), b1[i].end()); + b0[i].insert(b0[i].begin(), b2[i].begin(), b2[i].end()); + nms(b0[i], ob_nms_thresh); + results.insert(results.begin(), b0[i].begin(), b0[i].end()); + } + } + *results_size = results.size(); + ob_det_res* results_ob = (ob_det_res *)malloc(*results_size * sizeof(ob_det_res)); + for (int i = 0; i < *results_size; i++) { + results_ob[i] = results[i]; + } + return results_ob; +} + +uint8_t* seg_post_process(float* data, int num_class, FrameSize ori_shape, FrameSize dst_shape) +{ + float* output = data; + cv::Mat images_pred_color = cv::Mat::zeros(ori_shape.height, ori_shape.width, CV_8UC4); + + for (int y = 0; y < ori_shape.height; ++y) + { + for (int x = 0; x < ori_shape.width; ++x) + { + float s = 0.0; + int loc = num_class * (x + y * ori_shape.width); + for (int c = 0; c < num_class; c++) + s += exp(output[loc + c]); + vector scores(num_class); + + scores.clear(); + for (int c = 0; c < num_class; c++) + { + output[loc + c] = output[loc + c] / s; + scores.push_back(output[loc + c]); + } + cv::Vec4b& color = images_pred_color.at(cv::Point(x, y)); + color[0] = 0; + color[1] = 0; + color[2] = 0; + color[3] = 128; + float score0 = scores[0]; + for (int i = 1; i < num_class; ++i) + { + if (scores[i] > score0) + { + score0 = scores[i]; + color[0] = max(255 - i * 60, 0); + color[1] = min(i * 80, 255); + color[2] = max(255 - (num_class - i) * 100, 255); + } + } + } + } + cv::resize(images_pred_color, images_pred_color, cv::Size(dst_shape.width, dst_shape.height)); + + uint8_t *result = (uint8_t *)malloc(dst_shape.width * dst_shape.height * 4 * sizeof(uint8_t)); + memcpy(result, images_pred_color.data, sizeof(uint8_t) * dst_shape.width * dst_shape.height * 4); + return result; +} \ No newline at end of file diff --git a/micropython_port/ai_demo/ai_demo.c b/micropython_port/ai_demo/ai_demo.c new file mode 100644 index 0000000..11ef678 --- /dev/null +++ b/micropython_port/ai_demo/ai_demo.c @@ -0,0 +1,718 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include +#include "py/compile.h" +#include "py/runtime.h" +#include "py/binary.h" +#include "py/obj.h" +#include "ndarray.h" +#include "ulab.h" +#include "ai_demo.h" +#include "aidemo_type.h" +#include "aidemo_wrap.h" + +//*****************************for cv***************************** +STATIC mp_obj_t aidemo_invert_affine_transform(mp_obj_t matrix_ndarray) +{ + ndarray_obj_t *matrix = MP_ROM_PTR(matrix_ndarray); + + int start_shape_index = ULAB_MAX_DIMS - matrix->ndim; + if(matrix->ndim==2 && matrix->shape[start_shape_index] == 2 && matrix->shape[start_shape_index+1]==3) + { + char c_dtype = (char)matrix->dtype; + if(c_dtype == 'f') + { + float* p_matrix = (float*)matrix->array; + cv_and_ndarray_convert_info info; + invert_affine_transform(p_matrix,&info); + size_t *mp_shape = m_new(size_t, ULAB_MAX_DIMS); + int32_t *mp_stride = m_new(int32_t, ULAB_MAX_DIMS); + for(int i=0; iorigin, (void *)info.data_, matrix_inv->len * matrix_inv->itemsize); + + free(info.data_); + return MP_OBJ_FROM_PTR(matrix_inv); + } + else + { + nlr_raise(mp_obj_new_exception_msg(&mp_type_AssertionError, "Error: Only float data types are supported in invert_affine_transform")); + } + } + else + { + nlr_raise(mp_obj_new_exception_msg(&mp_type_AssertionError, "Error: Assertion failed (rows == 2 && cols == 3) in invert_affine_transform")); + } +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(aidemo_invert_affine_transform_obj, aidemo_invert_affine_transform); + +STATIC mp_obj_t aidemo_polylines(size_t n_args, const mp_obj_t *args) +{ + ndarray_obj_t *mp_img = MP_ROM_PTR(args[0]); //hwc + cv_and_ndarray_convert_info in_info; + in_info.dtype_ = mp_img->dtype; + in_info.ndim_ = mp_img->ndim; + in_info.len_ = mp_img->len; + memset(in_info.shape_,0,sizeof(size_t)*3); + for(int i=0; indim; i++) + { + in_info.shape_[in_info.ndim_ - 1 - i] = mp_img->shape[ULAB_MAX_DIMS - 1-i]; + } + in_info.data_ = mp_img->array; + + ndarray_obj_t *mp_pts = MP_ROM_PTR(args[1]); //nx2 + generic_array pts; + pts.data_ = mp_pts->array; + pts.length_ = mp_pts->len; //only int + + bool is_closed = mp_obj_is_true(args[2]); + ndarray_obj_t *mp_color = MP_OBJ_TO_PTR(args[3]); + generic_array color; + color.data_ = mp_color->array; + color.length_ = mp_color->len; //only int + + int thickness = 1; + if (n_args > 4) { + thickness = mp_obj_get_int(args[4]); + } + + int line_type = 8; + if (n_args > 5) { + line_type = mp_obj_get_int(args[5]); + } + + int shift = 0; + if (n_args > 6) { + shift = mp_obj_get_int(args[6]); + } + + draw_polylines(&in_info,&pts,is_closed,&color,thickness,line_type,shift); + + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aidemo_polylines_obj, 7, 7, aidemo_polylines); + +STATIC mp_obj_t aidemo_contours(size_t n_args, const mp_obj_t *args) +{ + ndarray_obj_t *mp_img = MP_ROM_PTR(args[0]); //hwc + cv_and_ndarray_convert_info in_info; + in_info.dtype_ = mp_img->dtype; + in_info.ndim_ = mp_img->ndim; + in_info.len_ = mp_img->len; + memset(in_info.shape_,0,sizeof(size_t)*3); + for(int i=0; indim; i++) + { + in_info.shape_[in_info.ndim_ - 1 - i] = mp_img->shape[ULAB_MAX_DIMS - 1-i]; + } + in_info.data_ = mp_img->array; + + ndarray_obj_t *mp_pts = MP_ROM_PTR(args[1]); //nx2 + generic_array pts; + pts.data_ = mp_pts->array; + pts.length_ = mp_pts->len; //only int + + int contour_idx = mp_obj_get_int(args[2]); + ndarray_obj_t *mp_color = MP_OBJ_TO_PTR(args[3]); + generic_array color; + color.data_ = mp_color->array; + color.length_ = mp_color->len; //only int + + int thickness = 1; + if (n_args > 4) { + thickness = mp_obj_get_int(args[4]); + } + + int line_type = 8; + if (n_args > 5) { + line_type = mp_obj_get_int(args[5]); + } + draw_contours(&in_info,&pts,contour_idx,&color,thickness,line_type); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aidemo_contours_obj, 6, 6, aidemo_contours); + +//*****************************for face det***************************** +STATIC mp_obj_t aidemo_face_det_post_process(size_t n_args, const mp_obj_t *args) +{ + float obj_thresh = mp_obj_get_float(args[0]); + float nms_thresh = mp_obj_get_float(args[1]); + int net_len = mp_obj_get_float(args[2]); + ndarray_obj_t *mp_anchors = MP_ROM_PTR(args[3]); //hwc + float *anchors = (float*)mp_anchors->array; + mp_obj_list_t *ori_shape_list = MP_OBJ_TO_PTR(args[4]); + FrameSize frame_size; + frame_size.width = mp_obj_get_int(ori_shape_list->items[0]); + frame_size.height = mp_obj_get_int(ori_shape_list->items[1]); + + mp_obj_list_t *mp_outputs = MP_OBJ_TO_PTR(args[5]); + float* p_outputs[9]; + for(int i=0;i<9;++i) + { + ndarray_obj_t *array_i = MP_ROM_PTR(mp_outputs->items[i]); + p_outputs[i] = (float*)(array_i->array); + } + + FaceDetectionInfoVector* result = face_detetion_post_process(obj_thresh,nms_thresh,net_len,anchors,&frame_size,p_outputs); + mp_obj_list_t *results_mp_list = mp_obj_new_list(0, NULL); + if(result->vec_len>0) + { + size_t *bbox_shape = m_new(size_t, ULAB_MAX_DIMS); + bbox_shape[2] = result->vec_len; + bbox_shape[3] = sizeof(Bbox) / sizeof(float); + ndarray_obj_t *bbox_obj = ndarray_new_ndarray(2, bbox_shape, NULL, NDARRAY_FLOAT); + float *bbox_data = (float *)bbox_obj->array; + memcpy(bbox_data,result->bbox,sizeof(Bbox) * result->vec_len); + free(result->bbox); + mp_obj_list_append(results_mp_list, bbox_obj); + + size_t *kps_shape = m_new(size_t, ULAB_MAX_DIMS); + kps_shape[2] = result->vec_len; + kps_shape[3] = sizeof(SparseLandmarks) / sizeof(float); + ndarray_obj_t *kps_obj = ndarray_new_ndarray(2, kps_shape, NULL, NDARRAY_FLOAT); + float *kps_data = (float *)kps_obj->array; + memcpy(kps_data,result->sparse_kps,sizeof(SparseLandmarks) * result->vec_len); + free(result->sparse_kps); + mp_obj_list_append(results_mp_list, kps_obj); + + size_t *score_shape = m_new(size_t, ULAB_MAX_DIMS); + score_shape[2] = result->vec_len; + score_shape[3] = sizeof(float) / sizeof(float); + ndarray_obj_t *score_obj = ndarray_new_ndarray(2, score_shape, NULL, NDARRAY_FLOAT); + float *score_data = (float *)score_obj->array; + memcpy(score_data,result->score,sizeof(float) * result->vec_len); + free(result->score); + mp_obj_list_append(results_mp_list, score_obj); + } + free(result); + + return MP_OBJ_FROM_PTR(results_mp_list); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aidemo_face_det_post_process_obj, 6, 6, aidemo_face_det_post_process); + +//*****************************for face parse***************************** +STATIC mp_obj_t aidemo_face_parse_post_process(size_t n_args, const mp_obj_t *args) +{ + ndarray_obj_t *mp_img = MP_ROM_PTR(args[0]); //hwc + cv_and_ndarray_convert_info in_info; + in_info.dtype_ = mp_img->dtype; + in_info.ndim_ = mp_img->ndim; + in_info.len_ = mp_img->len; + memset(in_info.shape_,0,sizeof(size_t)*3); + for(int i=0; indim; i++) + { + in_info.shape_[in_info.ndim_ - 1 - i] = mp_img->shape[ULAB_MAX_DIMS - 1-i]; + } + in_info.data_ = mp_img->array; + + mp_obj_list_t *mp_ai_img_shape = MP_OBJ_TO_PTR(args[1]); + FrameSize ai_img_shape; + ai_img_shape.width = mp_obj_get_int(mp_ai_img_shape->items[0]); + ai_img_shape.height = mp_obj_get_int(mp_ai_img_shape->items[1]); + + mp_obj_list_t *mp_osd_img_shape = MP_OBJ_TO_PTR(args[2]); + FrameSize osd_img_shape; + osd_img_shape.width = mp_obj_get_int(mp_osd_img_shape->items[0]); + osd_img_shape.height = mp_obj_get_int(mp_osd_img_shape->items[1]); + + // int net_len = mp_obj_get_int(args[3]); + int net_len = mp_obj_get_float(args[3]); + + mp_obj_list_t *mp_bbox = MP_OBJ_TO_PTR(args[4]); + Bbox bbox; + bbox.x = mp_obj_get_float(mp_bbox->items[0]); + bbox.y = mp_obj_get_float(mp_bbox->items[1]); + bbox.w = mp_obj_get_float(mp_bbox->items[2]); + bbox.h = mp_obj_get_float(mp_bbox->items[3]); + + ndarray_obj_t *mp_outputs = MP_OBJ_TO_PTR(args[5]); + float* p_outputs; + p_outputs = (float*)(mp_outputs->array); + CHWSize model_out_shape; + model_out_shape.height = mp_outputs->shape[1]; + model_out_shape.width = mp_outputs->shape[2]; + model_out_shape.channel = mp_outputs->shape[3]; + + face_parse_post_process(&in_info,&ai_img_shape,&osd_img_shape,net_len,&bbox,&model_out_shape,p_outputs); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aidemo_face_parse_post_process_obj, 6, 6, aidemo_face_parse_post_process); + +//*****************************for face mesh***************************** +STATIC mp_obj_t aidemo_face_mesh_post_process(mp_obj_t roi, mp_obj_t vertices) +{ + ndarray_obj_t *mp_roi = MP_ROM_PTR(roi); + float *p_roi = (float*)(mp_roi->array); + Bbox in_roi; + in_roi.x = p_roi[0]; + in_roi.y = p_roi[1]; + in_roi.w = p_roi[2]; + in_roi.h = p_roi[3]; + + ndarray_obj_t *mp_vertices = MP_ROM_PTR(vertices); + generic_array in_vertices; + in_vertices.data_ = mp_vertices->array; + in_vertices.length_ = mp_vertices->len; + + face_mesh_post_process(in_roi,&in_vertices); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(aidemo_face_mesh_post_process_obj, aidemo_face_mesh_post_process); + +STATIC mp_obj_t aidemo_face_draw_mesh(mp_obj_t img, mp_obj_t vertices) +{ + ndarray_obj_t *mp_img = MP_ROM_PTR(img); + cv_and_ndarray_convert_info in_info; + in_info.dtype_ = mp_img->dtype; + in_info.ndim_ = mp_img->ndim; + in_info.len_ = mp_img->len; + memset(in_info.shape_,0,sizeof(size_t)*3); + for(int i=0; indim; i++) + { + in_info.shape_[in_info.ndim_ - 1 - i] = mp_img->shape[ULAB_MAX_DIMS - 1-i]; + } + in_info.data_ = mp_img->array; + + ndarray_obj_t *mp_vertices = MP_ROM_PTR(vertices); + generic_array vertices_array; + vertices_array.data_ = mp_vertices->array; + vertices_array.length_ = mp_vertices->len; + draw_mesh(&in_info, &vertices_array); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(aidemo_face_draw_mesh_obj, aidemo_face_draw_mesh); + +//*****************************for ocr rec preprocess***************************** +STATIC mp_obj_t aidemo_mask_resize(mp_obj_t dest_obj, mp_obj_t ori_shape_obj, mp_obj_t tag_shape_obj) { + ndarray_obj_t *dest_obj_ndarray = MP_ROM_PTR(dest_obj); + float *dest_obj_ndarray_tmp = dest_obj_ndarray->array; + float *dest = (float *)malloc(dest_obj_ndarray->len * sizeof(float)); + for (int i = 0; i < dest_obj_ndarray->len; i++) + { + dest[i] = dest_obj_ndarray_tmp[i]; + } + + mp_obj_list_t *ori_shape_list = MP_OBJ_TO_PTR(ori_shape_obj); + mp_obj_list_t *tag_shape_list = MP_OBJ_TO_PTR(tag_shape_obj); + FrameSize ori_shape; + FrameSize tag_shape; + + ori_shape.height = mp_obj_get_int(ori_shape_list->items[0]); + ori_shape.width = mp_obj_get_int(ori_shape_list->items[1]); + tag_shape.height = mp_obj_get_int(tag_shape_list->items[0]); + tag_shape.width = mp_obj_get_int(tag_shape_list->items[1]); + + float* mask = mask_resize(dest, ori_shape, tag_shape); + + size_t ndarray_shape[4]; + ndarray_shape[2] = tag_shape.height; + ndarray_shape[3] = tag_shape.width; + ndarray_obj_t *mask_obj = ndarray_new_ndarray(2, ndarray_shape, NULL, NDARRAY_FLOAT); + + float *data = (float *)mask_obj->array; + for (int i = 0 ; i < tag_shape.height * tag_shape.width; i++) + { + data[i] = mask[i]; + } + + free(dest); + free(mask); + return MP_OBJ_FROM_PTR(mask_obj); +}; + +STATIC MP_DEFINE_CONST_FUN_OBJ_3(aidemo_mask_resize_obj, aidemo_mask_resize); + +STATIC mp_obj_t aidemo_ocr_rec_preprocess(mp_obj_t data_obj, mp_obj_t ori_shape_obj, mp_obj_t boxpoint8_obj) { + ndarray_obj_t *data_obj_ndarray = MP_ROM_PTR(data_obj); + uint8_t *data_obj_ndarray_tmp = data_obj_ndarray->array; + uint8_t *data = (uint8_t *)malloc(data_obj_ndarray->len * sizeof(uint8_t)); + for (int i = 0; i < data_obj_ndarray->len; i++) + { + data[i] = data_obj_ndarray_tmp[i]; + } + + mp_obj_list_t *ori_shape_list = MP_OBJ_TO_PTR(ori_shape_obj); + FrameSize ori_shape; + ori_shape.height = mp_obj_get_int(ori_shape_list->items[0]); + ori_shape.width = mp_obj_get_int(ori_shape_list->items[1]); + + mp_obj_list_t *boxpoint8_list = MP_OBJ_TO_PTR(boxpoint8_obj); + int box_cnt = boxpoint8_list->len; + BoxPoint8 boxpoint8[box_cnt]; + for (int i = 0; i < boxpoint8_list->len; i++) + { + ndarray_obj_t *boxpoint8_ndarray = MP_ROM_PTR(boxpoint8_list->items[i]); + float *boxpoint8_ndarray_tmp = boxpoint8_ndarray->array; + for (int j = 0; j < 8; j++) + { + boxpoint8[i].points8[j] = boxpoint8_ndarray_tmp[j]; + } + } + + ArrayWrapperMat1 *arrayWrapperMat1 = ocr_rec_pre_process(data, ori_shape, boxpoint8, box_cnt); + + mp_obj_list_t *results_mp_list = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_array = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_points = mp_obj_new_list(0, NULL); + + for (int i = 0; i < box_cnt; i++) + { + size_t ndarray_shape[4]; + ndarray_shape[0] = 1; + ndarray_shape[1] = 1; + ndarray_shape[2] = arrayWrapperMat1[i].framesize.height; + ndarray_shape[3] = arrayWrapperMat1[i].framesize.width; + ndarray_obj_t *crop_obj = ndarray_new_ndarray(4, ndarray_shape, NULL, NDARRAY_UINT8); + uint8_t *crop_data = (uint8_t *)crop_obj->array; + for (int j = 0 ; j < arrayWrapperMat1[i].framesize.height * arrayWrapperMat1[i].framesize.width; j++) + { + crop_data[j] = arrayWrapperMat1[i].data[j]; + } + mp_obj_list_append(results_mp_list_array, crop_obj); + + size_t point_shape[4]; + point_shape[3] = 8; + ndarray_obj_t *point_obj = ndarray_new_ndarray(1, point_shape, NULL, NDARRAY_FLOAT); + float *point_data = (float *)point_obj->array; + for (int j = 0; j < 8; j++) + { + point_data[j] = arrayWrapperMat1[i].coordinates[j]; + } + mp_obj_list_append(results_mp_list_points, point_obj); + free(arrayWrapperMat1[i].data); + } + mp_obj_list_append(results_mp_list, results_mp_list_array); + mp_obj_list_append(results_mp_list, results_mp_list_points); + free(arrayWrapperMat1); + free(data); + return MP_OBJ_FROM_PTR(results_mp_list); +}; + +STATIC MP_DEFINE_CONST_FUN_OBJ_3(aidemo_ocr_rec_preprocess_obj, aidemo_ocr_rec_preprocess); + +//*****************************for licence det***************************** +STATIC mp_obj_t aidemo_licence_det_postprocess(size_t n_args, const mp_obj_t *args) { + + FrameSize frame_size; + FrameSize kmodel_frame_size; + float obj_thresh; + float nms_thresh; + int box_cnt; + + mp_obj_list_t *p_outputs_list = MP_OBJ_TO_PTR(args[0]); + ndarray_obj_t *p_outputs_0_ndarray = MP_ROM_PTR(p_outputs_list->items[0]); + float *p_outputs_0 = p_outputs_0_ndarray->array; + + ndarray_obj_t *p_outputs_1_ndarray = MP_ROM_PTR(p_outputs_list->items[1]); + float *p_outputs_1 = p_outputs_1_ndarray->array; + + ndarray_obj_t *p_outputs_2_ndarray = MP_ROM_PTR(p_outputs_list->items[2]); + float *p_outputs_2 = p_outputs_2_ndarray->array; + + ndarray_obj_t *p_outputs_3_ndarray = MP_ROM_PTR(p_outputs_list->items[3]); + float *p_outputs_3 = p_outputs_3_ndarray->array; + + ndarray_obj_t *p_outputs_4_ndarray = MP_ROM_PTR(p_outputs_list->items[4]); + float *p_outputs_4 = p_outputs_4_ndarray->array; + + ndarray_obj_t *p_outputs_5_ndarray = MP_ROM_PTR(p_outputs_list->items[5]); + float *p_outputs_5 = p_outputs_5_ndarray->array; + + ndarray_obj_t *p_outputs_6_ndarray = MP_ROM_PTR(p_outputs_list->items[6]); + float *p_outputs_6= p_outputs_6_ndarray->array; + + ndarray_obj_t *p_outputs_7_ndarray = MP_ROM_PTR(p_outputs_list->items[7]); + float *p_outputs_7 = p_outputs_7_ndarray->array; + + ndarray_obj_t *p_outputs_8_ndarray = MP_ROM_PTR(p_outputs_list->items[8]); + float *p_outputs_8 = p_outputs_8_ndarray->array; + + + mp_obj_list_t *frame_size_list = MP_OBJ_TO_PTR(args[1]); + frame_size.height = mp_obj_get_int(frame_size_list->items[0]); + frame_size.width = mp_obj_get_int(frame_size_list->items[1]); + + mp_obj_list_t *kmodel_frame_size_list = MP_OBJ_TO_PTR(args[2]); + kmodel_frame_size.height = mp_obj_get_int(kmodel_frame_size_list->items[0]); + kmodel_frame_size.width = mp_obj_get_int(kmodel_frame_size_list->items[1]); + + obj_thresh = mp_obj_get_float(args[3]); + nms_thresh = mp_obj_get_float(args[4]); + + BoxPoint8* boxPoint8 = licence_det_post_process(p_outputs_0, p_outputs_1, p_outputs_2, p_outputs_3, p_outputs_4, p_outputs_5, p_outputs_6, p_outputs_7, p_outputs_8, frame_size, kmodel_frame_size, obj_thresh, nms_thresh, &box_cnt); + + mp_obj_list_t *results_mp_list = mp_obj_new_list(0, NULL); + size_t ndarray_shape[4]; + ndarray_shape[3] = 8; + for (int i = 0; i < box_cnt; i++) + { + ndarray_obj_t *point_obj = ndarray_new_ndarray(1, ndarray_shape, NULL, NDARRAY_FLOAT); + float *point_data = (float *)point_obj->array; + for (int j = 0; j < 8; j++) + { + point_data[j] = boxPoint8[i].points8[j]; + } + mp_obj_list_append(results_mp_list, point_obj); + } + + free(boxPoint8); + return MP_OBJ_FROM_PTR(results_mp_list); +}; + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aidemo_licence_det_postprocess_obj, 5, 5, aidemo_licence_det_postprocess); + +//*****************************for object segment***************************** +STATIC mp_obj_t aidemo_segment_postprocess(size_t n_args, const mp_obj_t *args) { + + mp_obj_list_t *p_outputs_list = MP_OBJ_TO_PTR(args[0]); + ndarray_obj_t *p_outputs_0_ndarray = MP_ROM_PTR(p_outputs_list->items[0]); + float *data_0 = p_outputs_0_ndarray->array; + + ndarray_obj_t *p_outputs_1_ndarray = MP_ROM_PTR(p_outputs_list->items[1]); + float *data_1 = p_outputs_1_ndarray->array; + + FrameSize frame_size; + FrameSize kmodel_frame_size; + FrameSize display_frame_size; + float conf_thres; + float nms_thres; + float mask_thres; + int box_cnt; + + mp_obj_list_t *frame_size_list = MP_OBJ_TO_PTR(args[1]); + frame_size.height = mp_obj_get_int(frame_size_list->items[0]); + frame_size.width = mp_obj_get_int(frame_size_list->items[1]); + + mp_obj_list_t *kmodel_frame_size_list = MP_OBJ_TO_PTR(args[2]); + kmodel_frame_size.height = mp_obj_get_int(kmodel_frame_size_list->items[0]); + kmodel_frame_size.width = mp_obj_get_int(kmodel_frame_size_list->items[1]); + + mp_obj_list_t *display_frame_size_list = MP_OBJ_TO_PTR(args[3]); + display_frame_size.height = mp_obj_get_int(display_frame_size_list->items[0]); + display_frame_size.width = mp_obj_get_int(display_frame_size_list->items[1]); + + conf_thres = mp_obj_get_float(args[4]); + nms_thres = mp_obj_get_float(args[5]); + mask_thres = mp_obj_get_float(args[6]); + + ndarray_obj_t *masks_results = MP_ROM_PTR(args[7]); + uint8_t *masks_results_data = (uint8_t *)masks_results->array; + + SegOutputs segOutputs = object_seg_post_process(data_0, data_1, frame_size, kmodel_frame_size, display_frame_size, conf_thres, nms_thres, mask_thres, &box_cnt); + + mp_obj_list_t *results_mp_list = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_boxes = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_ids = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_scores = mp_obj_new_list(0, NULL); + + for (int i = 0; i < display_frame_size.height * display_frame_size.width * 4; i++) + { + masks_results_data[i] = segOutputs.masks_results[i]; + } + + size_t ndarray_shape_box[4]; + ndarray_shape_box[3] = 4; + for (int i = 0; i < box_cnt; i++) + { + ndarray_obj_t *box_obj = ndarray_new_ndarray(1, ndarray_shape_box, NULL, NDARRAY_INT16); + int16_t *box_data = (int16_t *)box_obj->array; + for (int j = 0; j < 4; j++) + { + box_data[j] = segOutputs.segOutput[i].box[j]; + } + mp_obj_list_append(results_mp_list_boxes, box_obj); + mp_obj_list_append(results_mp_list_ids, mp_obj_new_int(segOutputs.segOutput[i].id)); + mp_obj_list_append(results_mp_list_scores, mp_obj_new_float(segOutputs.segOutput[i].confidence)); + } + mp_obj_list_append(results_mp_list, results_mp_list_boxes); + mp_obj_list_append(results_mp_list, results_mp_list_ids); + mp_obj_list_append(results_mp_list, results_mp_list_scores); + + + free(segOutputs.masks_results); + free(segOutputs.segOutput); + return MP_OBJ_FROM_PTR(results_mp_list); +}; + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aidemo_segment_postprocess_obj, 8, 8, aidemo_segment_postprocess); + +//*****************************for person kp det***************************** +STATIC mp_obj_t aidemo_person_kp_postprocess(size_t n_args, const mp_obj_t *args) { + + ndarray_obj_t *p_outputs_ndarray = MP_ROM_PTR(args[0]); + float *data = p_outputs_ndarray->array; + + + FrameSize frame_size; + FrameSize kmodel_frame_size; + float obj_thresh; + float nms_thresh; + int box_cnt; + + mp_obj_list_t *frame_size_list = MP_OBJ_TO_PTR(args[1]); + frame_size.height = mp_obj_get_int(frame_size_list->items[0]); + frame_size.width = mp_obj_get_int(frame_size_list->items[1]); + + mp_obj_list_t *kmodel_frame_size_list = MP_OBJ_TO_PTR(args[2]); + kmodel_frame_size.height = mp_obj_get_int(kmodel_frame_size_list->items[0]); + kmodel_frame_size.width = mp_obj_get_int(kmodel_frame_size_list->items[1]); + + obj_thresh = mp_obj_get_float(args[3]); + nms_thresh = mp_obj_get_float(args[4]); + + PersonKPOutput* personKPOutput = person_kp_postprocess(data, frame_size, kmodel_frame_size, obj_thresh, nms_thresh, &box_cnt); + + mp_obj_list_t *results_mp_list = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_boxes = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_kpses = mp_obj_new_list(0, NULL); + mp_obj_list_t *results_mp_list_confidences = mp_obj_new_list(0, NULL); + + size_t ndarray_shape_box[4]; + ndarray_shape_box[3] = 4; + size_t ndarray_shape_kps[4]; + ndarray_shape_kps[2] = 17; + ndarray_shape_kps[3] = 3; + for (int i = 0; i < box_cnt; i++) + { + ndarray_obj_t *box_obj = ndarray_new_ndarray(1, ndarray_shape_box, NULL, NDARRAY_INT16); + int16_t *box_data = (int16_t *)box_obj->array; + for (int j = 0; j < 4; j++) + { + box_data[j] = personKPOutput[i].box[j]; + } + + ndarray_obj_t *kps_obj = ndarray_new_ndarray(2, ndarray_shape_kps, NULL, NDARRAY_FLOAT); + float *kps_data = (float *)kps_obj->array; + for (int j = 0; j < 17; j++) + { + for (int k = 0; k < 3; k++) + { + kps_data[j * 3 + k] = personKPOutput[i].kps[j][k]; + } + } + + mp_obj_list_append(results_mp_list_boxes, box_obj); + mp_obj_list_append(results_mp_list_kpses, kps_obj); + mp_obj_list_append(results_mp_list_confidences, mp_obj_new_float(personKPOutput[i].confidence)); + } + mp_obj_list_append(results_mp_list, results_mp_list_boxes); + mp_obj_list_append(results_mp_list, results_mp_list_kpses); + mp_obj_list_append(results_mp_list, results_mp_list_confidences); + + + free(personKPOutput); + return MP_OBJ_FROM_PTR(results_mp_list); +}; + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(aidemo_person_kp_postprocess_obj, 5, 5, aidemo_person_kp_postprocess); + +//*****************************for kws***************************** +STATIC mp_obj_t kws_feature_pipeline_create() { + feature_pipeline* fp=feature_pipeline_create(); + return MP_OBJ_FROM_PTR(fp); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_0(aidemo_kws_feature_pipeline_create_obj, kws_feature_pipeline_create); + +STATIC mp_obj_t kws_feature_pipeline_destroy(mp_obj_t fp) { + feature_pipeline *fp_ = MP_OBJ_TO_PTR(fp); + release_preprocess_class(fp_); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(aidemo_kws_feature_pipeline_destroy_obj, kws_feature_pipeline_destroy); + +STATIC mp_obj_t kws_preprocess(mp_obj_t fp,mp_obj_t wav_obj) { + mp_obj_list_t *wav_list = MP_OBJ_TO_PTR(wav_obj); + size_t wav_length = wav_list->len; + size_t feats_length = 1 * 30 * 40; + // 检查输入参数是否合法 + if (wav_list == NULL || wav_length <= 0) { + mp_raise_msg(&mp_type_ValueError, "Invalid input"); + return mp_const_none; + } + // 分配内存来存储 wav 数组 + float* wav = (float *)malloc(wav_length * sizeof(float)); + if (wav == NULL) { + mp_raise_msg(&mp_type_MemoryError, "Memory allocation failed"); + return mp_const_none; + } + // 将 MicroPython 的列表转换为 C 数组 + for (size_t i = 0; i < wav_length; i++) { + wav[i] = mp_obj_get_float(wav_list->items[i]); + } + // 调用 C++ 函数 + feature_pipeline *fp_ = MP_OBJ_TO_PTR(fp); + float *final_feats = (float *)malloc(feats_length * sizeof(float)); + wav_preprocess(fp_, wav, wav_length, final_feats); + // 释放 wav 数组内存 + free(wav); + // 创建 MicroPython 浮点数数组对象 + mp_obj_list_t *floats_array = mp_obj_new_list(0, NULL); + // 将 C++ 函数的浮点数数据逐个转换并存储在 MicroPython 浮点数数组中 + for (size_t i = 0; i < feats_length; i++) { + mp_obj_list_append(floats_array, mp_obj_new_float(final_feats[i])); + } + // 释放new的feats + free(final_feats); + // 创建结果列表 + mp_obj_list_t *result = mp_obj_new_list(0, NULL); + mp_obj_list_append(result, floats_array); + mp_obj_list_append(result, MP_OBJ_NEW_SMALL_INT(feats_length)); + return MP_OBJ_FROM_PTR(result); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(aidemo_kws_preprocess_obj, kws_preprocess); + +STATIC const mp_rom_map_elem_t aidemo_globals_table[] = { + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_aidemo) }, + { MP_ROM_QSTR(MP_QSTR_invert_affine_transform), MP_ROM_PTR(&aidemo_invert_affine_transform_obj) }, + { MP_ROM_QSTR(MP_QSTR_polylines), MP_ROM_PTR(&aidemo_polylines_obj) }, + { MP_ROM_QSTR(MP_QSTR_contours), MP_ROM_PTR(&aidemo_contours_obj) }, + { MP_ROM_QSTR(MP_QSTR_face_det_post_process), MP_ROM_PTR(&aidemo_face_det_post_process_obj) }, + { MP_ROM_QSTR(MP_QSTR_face_parse_post_process), MP_ROM_PTR(&aidemo_face_parse_post_process_obj) }, + { MP_ROM_QSTR(MP_QSTR_mask_resize), MP_ROM_PTR(&aidemo_mask_resize_obj) }, + { MP_ROM_QSTR(MP_QSTR_ocr_rec_preprocess), MP_ROM_PTR(&aidemo_ocr_rec_preprocess_obj) }, + { MP_ROM_QSTR(MP_QSTR_licence_det_postprocess), MP_ROM_PTR(&aidemo_licence_det_postprocess_obj) }, + { MP_ROM_QSTR(MP_QSTR_segment_postprocess), MP_ROM_PTR(&aidemo_segment_postprocess_obj) }, + { MP_ROM_QSTR(MP_QSTR_face_mesh_post_process), MP_ROM_PTR(&aidemo_face_mesh_post_process_obj) }, + { MP_ROM_QSTR(MP_QSTR_face_draw_mesh), MP_ROM_PTR(&aidemo_face_draw_mesh_obj) }, + { MP_ROM_QSTR(MP_QSTR_person_kp_postprocess), MP_ROM_PTR(&aidemo_person_kp_postprocess_obj) }, + { MP_ROM_QSTR(MP_QSTR_kws_fp_create), MP_ROM_PTR(&aidemo_kws_feature_pipeline_create_obj) }, + { MP_ROM_QSTR(MP_QSTR_kws_fp_destroy), MP_ROM_PTR(&aidemo_kws_feature_pipeline_destroy_obj) }, + { MP_ROM_QSTR(MP_QSTR_kws_preprocess), MP_ROM_PTR(&aidemo_kws_preprocess_obj) } +}; + +STATIC MP_DEFINE_CONST_DICT(aidemo_globals, aidemo_globals_table); + +const mp_obj_module_t aidemo = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t *)&aidemo_globals, +}; + +MP_REGISTER_EXTENSIBLE_MODULE(MP_QSTR_aidemo, aidemo); \ No newline at end of file diff --git a/micropython_port/ai_demo/anchors_640.cpp b/micropython_port/ai_demo/anchors_640.cpp new file mode 100644 index 0000000..6438601 --- /dev/null +++ b/micropython_port/ai_demo/anchors_640.cpp @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float anchors[16800][4] = 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\ No newline at end of file diff --git a/micropython_port/ai_demo/face_detection.cpp b/micropython_port/ai_demo/face_detection.cpp new file mode 100644 index 0000000..b2a3eb9 --- /dev/null +++ b/micropython_port/ai_demo/face_detection.cpp @@ -0,0 +1,292 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include "aidemo_wrap.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +float obj_thresh_; +float nms_thresh_; +int min_size_ = 0; +int objs_num_ = 0; +NMSRoiObj *so_ = nullptr; // 指向经过softmax之后首个roi置信度的指针 +float *boxes_ = nullptr; // 指向首个roi检测框的指针 +float *landmarks_ = nullptr; // 指向首个roi对应五官关键点的指针 +float *g_anchors; + +int face_nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +//Implemented in licence_det.cpp +void local_softmax(float *x, float *dx, uint32_t len); + +void face_deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void face_deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void face_deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox face_get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + float *g_anchors_obj_index = g_anchors + obj_index * LOC_SIZE; + cx = g_anchors_obj_index[0] + cx * 0.1 * g_anchors_obj_index[2]; + cy = g_anchors_obj_index[1] + cy * 0.1 * g_anchors_obj_index[3]; + w = g_anchors_obj_index[2] * expf(w * 0.2); + h = g_anchors_obj_index[3] * expf(h * 0.2); + Bbox box; + box.x = cx; + box.y = cy; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks face_get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + float *g_anchors_obj_index = g_anchors + obj_index * LOC_SIZE; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors_obj_index[0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors_obj_index[2]; + landmark.points[2 * ll + 1] = g_anchors_obj_index[1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors_obj_index[3]; + } + return landmark; +} + +float overlap(float x1, float w1, float x2, float w2); + +//Implemented in licence_det.cpp +float box_intersection(Bbox a, Bbox b); + +//Implemented in licence_det.cpp +float box_union(Bbox a, Bbox b); + +//Implemented in licence_det.cpp +float box_iou(Bbox a, Bbox b); + +void face_get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = face_get_box(boxes_, obj_index); + obj.sparse_kps = face_get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = face_get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w / 2) * max_src_size; + float x0 = (b.x - b.w / 2) * max_src_size; + float y0 = (b.y - b.h / 2) * max_src_size; + float y1 = (b.y + b.h / 2) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +FaceDetectionInfoVector* face_detetion_post_process(float obj_thresh,float nms_thresh,int net_len,float* anchors,FrameSize* frame_size,float** p_outputs_) +{ + int obj_cnt = 0; + obj_thresh_ = obj_thresh; + nms_thresh_ = nms_thresh; + min_size_ = (net_len == 320 ? 200 : 800); + objs_num_ = min_size_ * (1 + 4 + 16); + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + g_anchors = anchors; + + face_deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + face_deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + face_deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + face_deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + face_deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + face_deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + face_deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + face_deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + face_deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), face_nms_comparator); + + vector results; + face_get_final_box(*frame_size, results); + + FaceDetectionInfoVector* mp_results = (FaceDetectionInfoVector *)malloc(sizeof(FaceDetectionInfoVector)); + mp_results->vec_len = results.size(); + mp_results->bbox = NULL; + mp_results->sparse_kps = NULL; + mp_results->score = NULL; + if(results.size()>0) + { + mp_results->bbox = (Bbox *)malloc((results.size()) * sizeof(Bbox)); + mp_results->sparse_kps = (SparseLandmarks *)malloc((results.size()) * sizeof(SparseLandmarks)); + mp_results->score = (float *)malloc((results.size()) * sizeof(float)); + for(int ret_i = 0;ret_i bbox + ret_i)->x = results[ret_i].bbox.x; + (mp_results->bbox + ret_i)->y = results[ret_i].bbox.y; + (mp_results->bbox + ret_i)->w = results[ret_i].bbox.w; + (mp_results->bbox + ret_i)->h = results[ret_i].bbox.h; + memcpy((mp_results->sparse_kps + ret_i)->points,results[ret_i].sparse_kps.points,sizeof(SparseLandmarks)); + mp_results->score[ret_i] = results[ret_i].score; + } + } + delete[] so_; + delete[] boxes_; + delete[] landmarks_; + + return mp_results; +} + diff --git a/micropython_port/ai_demo/face_mesh.cpp b/micropython_port/ai_demo/face_mesh.cpp new file mode 100644 index 0000000..5f09338 --- /dev/null +++ b/micropython_port/ai_demo/face_mesh.cpp @@ -0,0 +1,118 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include +#include "aidemo_wrap.h" + +using std::vector; + +int input_shapes_[] = {1,3,120,120}; +int post_ver_dim_ = 38365; + +void from_numpy(cv_and_ndarray_convert_info *info,cv::Mat& mat_data); +void similar_transform(Bbox& roi,float* vertices) +{ + double scale_x = (roi.w) / input_shapes_[3]; + double scale_y = (roi.h) / input_shapes_[3]; + double s = (scale_x + scale_y) / 2; + + for (int row_index = 0; row_index < 3; ++row_index) + { + if (row_index == 0) + { + int index = 0; + for (int col_index = 0; col_index < post_ver_dim_; ++col_index) + { + index = row_index * post_ver_dim_ + col_index; + vertices[index] -= 1; + vertices[index] = vertices[index] * scale_x + roi.x; + } + } + else if (row_index == 2) + { + int index = 0; + float min_dim2 = 0; + for (int col_index = 0; col_index < post_ver_dim_; ++col_index) + { + index = row_index * post_ver_dim_ + col_index; + vertices[index] -= 1; + vertices[index] *= s; + if (col_index == 0) + min_dim2 = vertices[index]; + else + { + if (vertices[index] < min_dim2) + min_dim2 = vertices[index]; + } + } + for (int col_index = 0; col_index < post_ver_dim_; ++col_index) + { + vertices[row_index * post_ver_dim_ + col_index] -= min_dim2; + } + } + else + { + int index = 0; + for (int col_index = 0; col_index < post_ver_dim_; ++col_index) + { + index = row_index * post_ver_dim_ + col_index; + vertices[index] = input_shapes_[3] - vertices[index]; + vertices[index] = vertices[index] * scale_y + roi.y; + } + } + } +} + +void recon_vers(Bbox& roi_box_lst,float* vertices) +{ + similar_transform(roi_box_lst,vertices); +} + +void face_mesh_post_process(Bbox roi,generic_array* p_vertices) +{ + float *p_data = (float*)p_vertices->data_; + recon_vers(roi, p_data); +} + +void draw_mesh(cv_and_ndarray_convert_info *in_info, generic_array* p_vertices) +{ + cv::Mat src_img; + from_numpy(in_info,src_img); + + float *p_data = (float*)p_vertices->data_; + + int x,y; + for(int ver_index =0;ver_index < post_ver_dim_;ver_index = ver_index + 6*2) + { + x = p_data[ver_index]; + y = p_data[ver_index + post_ver_dim_]; + cv::circle(src_img, cv::Point(x, y), 2, cv::Scalar(200, 0, 0, 255), 4); + } +} + + + diff --git a/micropython_port/ai_demo/face_parse.cpp b/micropython_port/ai_demo/face_parse.cpp new file mode 100644 index 0000000..4173cce --- /dev/null +++ b/micropython_port/ai_demo/face_parse.cpp @@ -0,0 +1,133 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include +#include +#include "aidemo_wrap.h" + +void from_numpy(cv_and_ndarray_convert_info *info,cv::Mat& mat_data); + +int net_len_; +cv::Mat matrix_dst_for_osd_; + +// 0: 'background' 1: 'skin' 2: 'nose' +// 3: 'eye_g' 4: 'l_eye' 5: 'r_eye' +// 6: 'l_brow' 7: 'r_brow' 8: 'l_ear' +// 9: 'r_ear' 10: 'mouth' 11: 'u_lip' +// 12: 'l_lip' 13: 'hair' 14: 'hat' +// 15: 'ear_r' 16: 'neck_l' 17: 'neck' +// 18: 'cloth' +cv::Vec4b color_list_for_osd_pixel[] = { + cv::Vec4b(60, 20, 220, 255), //background， 注意：颜色顺序改为BGR-A + cv::Vec4b(142, 0, 0, 255), //skin + cv::Vec4b(32, 11, 119, 255), //nose + cv::Vec4b(230, 0, 0, 255), //eye_g + cv::Vec4b(228, 0, 106, 255), //l_eye + cv::Vec4b(100, 60, 0, 255), //r_eye + cv::Vec4b(100, 80, 0, 255), //l_brow + cv::Vec4b(70, 0, 0, 255), //r_brow + cv::Vec4b(192, 0, 0, 255), //l_ear + cv::Vec4b(30, 170, 250, 255), //r_ear + cv::Vec4b(30, 170, 100, 255), //mouth + cv::Vec4b(0, 220, 220, 255), //u_lip + cv::Vec4b(175, 116, 175, 255), //l_lip + cv::Vec4b(30, 0, 250, 255), //hair + cv::Vec4b(42, 42, 165, 255), //hat + cv::Vec4b(255, 77, 255, 255), //ear_r + cv::Vec4b(252, 226, 0, 255), //neck_l + cv::Vec4b(255, 182, 182, 255), //neck + cv::Vec4b(0, 82, 0, 255) //cloth +}; + +void get_affine_matrix_for_osd(Bbox& bbox) +{ + float factor = 2.7; + float edge_size = net_len_; + float trans_distance = edge_size / 2.0; + float height = bbox.h; + float width = bbox.w; + float center_x = bbox.x + bbox.w / 2.0 ; + float center_y = bbox.y + bbox.h / 2.0 ; + float maximum_edge = factor * (height > width ? height : width); + float scale = edge_size * 2.0 / maximum_edge; + float cx = trans_distance - scale * center_x; + float cy = trans_distance - scale * center_y; + matrix_dst_for_osd_ = cv::Mat::zeros(3, 3, CV_32FC1); + matrix_dst_for_osd_.at(0, 0) = scale; + matrix_dst_for_osd_.at(0, 1) = 0; + matrix_dst_for_osd_.at(0, 2) = cx; + matrix_dst_for_osd_.at(1, 0) = 0; + matrix_dst_for_osd_.at(1, 1) = scale; + matrix_dst_for_osd_.at(1, 2) = cy; + matrix_dst_for_osd_.at(2, 0) = 0; + matrix_dst_for_osd_.at(2, 1) = 0; + matrix_dst_for_osd_.at(2, 2) = 1; +} + +void face_parse_post_process(cv_and_ndarray_convert_info* in_info,FrameSize* ai_img_shape,FrameSize* osd_img_shape,int net_len,Bbox* bbox,CHWSize* model_out_shape,float* p_outputs) +{ + cv::Mat src_img; + from_numpy(in_info,src_img); + + int src_w = osd_img_shape->width; + int src_h = osd_img_shape->height; + + net_len_ = net_len; + + //1. get final affine matrix + //1.1 get affine matrix for osd shape + bbox->x = float(bbox->x)/ai_img_shape->width*src_w; + bbox->y = float(bbox->y)/ai_img_shape->height*src_h; + bbox->w = float(bbox->w)/ai_img_shape->width*src_w; + bbox->h = float(bbox->h)/ai_img_shape->height*src_h; + get_affine_matrix_for_osd(*bbox); + + //1.2 get invert affine matrix + cv::Mat matrix_dst_inv_osd; + cv::invert(matrix_dst_for_osd_,matrix_dst_inv_osd); + + //2.get net_image for output_shapes + //frame_size.width + cv::Mat net_image(model_out_shape->height,model_out_shape->width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (int y = 0; y < model_out_shape->height; ++y) + { + for (int x = 0; x < model_out_shape->width; ++x) + { + float *pred = p_outputs+ (y*model_out_shape->width+x)*model_out_shape->channel; + int max_index = std::max_element(pred,pred+model_out_shape->channel) - pred; + if(max_index!=0) + net_image.at(cv::Point(x, y))=color_list_for_osd_pixel[max_index]; + } + } + + //3.affine to osd shape + cv::Mat matrix_for_warp = matrix_dst_inv_osd(cv::Rect(0,0,3,2)); + cv::Mat mask(src_h, src_w, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + cv::warpAffine(net_image, mask, matrix_for_warp, cv::Size(src_w,src_h)); + src_img = src_img + mask; +} + diff --git a/micropython_port/ai_demo/kws/feature_pipeline.cpp b/micropython_port/ai_demo/kws/feature_pipeline.cpp new file mode 100644 index 0000000..d783e7b --- /dev/null +++ b/micropython_port/ai_demo/kws/feature_pipeline.cpp @@ -0,0 +1,127 @@ +// Copyright (c) 2017 Personal (Binbin Zhang) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "feature_pipeline.h" + +#include +#include + +namespace wenet { + +FeaturePipeline::FeaturePipeline() + : feature_dim_(40), + fbank_(40, 16000, 400, + 160), + num_frames_(0), + input_finished_(false) { + std::vector remain_wav_init(320, 0.0f); + remained_wav_ = remain_wav_init; + } + +void FeaturePipeline::AcceptWaveform(const std::vector& wav) { + std::vector> feats; + std::vector waves; + waves.insert(waves.end(), remained_wav_.begin(), remained_wav_.end()); + waves.insert(waves.end(), wav.begin(), wav.end()); + int num_frames = fbank_.Compute(waves, &feats); + + // std::cout << "==========num_frame_per_chunk:" << num_frames << "===========" << std::endl; + + + for (size_t i = 0; i < feats.size(); ++i) { + feature_queue_.Push(std::move(feats[i])); + } + num_frames_ += num_frames; + + // int left_samples = waves.size() - config_.frame_shift * num_frames; + int left_samples = waves.size() - 160 * num_frames; + + // std::cout << "==========left_samples_per_chunk:" << left_samples << "===========" << std::endl; + + + remained_wav_.resize(left_samples); + // std::copy(waves.begin() + config_.frame_shift * num_frames, waves.end(), + // remained_wav_.begin()); + std::copy(waves.begin() + 160 * num_frames, waves.end(), + remained_wav_.begin()); + + // We are still adding wave, notify input is not finished + finish_condition_.notify_one(); +} + +void FeaturePipeline::AcceptWaveform(const std::vector& wav) { + std::vector float_wav(wav.size()); + for (size_t i = 0; i < wav.size(); i++) { + float_wav[i] = static_cast(wav[i]); + } + this->AcceptWaveform(float_wav); +} + +void FeaturePipeline::set_input_finished() { + CHECK(!input_finished_); + { + std::lock_guard lock(mutex_); + input_finished_ = true; + } + finish_condition_.notify_one(); +} + +bool FeaturePipeline::ReadOne(std::vector* feat) { + if (!feature_queue_.Empty()) { + *feat = std::move(feature_queue_.Pop()); + return true; + } else { + std::unique_lock lock(mutex_); + while (!input_finished_) { + // This will release the lock and wait for notify_one() + // from AcceptWaveform() or set_input_finished() + finish_condition_.wait(lock); + if (!feature_queue_.Empty()) { + *feat = std::move(feature_queue_.Pop()); + return true; + } + } + CHECK(input_finished_); + // Double check queue.empty, see issue#893 for detailed discussions. + if (!feature_queue_.Empty()) { + *feat = std::move(feature_queue_.Pop()); + return true; + } else { + return false; + } + } +} + +bool FeaturePipeline::Read(int num_frames, + std::vector>* feats) { + feats->clear(); + std::vector feat; + while (feats->size() < num_frames) { + if (ReadOne(&feat)) { + feats->push_back(std::move(feat)); + } else { + return false; + } + } + return true; +} + +void FeaturePipeline::Reset() { + input_finished_ = false; + num_frames_ = 0; + remained_wav_.clear(); + feature_queue_.Clear(); +} + +} // namespace wenet diff --git a/micropython_port/ai_demo/kws/fft.cpp b/micropython_port/ai_demo/kws/fft.cpp new file mode 100644 index 0000000..e4444ce --- /dev/null +++ b/micropython_port/ai_demo/kws/fft.cpp @@ -0,0 +1,121 @@ +// Copyright (c) 2016 HR + +#include +#include +#include + +#include "fft.h" + +namespace wenet { + +void make_sintbl(int n, float* sintbl) { + int i, n2, n4, n8; + float c, s, dc, ds, t; + + n2 = n / 2; + n4 = n / 4; + n8 = n / 8; + t = sin(M_PI / n); + dc = 2 * t * t; + ds = sqrt(dc * (2 - dc)); + t = 2 * dc; + c = sintbl[n4] = 1; + s = sintbl[0] = 0; + for (i = 1; i < n8; ++i) { + c -= dc; + dc += t * c; + s += ds; + ds -= t * s; + sintbl[i] = s; + sintbl[n4 - i] = c; + } + if (n8 != 0) sintbl[n8] = sqrt(0.5); + for (i = 0; i < n4; ++i) sintbl[n2 - i] = sintbl[i]; + for (i = 0; i < n2 + n4; ++i) sintbl[i + n2] = -sintbl[i]; +} + +void make_bitrev(int n, int* bitrev) { + int i, j, k, n2; + + n2 = n / 2; + i = j = 0; + for (;;) { + bitrev[i] = j; + if (++i >= n) break; + k = n2; + while (k <= j) { + j -= k; + k /= 2; + } + j += k; + } +} + +// bitrev: bit reversal table +// sintbl: trigonometric function table +// x:real part +// y:image part +// n: fft length +int fft(const int* bitrev, const float* sintbl, float* x, float* y, int n) { + int i, j, k, ik, h, d, k2, n4, inverse; + float t, s, c, dx, dy; + + /* preparation */ + if (n < 0) { + n = -n; + inverse = 1; /* inverse transform */ + } else { + inverse = 0; + } + n4 = n / 4; + if (n == 0) { + return 0; + } + + /* bit reversal */ + for (i = 0; i < n; ++i) { + j = bitrev[i]; + if (i < j) { + t = x[i]; + x[i] = x[j]; + x[j] = t; + t = y[i]; + y[i] = y[j]; + y[j] = t; + } + } + + /* transformation */ + for (k = 1; k < n; k = k2) { + h = 0; + k2 = k + k; + d = n / k2; + for (j = 0; j < k; ++j) { + c = sintbl[h + n4]; + if (inverse) + s = -sintbl[h]; + else + s = sintbl[h]; + for (i = j; i < n; i += k2) { + ik = i + k; + dx = s * y[ik] + c * x[ik]; + dy = c * y[ik] - s * x[ik]; + x[ik] = x[i] - dx; + x[i] += dx; + y[ik] = y[i] - dy; + y[i] += dy; + } + h += d; + } + } + if (inverse) { + /* divide by n in case of the inverse transformation */ + for (i = 0; i < n; ++i) { + x[i] /= n; + y[i] /= n; + } + } + return 0; /* finished successfully */ +} + +} // namespace wenet diff --git a/micropython_port/ai_demo/kws/kws_preprocess.cpp b/micropython_port/ai_demo/kws/kws_preprocess.cpp new file mode 100644 index 0000000..afa695a --- /dev/null +++ b/micropython_port/ai_demo/kws/kws_preprocess.cpp @@ -0,0 +1,57 @@ +#include "feature_pipeline.h" +#include "aidemo_wrap.h" +#include + +// feature_pipelien class +struct feature_pipeline +{ + wenet::FeaturePipeline *feature_pipe; +}; + +struct processed_feat +{ + const float *feats_ptr; + size_t feats_length; +}; + +feature_pipeline *feature_pipeline_create() +{ + feature_pipeline *fp = new feature_pipeline; + fp->feature_pipe = new wenet::FeaturePipeline(); + return fp; +} + +void release_final_feats(float* feats) +{ + if (feats != nullptr) + { + delete[] feats; + } +} + +void release_preprocess_class(feature_pipeline *fp) +{ + delete fp; +} + + +void wav_preprocess(feature_pipeline *fp, float *wav, size_t wav_length, float* final_feats) +{ + // 将数组输入转为vector适配函数输入 + std::vector wav_vector(wav, wav + wav_length); + + // 预处理函数 + fp->feature_pipe->AcceptWaveform(wav_vector); + + std::vector> feats; + bool ok = fp->feature_pipe->Read(30, &feats); + + // 将vector转换为数组形式，因为C返回不了vector + std::vector flattened_feats; + for (const auto& inner_vector : feats) + { + flattened_feats.insert(flattened_feats.end(), inner_vector.begin(), inner_vector.end()); + } + + std::copy(flattened_feats.begin(), flattened_feats.end(), final_feats); +} \ No newline at end of file diff --git a/micropython_port/ai_demo/licence_det.cpp b/micropython_port/ai_demo/licence_det.cpp new file mode 100644 index 0000000..e9eaef9 --- /dev/null +++ b/micropython_port/ai_demo/licence_det.cpp @@ -0,0 +1,310 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include +#include "aidemo_wrap.h" + +#include +#include + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 8 + +typedef struct sortable_obj_t +{ + int index; + float* probs; +} sortable_obj_t; + +typedef struct landmarks_t +{ + float points[8]; +} landmarks_t; + +typedef struct BoxPoint +{ + cv::Point2f vertices[4]; +} BoxPoint; + +extern float anchors[16800][4]; + +int nms_comparator(const void *pa, const void *pb) +{ + sortable_obj_t a = *(sortable_obj_t*)pa; + sortable_obj_t b = *(sortable_obj_t*)pb; + float diff = a.probs[a.index] - b.probs[b.index]; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +int argmax(float* x, uint32_t len) +{ + float max_value = x[0]; + int max_index = 0; + for (uint32_t ll = 1; ll < len; ll++) + { + if (max_value < x[ll]) + { + max_value = x[ll]; + max_index = ll; + } + } + return max_index; +} + +void local_softmax(float* x, float* dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void deal_conf(float* conf, float* s_probs, sortable_obj_t* s, int size, int& obj_cnt) +{ + float prob[CONF_SIZE] = { 0.0 }; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + prob[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(prob, prob, 2); + s[obj_cnt].index = obj_cnt; + s_probs[obj_cnt] = prob[1]; + obj_cnt += 1; + } + } +} + + +void deal_loc(float* loc, float* boxes, int size, int& obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void deal_landms(float* landms, float* landmarks, int size, int& obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox get_box(float* boxes, int obj_index) +{ + float x, y, w, h; + x = boxes[obj_index * LOC_SIZE + 0]; + y = boxes[obj_index * LOC_SIZE + 1]; + w = boxes[obj_index * LOC_SIZE + 2]; + h = boxes[obj_index * LOC_SIZE + 3]; + x = anchors[obj_index][0] + x * 0.1 * anchors[obj_index][2]; + y = anchors[obj_index][1] + y * 0.1 * anchors[obj_index][3]; + w = anchors[obj_index][2] * expf(w * 0.2); + h = anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = x; + box.y = y; + box.w = w; + box.h = h; + return box; +} + +landmarks_t get_landmark(float* landmarks, int obj_index) +{ + landmarks_t landmark; + for (uint32_t ll = 0; ll < 4; ll++) + { + landmark.points[2 * ll + 0] = anchors[obj_index][0] + landmarks[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * anchors[obj_index][2]; + landmark.points[2 * ll + 1] = anchors[obj_index][1] + landmarks[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * anchors[obj_index][3]; + } + return landmark; +} + +float overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + + return right - left; +} + +float box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +BoxPoint8* licence_det_post_process(float* p_outputs_0,float* p_outputs_1,float* p_outputs_2,float* p_outputs_3,float* p_outputs_4,float* p_outputs_5,float* p_outputs_6,float* p_outputs_7,float* p_outputs_8,FrameSize frame_size,FrameSize kmodel_frame_size,float obj_thresh,float nms_thresh,int* box_cnt) +{ + std::vector results; + float* loc0 = p_outputs_0; + float* loc1 = p_outputs_1; + float* loc2 = p_outputs_2; + float* conf0 = p_outputs_3; + float* conf1 = p_outputs_4; + float* conf2 = p_outputs_5; + float* landms0 = p_outputs_6; + float* landms1 = p_outputs_7; + float* landms2 = p_outputs_8; + + int min_size = (kmodel_frame_size.height == 320 ? 200 : 800); + + float box[LOC_SIZE] = { 0.0 }; + float landms[LAND_SIZE] = { 0.0 }; + int objs_num = min_size * (1 + 4 + 16); + sortable_obj_t* s = (sortable_obj_t*)malloc(objs_num * sizeof(sortable_obj_t)); + float* s_probs = (float*)malloc(objs_num * sizeof(float)); + int obj_cnt = 0; + deal_conf(conf0, s_probs, s, 16 * min_size / 2, obj_cnt); + deal_conf(conf1, s_probs, s, 4 * min_size / 2, obj_cnt); + deal_conf(conf2, s_probs, s, 1 * min_size / 2, obj_cnt); + float* boxes = (float*)malloc(objs_num * LOC_SIZE * sizeof(float)); + obj_cnt = 0; + deal_loc(loc0, boxes, 16 * min_size / 2, obj_cnt); + deal_loc(loc1, boxes, 4 * min_size / 2, obj_cnt); + deal_loc(loc2, boxes, 1 * min_size / 2, obj_cnt); + float* landmarks = (float*)malloc(objs_num * LAND_SIZE * sizeof(float)); + obj_cnt = 0; + deal_landms(landms0, landmarks, 16 * min_size / 2, obj_cnt); + deal_landms(landms1, landmarks, 4 * min_size / 2, obj_cnt); + deal_landms(landms2, landmarks, 1 * min_size / 2, obj_cnt); + for (uint32_t oo = 0; oo < objs_num; oo++) + { + s[oo].probs = s_probs; + } + qsort(s, objs_num, sizeof(sortable_obj_t), nms_comparator); + + std::vector valid_box; + std::vector valid_landmarks; + int iou_cal_times = 0; + int i, j, k, obj_index; + for (i = 0; i < objs_num; ++i) + { + obj_index = s[i].index; + if (s_probs[obj_index] < obj_thresh) + continue; + Bbox a = get_box(boxes, obj_index); + landmarks_t l = get_landmark(landmarks, obj_index); + valid_box.push_back(a); + valid_landmarks.push_back(l); + + for (j = i + 1; j < objs_num; ++j) + { + obj_index = s[j].index; + if (s_probs[obj_index] < obj_thresh) + continue; + Bbox b = get_box(boxes, obj_index); + iou_cal_times += 1; + if (box_iou(a, b) >= nms_thresh) + s_probs[obj_index] = 0; + } + } + + *box_cnt = valid_landmarks.size(); + BoxPoint8 *boxPoint = (BoxPoint8 *)malloc(*box_cnt * sizeof(BoxPoint8)); + for (int i = 0; i < *box_cnt; i++) + { + boxPoint[i].points8[0] = valid_landmarks[i].points[2 * 0 + 0] * frame_size.width; + boxPoint[i].points8[1] = valid_landmarks[i].points[2 * 0 + 1] * frame_size.height; + boxPoint[i].points8[2] = valid_landmarks[i].points[2 * 1 + 0] * frame_size.width; + boxPoint[i].points8[3] = valid_landmarks[i].points[2 * 1 + 1] * frame_size.height; + boxPoint[i].points8[4] = valid_landmarks[i].points[2 * 2 + 0] * frame_size.width; + boxPoint[i].points8[5] = valid_landmarks[i].points[2 * 2 + 1] * frame_size.height; + boxPoint[i].points8[6] = valid_landmarks[i].points[2 * 3 + 0] * frame_size.width; + boxPoint[i].points8[7] = valid_landmarks[i].points[2 * 3 + 1] * frame_size.height; + } + + free(s_probs); + free(boxes); + free(landmarks); + free(s); + return boxPoint; +} \ No newline at end of file diff --git a/micropython_port/ai_demo/object_segment.cpp b/micropython_port/ai_demo/object_segment.cpp new file mode 100644 index 0000000..18b8794 --- /dev/null +++ b/micropython_port/ai_demo/object_segment.cpp @@ -0,0 +1,342 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include +#include "aidemo_wrap.h" + +#include +#include +#include + +#define SEGCHANNELS 32 +#define CLASSES_COUNT 80 + +typedef struct { + cv::Rect box; + float confidence; + int index; +}BBOX; + +struct OutputSeg { + int id; //结果类别id + float confidence; //结果置信度 + cv::Rect box; //矩形框 + cv::Mat boxMask; //矩形框内mask，节省内存空间和加快速度 +}; + +const std::vector color_four = {cv::Scalar(60, 20, 220, 127), + cv::Scalar(32, 11, 119, 127), + cv::Scalar(142, 0, 0, 127), + cv::Scalar(230, 0, 0, 127), + cv::Scalar(228, 0, 106, 127), + cv::Scalar(100, 60, 0, 127), + cv::Scalar(100, 80, 0, 127), + cv::Scalar(70, 0, 0, 127), + cv::Scalar(192, 0, 0, 127), + cv::Scalar(30, 170, 250, 127), + cv::Scalar(30, 170, 100, 127), + cv::Scalar(0, 220, 220, 127), + cv::Scalar(175, 116, 175, 127), + cv::Scalar(30, 0, 250, 127), + cv::Scalar(42, 42, 165, 127), + cv::Scalar(255, 77, 255, 127), + cv::Scalar(252, 226, 0, 127), + cv::Scalar(255, 182, 182, 127), + cv::Scalar(0, 82, 0, 127), + cv::Scalar(157, 166, 120, 127), + cv::Scalar(0, 76, 110, 127), + cv::Scalar(255, 57, 174, 127), + cv::Scalar(0, 100, 199, 127), + cv::Scalar(118, 0, 72, 127), + cv::Scalar(240, 179, 255, 127), + cv::Scalar(92, 125, 0, 127), + cv::Scalar(151, 0, 209, 127), + cv::Scalar(182, 208, 188, 127), + cv::Scalar(176, 220, 0, 127), + cv::Scalar(164, 99, 255, 127), + cv::Scalar(73, 0, 92, 127), + cv::Scalar(255, 129, 133, 127), + cv::Scalar(255, 180, 78, 127), + cv::Scalar(0, 228, 0, 127), + cv::Scalar(243, 255, 174, 127), + cv::Scalar(255, 89, 45, 127), + cv::Scalar(103, 134, 134, 127), + cv::Scalar(174, 148, 145, 127), + cv::Scalar(186, 208, 255, 127), + cv::Scalar(255, 226, 197, 127), + cv::Scalar(1, 134, 171, 127), + cv::Scalar(54, 63, 109, 127), + cv::Scalar(255, 138, 207, 127), + cv::Scalar(95, 0, 151, 127), + cv::Scalar(61, 80, 9, 127), + cv::Scalar(51, 105, 84, 127), + cv::Scalar(105, 65, 74, 127), + cv::Scalar(102, 196, 166, 127), + cv::Scalar(210, 195, 208, 127), + cv::Scalar(65, 109, 255, 127), + cv::Scalar(149, 143, 0, 127), + cv::Scalar(194, 0, 179, 127), + cv::Scalar(106, 99, 209, 127), + cv::Scalar(0, 121, 5, 127), + cv::Scalar(205, 255, 227, 127), + cv::Scalar(208, 186, 147, 127), + cv::Scalar(1, 69, 153, 127), + cv::Scalar(161, 95, 3, 127), + cv::Scalar(0, 255, 163, 127), + cv::Scalar(170, 0, 119, 127), + cv::Scalar(199, 182, 0, 127), + cv::Scalar(120, 165, 0, 127), + cv::Scalar(88, 130, 183, 127), + cv::Scalar(0, 32, 95, 127), + cv::Scalar(135, 114, 130, 127), + cv::Scalar(133, 129, 110, 127), + cv::Scalar(118, 74, 166, 127), + cv::Scalar(185, 142, 219, 127), + cv::Scalar(114, 210, 79, 127), + cv::Scalar(62, 90, 178, 127), + cv::Scalar(15, 70, 65, 127), + cv::Scalar(115, 167, 127, 127), + cv::Scalar(106, 105, 59, 127), + cv::Scalar(45, 108, 142, 127), + cv::Scalar(0, 172, 196, 127), + cv::Scalar(80, 54, 95, 127), + cv::Scalar(255, 76, 128, 127), + cv::Scalar(1, 57, 201, 127), + cv::Scalar(122, 0, 246, 127), + cv::Scalar(208, 162, 191, 127)}; + +float get_iou_value(cv::Rect rect1, cv::Rect rect2) +{ + int xx1, yy1, xx2, yy2; + + xx1 = std::max(rect1.x, rect2.x); + yy1 = std::max(rect1.y, rect2.y); + xx2 = std::min(rect1.x + rect1.width - 1, rect2.x + rect2.width - 1); + yy2 = std::min(rect1.y + rect1.height - 1, rect2.y + rect2.height - 1); + + int insection_width, insection_height; + insection_width = std::max(0, xx2 - xx1 + 1); + insection_height = std::max(0, yy2 - yy1 + 1); + + float insection_area, union_area, iou; + insection_area = float(insection_width) * insection_height; + union_area = float(rect1.width*rect1.height + rect2.width*rect2.height - insection_area); + iou = insection_area / union_area; + + return iou; +} + +void nms_boxes(std::vector &boxes, std::vector &confidences, float confThreshold, float nmsThreshold, std::vector &indices) +{ + BBOX bbox; + std::vector bboxes; + int i, j; + for (i = 0; i < boxes.size(); i++) + { + bbox.box = boxes[i]; + bbox.confidence = confidences[i]; + bbox.index = i; + bboxes.push_back(bbox); + } + + sort(bboxes.begin(), bboxes.end(), [](BBOX a, BBOX b) { return a.confidence < b.confidence; }); + + int updated_size = bboxes.size(); + for (i = 0; i < updated_size; i++) + { + if (bboxes[i].confidence < confThreshold) + continue; + indices.push_back(bboxes[i].index); + + for (j = i + 1; j < updated_size;) + { + float iou = get_iou_value(bboxes[i].box, bboxes[j].box); + + if (iou > nmsThreshold) + { + bboxes.erase(bboxes.begin() + j); + updated_size = bboxes.size(); + } + else + { + j++; + } + } + } +} + + + +void draw_segmentation(cv::Mat& frame,std::vector& results) +{ + + for (int i = 0; i < results.size(); i++) { + int left, top; + left = results[i].box.x; + top = results[i].box.y; + int color_num = i; + rectangle(frame, results[i].box, color_four[results[i].id], 2, 8); + + frame(results[i].box).setTo(color_four[results[i].id], results[i].boxMask); + } +} + + +SegOutputs object_seg_post_process(float *data_0, float *data_1, FrameSize frame_size, FrameSize kmodel_frame_size, FrameSize display_frame_size, float conf_thres, float nms_thres, float mask_thres, int *box_cnt) +{ + std::vector results; + float *output_0 = data_0; + float *output_1 = data_1; + + int w, h, x, y; + float r_w = kmodel_frame_size.width / (frame_size.width*1.0); + float r_h = kmodel_frame_size.height / (frame_size.height*1.0); + if (r_h > r_w) { + w = kmodel_frame_size.width; + h = r_w * frame_size.height; + x = 0; + y = (kmodel_frame_size.height - h) / 2; + } + else { + w = r_h * frame_size.width; + h = kmodel_frame_size.height; + x = (kmodel_frame_size.width - w) / 2; + y = 0; + } + + int newh = h, neww = w, padh = y, padw = x; + float ratio_h = (float)frame_size.height / newh; + float ratio_w = (float)frame_size.width / neww; + + std::vector classIds;//结果id数组 + std::vector confidences;//结果每个id对应置信度数组 + std::vector boxes;//每个id矩形框 + std::vector picked_proposals; //后续计算mask + + + // 处理box + int Num_box = (kmodel_frame_size.width/8) * (kmodel_frame_size.height/8) + (kmodel_frame_size.width/16) * (kmodel_frame_size.height/16) + (kmodel_frame_size.width/32) * (kmodel_frame_size.height/32); + int net_length = CLASSES_COUNT + 4 + SEGCHANNELS; + cv::Mat out1 = cv::Mat(net_length, Num_box, CV_32F, output_0); + + for (int i = 0; i < Num_box; i++) { + //输出是1*net_length*Num_box;所以每个box的属性是每隔Num_box取一个值，共net_length个值 + cv::Mat scores = out1(cv::Rect(i, 4, 1, CLASSES_COUNT)).clone(); + cv::Point classIdPoint; + double max_class_socre; + minMaxLoc(scores, 0, &max_class_socre, 0, &classIdPoint); + max_class_socre = (float)max_class_socre; + if (max_class_socre >= conf_thres) { + cv::Mat temp_proto = out1(cv::Rect(i, 4 + CLASSES_COUNT, 1, SEGCHANNELS)).clone(); + picked_proposals.push_back(temp_proto.t()); + float x = (out1.at(0, i) - padw) * ratio_w * display_frame_size.width / frame_size.width; //cx + float y = (out1.at(1, i) - padh) * ratio_h * display_frame_size.height / frame_size.height; //cy + float w = out1.at(2, i) * ratio_w * display_frame_size.width / frame_size.width; //w + float h = out1.at(3, i) * ratio_h * display_frame_size.height / frame_size.height; //h + int left = MAX((x - 0.5 * w), 0); + int top = MAX((y - 0.5 * h), 0); + int width = (int)w; + int height = (int)h; + if (width <= 0 || height <= 0) { continue; } + + classIds.push_back(classIdPoint.y); + confidences.push_back(max_class_socre); + boxes.push_back(cv::Rect(left, top, width, height)); + } + + } + + //执行非最大抑制以消除具有较低置信度的冗余重叠框（NMS） + std::vector nms_result; + nms_boxes(boxes, confidences, conf_thres, nms_thres, nms_result); + + std::vector temp_mask_proposals; + std::vector output; + cv::Rect holeImgRect(0, 0, display_frame_size.width, display_frame_size.height); + for (int i = 0; i < nms_result.size(); ++i) { + int idx = nms_result[i]; + OutputSeg result; + result.id = classIds[idx]; + result.confidence = confidences[idx]; + result.box = boxes[idx]& holeImgRect; + output.push_back(result); + temp_mask_proposals.push_back(picked_proposals[idx]); + } + + // 处理mask + int segWidth = kmodel_frame_size.width/4; + int segHeight = kmodel_frame_size.height/4; + if(temp_mask_proposals.size() > 0) + { cv::Mat maskProposals; + for (int i = 0; i < temp_mask_proposals.size(); ++i) + { + maskProposals.push_back(temp_mask_proposals[i]); + } + + cv::Mat protos = cv::Mat(SEGCHANNELS, segWidth * segHeight, CV_32FC1, output_1); + sync(); + cv::Mat matmulRes = (maskProposals * protos).t();//n*32 32*25600 A*B是以数学运算中矩阵相乘的方式实现的，要求A的列数等于B的行数时 + cv::Mat masks = matmulRes.reshape(output.size(), { segWidth,segHeight });//n*160*160 + + std::vector maskChannels; + cv::split(masks, maskChannels); + cv::Rect roi(int((float)padw / kmodel_frame_size.width * segWidth), int((float)padh / kmodel_frame_size.height * segHeight), int(segWidth - padw / 2), int(segHeight - padh / 2)); + + for (int i = 0; i < output.size(); ++i) { + cv::Mat dest, mask; + cv::exp(-maskChannels[i], dest);//sigmoid + dest = 1.0 / (1.0 + dest);//160*160 + dest = dest(roi); + resize(dest, mask, cv::Size(display_frame_size.width, display_frame_size.height), cv::INTER_NEAREST); + //crop----截取box中的mask作为该box对应的mask + cv::Rect temp_rect = output[i].box; + mask = mask(temp_rect) > mask_thres; + output[i].boxMask = mask; + } + results=output; + } + cv::Mat osd_frame(display_frame_size.height, display_frame_size.width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + draw_segmentation(osd_frame, results); + + + SegOutputs segOutputs; + segOutputs.masks_results = (uint8_t *)malloc(display_frame_size.width * display_frame_size.height * 4 * sizeof(uint8_t)); + memcpy(segOutputs.masks_results, osd_frame.data, sizeof(uint8_t) * display_frame_size.width * display_frame_size.height * 4 ); + *box_cnt = results.size(); + segOutputs.segOutput = (SegOutput *)malloc(*box_cnt * sizeof(SegOutput)); + for (int i = 0; i < *box_cnt; i++) + { + segOutputs.segOutput[i].confidence = results[i].confidence; + segOutputs.segOutput[i].id = results[i].id; + segOutputs.segOutput[i].box[0] = results[i].box.x; + segOutputs.segOutput[i].box[1] = results[i].box.y; + segOutputs.segOutput[i].box[2] = results[i].box.width; + segOutputs.segOutput[i].box[3] = results[i].box.height; + } + + return segOutputs; +} \ No newline at end of file diff --git a/micropython_port/ai_demo/ocr_rec.cpp b/micropython_port/ai_demo/ocr_rec.cpp new file mode 100644 index 0000000..a9fa027 --- /dev/null +++ b/micropython_port/ai_demo/ocr_rec.cpp @@ -0,0 +1,179 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include "aidemo_wrap.h" + +typedef struct BoxPoint +{ + cv::Point2f vertices[4]; +}BoxPoint; + +float* mask_resize(float* dest, FrameSize ori_shape, FrameSize tag_shape) +{ + cv::Mat dest_mat(ori_shape.height, ori_shape.width, CV_32FC1, dest); + cv::Mat mask; + resize(dest_mat, mask, cv::Size(tag_shape.width, tag_shape.height), cv::INTER_NEAREST); + float *result = (float *)malloc(tag_shape.width * tag_shape.height * sizeof(float)); + memcpy(result, mask.data, sizeof(float) * tag_shape.width * tag_shape.height); + return result; +} + +std::vector sort_indices_(const std::vector& vec) +{ + std::vector> indexedVec; + indexedVec.reserve(vec.size()); + + // 创建带有索引的副本 + for (size_t i = 0; i < vec.size(); ++i) { + indexedVec.emplace_back(vec[i], i); + } + + // 按值对副本进行排序 + std::sort(indexedVec.begin(), indexedVec.end(), + [](const auto& a, const auto& b) { + return a.first.x < b.first.x; + }); + + // 提取排序后的索引 + std::vector sortedIndices; + sortedIndices.reserve(vec.size()); + for (const auto& element : indexedVec) { + sortedIndices.push_back(element.second); + } + + return sortedIndices; +} + +void find_rectangle_vertices_(const std::vector& points, cv::Point2f& topLeft, cv::Point2f& topRight, cv::Point2f& bottomRight, cv::Point2f& bottomLeft) +{ + //先按照x排序,比较左右，再按照y比较上下 + auto sorted_x_id = sort_indices_(points); + + if (points[sorted_x_id[0]].y < points[sorted_x_id[1]].y) + { + topLeft = points[sorted_x_id[0]]; + bottomLeft = points[sorted_x_id[1]]; + } + else + { + topLeft = points[sorted_x_id[1]]; + bottomLeft = points[sorted_x_id[0]]; + } + + if (points[sorted_x_id[2]].y < points[sorted_x_id[3]].y) + { + bottomRight = points[sorted_x_id[3]]; + topRight = points[sorted_x_id[2]]; + + } + else + { + bottomRight = points[sorted_x_id[2]]; + topRight = points[sorted_x_id[3]]; + } + +} + +void warppersp_(cv::Mat src, cv::Mat& dst, BoxPoint b, std::vector& vtd) +{ + cv::Mat rotation; + std::vector con; + for(auto i : b.vertices) + con.push_back(i); + + cv::RotatedRect minrect = minAreaRect(con); + std::vector vtx(4),vt(4); + minrect.points(vtx.data()); + + find_rectangle_vertices_(vtx, vtd[0], vtd[1], vtd[2], vtd[3]); + + //w,h tmp_w=dist(p1,p0),tmp_h=dist(p1,p2) + float tmp_w = cv::norm(vtd[1]-vtd[0]); + float tmp_h = cv::norm(vtd[2]-vtd[1]); + float w = std::max(tmp_w,tmp_h); + float h = std::min(tmp_w,tmp_h); + + vt[0].x = 0; + vt[0].y = 0; + vt[1].x = w;//w + vt[1].y = 0; + vt[2].x = w; + vt[2].y = h; + vt[3].x = 0; + vt[3].y = h;//h + rotation = cv::getPerspectiveTransform(vtd, vt); + + cv::warpPerspective(src, dst, rotation, cv::Size(w, h)); +} + +ArrayWrapperMat1* ocr_rec_pre_process(uint8_t* data, FrameSize ori_shape, BoxPoint8* boxpoint8, int box_cnt) +{ + int matsize = ori_shape.width * ori_shape.height; + cv::Mat ori_img; + cv::Mat ori_img_R = cv::Mat(ori_shape.height, ori_shape.width, CV_8UC1, data); + cv::Mat ori_img_G = cv::Mat(ori_shape.height, ori_shape.width, CV_8UC1, data + 1 * matsize); + cv::Mat ori_img_B = cv::Mat(ori_shape.height, ori_shape.width, CV_8UC1, data + 2 * matsize); + std::vector sensor_bgr; + sensor_bgr.push_back(ori_img_B); + sensor_bgr.push_back(ori_img_G); + sensor_bgr.push_back(ori_img_R); + cv::merge(sensor_bgr, ori_img); + std::vector results_det; + results_det.clear(); + for(int i = 0; i < box_cnt; i++) + { + BoxPoint boxpoint; + for(int j = 0; j < 4; j++) + { + boxpoint.vertices[j].x = boxpoint8[i].points8[2 * j + 0]; + boxpoint.vertices[j].y = boxpoint8[i].points8[2 * j + 1]; + } + results_det.push_back(boxpoint); + } + + ArrayWrapperMat1 *arrayWrapperMat1 = (ArrayWrapperMat1 *)malloc(box_cnt * sizeof(ArrayWrapperMat1)); + + for(int i = 0; i < results_det.size(); i++) + { + std::vector sort_vtd(4); + cv::Mat crop; + warppersp_(ori_img, crop, results_det[i], sort_vtd); + cv::Mat crop_gray; + cv::cvtColor(crop, crop_gray, cv::COLOR_BGR2GRAY); + + arrayWrapperMat1[i].data = (uint8_t *)malloc(crop_gray.cols * crop_gray.rows * sizeof(uint8_t)); + memcpy(arrayWrapperMat1[i].data, crop_gray.data, crop_gray.cols * crop_gray.rows * sizeof(uint8_t)); + arrayWrapperMat1[i].framesize.width = crop_gray.cols; + arrayWrapperMat1[i].framesize.height = crop_gray.rows; + for(int j = 0; j < 4; j++) + { + arrayWrapperMat1[i].coordinates[2 * j + 0] = sort_vtd[j].x; + arrayWrapperMat1[i].coordinates[2 * j + 1] = sort_vtd[j].y; + } + } + return arrayWrapperMat1; +} \ No newline at end of file diff --git a/micropython_port/ai_demo/opencv_wrap.cpp b/micropython_port/ai_demo/opencv_wrap.cpp new file mode 100644 index 0000000..f3950d4 --- /dev/null +++ b/micropython_port/ai_demo/opencv_wrap.cpp @@ -0,0 +1,197 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include "aidemo_wrap.h" + +int get_dtype_for_cv(char dtype,int channels) +{ + switch (dtype) + { + case 'b': + return CV_MAKETYPE(CV_8S,channels); + case 'B': + return CV_MAKETYPE(CV_8U,channels); + case 'h': + return CV_MAKETYPE(CV_16S,channels); + case 'H': + return CV_MAKETYPE(CV_16U,channels); + case 'i': + return CV_MAKETYPE(CV_32S,channels); + case 'f': + return CV_MAKETYPE(CV_32F,channels); + case 'd': + return CV_MAKETYPE(CV_64F,channels); + default: + throw std::runtime_error("Unsupported cv::mat data type."); + } +} + +char get_dtype_for_mp(int dtype) +{ + switch (dtype) + { + case CV_8S: + case CV_8SC2: + case CV_8SC3: + case CV_8SC4: + return 'b'; + case CV_8U: + case CV_8UC2: + case CV_8UC3: + case CV_8UC4: + return 'B'; + case CV_16S: + case CV_16SC2: + case CV_16SC3: + case CV_16SC4: + return 'h'; + case CV_16U: + case CV_16UC2: + case CV_16UC3: + case CV_16UC4: + return 'H'; + case CV_32S: + case CV_32SC2: + case CV_32SC3: + case CV_32SC4: + return 'i'; + case CV_32F: + case CV_32FC2: + case CV_32FC3: + case CV_32FC4: + return 'f'; + case CV_64F: + case CV_64FC2: + case CV_64FC3: + case CV_64FC4: + return 'd'; + default: + throw std::runtime_error("Unsupported cv::mat data type."); + } +} + +void from_numpy(cv_and_ndarray_convert_info *info,cv::Mat& mat_data) +{ + int cv_type; + if (info->ndim_<=2) + cv_type = get_dtype_for_cv(info->dtype_,1); + else + cv_type = get_dtype_for_cv(info->dtype_,info->shape_[2]); + int height = info->shape_[0], width = info->shape_[1]; + mat_data = cv::Mat(height,width,cv_type,info->data_); +} + +void to_numpy(cv::Mat& mat_data, cv_and_ndarray_convert_info *info) +{ + info->dtype_ = get_dtype_for_mp(mat_data.type()); + memset(info->shape_,0,sizeof(size_t)*3); + info->shape_[0] = mat_data.rows; //hwc + info->shape_[1] = mat_data.cols; + info->shape_[2] = mat_data.channels(); + + memset(info->strides_,0,sizeof(size_t)*3); + int numpy_elem_size = mat_data.elemSize() / mat_data.channels(); + info->strides_[0] = numpy_elem_size * info->shape_[1] * info->shape_[2]; + info->strides_[1] = numpy_elem_size * info->shape_[2]; + info->strides_[2] = numpy_elem_size * 1; + + info->ndim_ = mat_data.dims; + info->len_ = mat_data.total(); + info->data_ = (void *)malloc(info->len_ * mat_data.elemSize()); + std::memcpy(info->data_, mat_data.data, mat_data.total() * mat_data.elemSize()); +} + +void invert_affine_transform(float *data,cv_and_ndarray_convert_info *info) +{ + cv::Mat matrix(2, 3, CV_32F,data); + cv::Mat matrix_inv; + cv::invertAffineTransform(matrix, matrix_inv); + to_numpy(matrix_inv,info); +} + +void draw_polylines(cv_and_ndarray_convert_info *in_info,generic_array *pts,bool is_closed,generic_array *color,int thickness,int line_type,int shift) +{ + cv::Mat src_img; + from_numpy(in_info,src_img); + + std::vector> face_sub_part_point_set_outline; + float* pts_data = (float*)(pts->data_); + std::vector face_sub_part_point_set; + for(int i=0;ilength_;i=i+2) + { + face_sub_part_point_set.push_back({int(pts_data[i]), int(pts_data[i+1])}); + } + face_sub_part_point_set_outline.push_back(face_sub_part_point_set); + + uint8_t* draw_color = (uint8_t*)(color->data_); + + if(color->length_ == 3) + { + cv::Scalar scalar_bgr(draw_color[0], draw_color[1], draw_color[2]); + cv::polylines(src_img, face_sub_part_point_set_outline, is_closed, scalar_bgr, thickness, line_type, shift); + } + else if(color->length_ == 4) + { + cv::Scalar scalar_bgra(draw_color[0], draw_color[1], draw_color[2],draw_color[3]); + cv::polylines(src_img, face_sub_part_point_set_outline, is_closed, scalar_bgra, thickness, line_type, shift); + } + else + { + throw std::runtime_error("Unsupported color cv2::polylines."); + } +} + +void draw_contours(cv_and_ndarray_convert_info *in_info,generic_array *pts,int contour_idx,generic_array *color,int thickness,int line_type) +{ + cv::Mat src_img; + from_numpy(in_info,src_img); + + std::vector> face_sub_part_point_set_outline; + float* pts_data = (float*)(pts->data_); + std::vector face_sub_part_point_set; + for(int i=0;ilength_;i=i+2) + { + face_sub_part_point_set.push_back({int(pts_data[i]), int(pts_data[i+1])}); + } + face_sub_part_point_set_outline.push_back(face_sub_part_point_set); + + uint8_t* draw_color = (uint8_t*)(color->data_); + if(color->length_ == 3) + { + cv::Scalar scalar_bgr(draw_color[0], draw_color[1], draw_color[2]); + cv::drawContours(src_img, face_sub_part_point_set_outline, contour_idx, scalar_bgr, thickness, line_type); + } + else if(color->length_ == 4) + { + cv::Scalar scalar_bgra(draw_color[0], draw_color[1], draw_color[2],draw_color[3]); + cv::drawContours(src_img, face_sub_part_point_set_outline, contour_idx, scalar_bgra, thickness, line_type); + } + else + { + throw std::runtime_error("Unsupported color cv2::polylines."); + } +} \ No newline at end of file diff --git a/micropython_port/ai_demo/person_kp.cpp b/micropython_port/ai_demo/person_kp.cpp new file mode 100644 index 0000000..de0a7cf --- /dev/null +++ b/micropython_port/ai_demo/person_kp.cpp @@ -0,0 +1,259 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include +#include "aidemo_wrap.h" + +#include +#include +#include + +typedef struct BoxInfo +{ + float x1; // 行人检测框左上顶点x坐标 + float y1; // 行人检测框左上顶点y坐标 + float x2; // 行人检测框右下顶点x坐标 + float y2; // 行人检测框右下顶点y坐标 + float score; // 行人检测框的得分 + int label; // 行人检测框的标签 + + int idx; // 行人检测框的序号 +} BoxInfo; + +struct OutputPose { + cv::Rect_ box; // 行人检测框 box + int label =0; // 检测框标签，默认为行人（0） + float confidence =0.0; // 置信度 + std::vector kps; // 关键点向量 +}; + +#define BOXNUM 8400 +#define ANCHORLENGTH 56 + +void nms_pose(std::vector &input_boxes, float nms_thresh,std::vector &nms_result) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= nms_thresh) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + if(j== int(input_boxes.size())) + nms_result.push_back(input_boxes[i].idx); + } + } + } +} + +bool BatchDetect(float* all_data, std::vector>& output,cv::Vec4d params, float obj_thresh, float nms_thresh) +{ + + std::vector _outputTensorShape = { 1, ANCHORLENGTH, BOXNUM}; + int _anchorLength = ANCHORLENGTH; + + // [1, 56 ,8400] -> [1, 8400, 56] + cv::Mat output0 = cv::Mat(cv::Size((int)_outputTensorShape[2], (int)_outputTensorShape[1]), CV_32F, all_data).t(); + + float* pdata = (float*)output0.data; // [classid,x,y,w,h,x,y,...21个点] + int rows = output0.rows; // 预测框的数量 8400 + // 一张图片的预测框 + + std::vector confidences; + std::vector boxes; + std::vector labels; + std::vector> kpss; + + for (int r=0; r obj_thresh){ + float x = (pdata[0] - params[2]) / params[0]; //x + float y = (pdata[1] - params[3]) / params[1]; //y + float w = pdata[2] / params[0]; //w + float h = pdata[3] / params[1]; //h + + // int left = MAX(int(x - 0.5 *w +0.5), 0); + // int top = MAX(int(y - 0.5*h + 0.5), 0); + float left = MAX(int(x - 0.5 *w +0.5), 0); + float top = MAX(int(y - 0.5*h + 0.5), 0); + + std::vector kps; + for (int k=0; k< 17; k++){ + + float kps_x = (*(kps_ptr + 3 * k) - params[2]) / params[0]; + float kps_y = (*(kps_ptr + 3 * k + 1) - params[3]) / params[1]; + float kps_s = *(kps_ptr + 3 * k + 2); + + kps.push_back(kps_x); + kps.push_back(kps_y); + kps.push_back(kps_s); + } + + confidences.push_back(score); + labels.push_back(0); + kpss.push_back(kps); + // boxes.push_back(Rect(left, top, int(w + 0.5), int(h + 0.5))); + boxes.push_back(cv::Rect(left, top, float(w + 0.5), float(h + 0.5))); + } + pdata += _anchorLength; //下一个预测框 + } + + // 对一张图的预测框执行NMS处理 + std::vector nms_result; + + std::vector boxinfo_results; + BoxInfo res; + float x1,y1,x2,y2,score_; + int label,idx; + for(int i=0;i temp_output; + for (size_t i=0; i &output,cv::Vec4d params, float obj_thresh, float nms_thresh){ + std::vector> temp_output; + + bool flag = BatchDetect(all_data, temp_output,params,obj_thresh,nms_thresh); + output = temp_output[0]; + return true; +} + +PersonKPOutput* person_kp_postprocess(float *data, FrameSize frame_size, FrameSize kmodel_frame_size, float obj_thresh, float nms_thresh, int *box_cnt) +{ + std::vector output; + cv::Vec4d params; // 计算 这个padding值 + + int ori_w = frame_size.width; + int ori_h = frame_size.height; + int width = kmodel_frame_size.width; + int height = kmodel_frame_size.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + // int top = (int)(roundf(dh - 0.1)); + // int bottom = (int)(roundf(dh + 0.1)); + // int left = (int)(roundf(dw - 0.1)); + // int right = (int)(roundf(dw - 0.1)); + + int top = (int)(roundf(dh )); + int bottom = (int)(roundf(dh )); + int left = (int)(roundf(dw )); + // int right = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw )); + + params[0] = ratio; + params[1] = ratio; + + params[2] = left; + params[3] = top; + + float *foutput_0 = data; + bool find_ = Detect(foutput_0,output,params,obj_thresh,nms_thresh); + + *box_cnt = output.size(); + PersonKPOutput *personKPOutput = (PersonKPOutput *)malloc(*box_cnt * sizeof(PersonKPOutput)); + for (int i = 0; i < *box_cnt; i++) + { + personKPOutput[i].confidence = output[i].confidence; + personKPOutput[i].box[0] = int(output[i].box.tl().x); + personKPOutput[i].box[1] = int(output[i].box.tl().y); + personKPOutput[i].box[2] = int(output[i].box.br().x); + personKPOutput[i].box[3] = int(output[i].box.br().y); + for (int j = 0; j < 17; j++) + { + for (int k = 0; k < 3; k++) + { + personKPOutput[i].kps[j][k] = output[i].kps[j * 3 + k]; + } + } + } + return personKPOutput; +} \ No newline at end of file diff --git a/micropython_port/boards/k230_canmv/mpconfigboard.h b/micropython_port/boards/k230_canmv/mpconfigboard.h index d00c73f..defc5cb 100644 --- a/micropython_port/boards/k230_canmv/mpconfigboard.h +++ b/micropython_port/boards/k230_canmv/mpconfigboard.h @@ -1,5 +1,4 @@ #define MICROPY_HW_BOARD_NAME "K230-EVB" #define MICROPY_HW_MCU_NAME "K230-UNSIP" -#define MICROPY_PY_SYS_STDFILES 0 #define OMV_ARCH_STR "K230" #define OMV_BOARD_TYPE "CanMV" diff --git a/micropython_port/boards/k230_evb/mpconfigboard.h b/micropython_port/boards/k230_evb/mpconfigboard.h index d00c73f..defc5cb 100644 --- a/micropython_port/boards/k230_evb/mpconfigboard.h +++ b/micropython_port/boards/k230_evb/mpconfigboard.h @@ -1,5 +1,4 @@ #define MICROPY_HW_BOARD_NAME "K230-EVB" #define MICROPY_HW_MCU_NAME "K230-UNSIP" -#define MICROPY_PY_SYS_STDFILES 0 #define OMV_ARCH_STR "K230" #define OMV_BOARD_TYPE "CanMV" diff --git a/micropython_port/core/main.c b/micropython_port/core/main.c index 42ad9a6..3f8d199 100644 --- a/micropython_port/core/main.c +++ b/micropython_port/core/main.c @@ -42,6 +42,8 @@ #include #include +#include "mpi_vb_api.h" +#include "mpi_venc_api.h" #include "nlr.h" #include "py/compile.h" #include "py/runtime.h" @@ -67,7 +69,7 @@ STATIC uint emit_opt = MP_EMIT_OPT_NONE; #if MICROPY_ENABLE_GC // Heap size of GC heap (if enabled) // Make it larger on a 64 bit machine, because pointers are larger. -long heap_size = 1024 * 1024 * 16; +long heap_size = 1024 * 1024 * 4; #endif // Number of heaps to assign by default if MICROPY_GC_SPLIT_HEAP=1 @@ -322,7 +324,6 @@ STATIC int do_file(const char *file) { } STATIC int do_str(const char *str) { - fprintf(stderr, "run script:\n%s", str); return execute_from_lexer(LEX_SRC_STR, str, MP_PARSE_FILE_INPUT, false); } @@ -514,7 +515,7 @@ MP_NOINLINE int main_(int argc, char **argv) { } // Define a reasonable stack limit to detect stack overflow. - mp_uint_t stack_limit = 1024 * 1024 * (sizeof(void *) / 4); + mp_uint_t stack_limit = 128 * 1024 * (sizeof(void *) / 4); soft_reset: #if MICROPY_PY_THREAD mp_thread_init(); @@ -847,6 +848,13 @@ MP_NOINLINE int main_(int argc, char **argv) { } #endif #endif + extern char jpeg_encoder_created; + if (jpeg_encoder_created) { + kd_mpi_venc_stop_chn(VENC_MAX_CHN_NUMS - 1); + kd_mpi_venc_destroy_chn(VENC_MAX_CHN_NUMS - 1); + } + jpeg_encoder_created = 0; + kd_mpi_vb_exit(); // printf("total bytes = %d\n", m_get_total_bytes_allocated()); goto soft_reset; diff --git a/micropython_port/core/modtime.c b/micropython_port/core/modtime.c index b6fbae0..13daa97 100644 --- a/micropython_port/core/modtime.c +++ b/micropython_port/core/modtime.c @@ -34,95 +34,54 @@ #include "py/mphal.h" #include "py/runtime.h" +#include "py_clock.h" -#ifdef _WIN32 -static inline int msec_sleep_tv(struct timeval *tv) { - msec_sleep(tv->tv_sec * 1000.0 + tv->tv_usec / 1000.0); - return 0; +STATIC mp_obj_t mp_time_time_get(void) { + return mp_obj_new_int((mp_int_t)time(NULL)); } -#define sleep_select(a, b, c, d, e) msec_sleep_tv((e)) -#else -#define sleep_select select -#endif - -// mingw32 defines CLOCKS_PER_SEC as ((clock_t)) but preprocessor does not handle casts -#if defined(__MINGW32__) && !defined(__MINGW64_VERSION_MAJOR) -#define MP_REMOVE_BRACKETSA(x) -#define MP_REMOVE_BRACKETSB(x) MP_REMOVE_BRACKETSA x -#define MP_REMOVE_BRACKETSC(x) MP_REMOVE_BRACKETSB x -#define MP_CLOCKS_PER_SEC MP_REMOVE_BRACKETSC(CLOCKS_PER_SEC) -#else -#define MP_CLOCKS_PER_SEC CLOCKS_PER_SEC -#endif - -#if defined(MP_CLOCKS_PER_SEC) -#define CLOCK_DIV (MP_CLOCKS_PER_SEC / MICROPY_FLOAT_CONST(1000.0)) -#else -#error Unsupported clock() implementation -#endif -STATIC mp_obj_t mp_time_time_get(void) { - #if MICROPY_PY_BUILTINS_FLOAT && MICROPY_FLOAT_IMPL == MICROPY_FLOAT_IMPL_DOUBLE +uint64_t mp_hal_time_ns(void) { struct timeval tv; gettimeofday(&tv, NULL); - mp_float_t val = tv.tv_sec + (mp_float_t)tv.tv_usec / 1000000; - return mp_obj_new_float(val); - #else - return mp_obj_new_int((mp_int_t)time(NULL)); - #endif + return (uint64_t)tv.tv_sec * 1000000000ULL + (uint64_t)tv.tv_usec * 1000ULL; } -// Note: this is deprecated since CPy3.3, but pystone still uses it. -STATIC mp_obj_t mod_time_clock(void) { - #if MICROPY_PY_BUILTINS_FLOAT - // float cannot represent full range of int32 precisely, so we pre-divide - // int to reduce resolution, and then actually do float division hoping - // to preserve integer part resolution. - return mp_obj_new_float((clock() / 1000) / CLOCK_DIV); - #else - return mp_obj_new_int((mp_int_t)clock()); - #endif +mp_uint_t mp_hal_ticks_cpu(void) { + return 0; } -STATIC MP_DEFINE_CONST_FUN_OBJ_0(mod_time_clock_obj, mod_time_clock); -STATIC mp_obj_t mp_time_sleep(mp_obj_t arg) { - #if MICROPY_PY_BUILTINS_FLOAT - struct timeval tv; - mp_float_t val = mp_obj_get_float(arg); - mp_float_t ipart; - tv.tv_usec = (time_t)MICROPY_FLOAT_C_FUN(round)(MICROPY_FLOAT_C_FUN(modf)(val, &ipart) * MICROPY_FLOAT_CONST(1000000.)); - tv.tv_sec = (suseconds_t)ipart; - int res; - while (1) { +mp_uint_t mp_hal_ticks_ms(void) { + struct timespec tv; + clock_gettime(CLOCK_MONOTONIC, &tv); + return tv.tv_sec * 1000 + tv.tv_nsec / 1000000; +} + +mp_uint_t mp_hal_ticks_us(void) { + struct timespec tv; + clock_gettime(CLOCK_MONOTONIC, &tv); + return tv.tv_sec * 1000000 + tv.tv_nsec / 1000; +} + +void mp_hal_delay_us(mp_uint_t us) { + mp_uint_t start = mp_hal_ticks_us(); + mp_uint_t stop = start + us; + while (start + 100000 < stop) { MP_THREAD_GIL_EXIT(); - res = sleep_select(0, NULL, NULL, NULL, &tv); + usleep(100000); MP_THREAD_GIL_ENTER(); - #if MICROPY_SELECT_REMAINING_TIME - // TODO: This assumes Linux behavior of modifying tv to the remaining - // time. - if (res != -1 || errno != EINTR) { - break; - } mp_handle_pending(true); - // printf("select: EINTR: %ld:%ld\n", tv.tv_sec, tv.tv_usec); - #else - break; - #endif + start = mp_hal_ticks_us(); } - RAISE_ERRNO(res, errno); - #else - int seconds = mp_obj_get_int(arg); - for (;;) { + if (stop > start) { MP_THREAD_GIL_EXIT(); - seconds = sleep(seconds); + usleep(stop - start); MP_THREAD_GIL_ENTER(); - if (seconds == 0) { - break; - } mp_handle_pending(true); } - #endif - return mp_const_none; +} + +void mp_hal_delay_ms(mp_uint_t ms) { + mp_hal_delay_us(ms * 1000); } STATIC mp_obj_t mod_time_gm_local_time(size_t n_args, const mp_obj_t *args, struct tm *(*time_func)(const time_t *timep)) { @@ -200,8 +159,14 @@ STATIC mp_obj_t mod_time_mktime(mp_obj_t tuple) { } MP_DEFINE_CONST_FUN_OBJ_1(mod_time_mktime_obj, mod_time_mktime); +// Note: this is deprecated since CPy3.3, but pystone still uses it. +STATIC mp_obj_t mod_time_clock(void) { + return mp_obj_new_int((mp_int_t)clock()); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_0(mod_time_clock_obj, mod_time_clock); + #define MICROPY_PY_TIME_EXTRA_GLOBALS \ - { MP_ROM_QSTR(MP_QSTR_clock), MP_ROM_PTR(&mod_time_clock_obj) }, \ + { MP_ROM_QSTR(MP_QSTR_clock), MP_ROM_PTR(&py_clock_type) }, \ { MP_ROM_QSTR(MP_QSTR_gmtime), MP_ROM_PTR(&mod_time_gmtime_obj) }, \ { MP_ROM_QSTR(MP_QSTR_localtime), MP_ROM_PTR(&mod_time_localtime_obj) }, \ { MP_ROM_QSTR(MP_QSTR_mktime), MP_ROM_PTR(&mod_time_mktime_obj) }, diff --git a/micropython_port/core/mphalport.c b/micropython_port/core/mphalport.c index d83a989..2458471 100644 --- a/micropython_port/core/mphalport.c +++ b/micropython_port/core/mphalport.c @@ -30,8 +30,6 @@ #include #include #include -#include -#include #include #include "py/mphal.h" @@ -130,7 +128,7 @@ void mp_hal_stdio_mode_orig(void) { int mp_hal_stdin_rx_chr(void) { extern int usb_rx(void); char c = usb_rx(); - fprintf(stderr, "[mpy] stdin rx %d\n", c); + // fprintf(stderr, "[mpy] stdin rx %d\n", c); return c; } @@ -141,10 +139,10 @@ void mp_hal_stdout_tx_strn(const char *str, size_t len) { mpy_stdout_tx(str, len); } else { extern int usb_tx(const void* buffer, size_t size); - fprintf(stderr, "[usb] print: "); - extern void print_raw(uint8_t* data, size_t size); - fwrite(str, 1, len, stderr); - fwrite("\r\n", 1, 2, stderr); + // fprintf(stderr, "[usb] print: "); + // extern void print_raw(uint8_t* data, size_t size); + // fwrite(str, 1, len, stderr); + // fwrite("\r\n", 1, 2, stderr); usb_tx(str, len); } mp_os_dupterm_tx_strn(str, len); @@ -172,66 +170,3 @@ void mp_hal_stdout_tx_str(const char *str) { void mp_hal_stdout_tx_str_cooked(const char* str) { mp_hal_stdout_tx_strn_cooked(str, strlen(str)); } - -#ifndef mp_hal_ticks_ms -mp_uint_t mp_hal_ticks_ms(void) { - #if (defined(_POSIX_TIMERS) && _POSIX_TIMERS > 0) && defined(_POSIX_MONOTONIC_CLOCK) - struct timespec tv; - clock_gettime(CLOCK_MONOTONIC, &tv); - return tv.tv_sec * 1000 + tv.tv_nsec / 1000000; - #else - struct timeval tv; - gettimeofday(&tv, NULL); - return tv.tv_sec * 1000 + tv.tv_usec / 1000; - #endif -} -#endif - -#ifndef mp_hal_ticks_us -mp_uint_t mp_hal_ticks_us(void) { - #if (defined(_POSIX_TIMERS) && _POSIX_TIMERS > 0) && defined(_POSIX_MONOTONIC_CLOCK) - struct timespec tv; - clock_gettime(CLOCK_MONOTONIC, &tv); - return tv.tv_sec * 1000000 + tv.tv_nsec / 1000; - #else - struct timeval tv; - gettimeofday(&tv, NULL); - return tv.tv_sec * 1000000 + tv.tv_usec; - #endif -} -#endif - -#ifndef mp_hal_time_ns -uint64_t mp_hal_time_ns(void) { - struct timeval tv; - gettimeofday(&tv, NULL); - return (uint64_t)tv.tv_sec * 1000000000ULL + (uint64_t)tv.tv_usec * 1000ULL; -} -#endif - -#ifndef mp_hal_delay_ms -void mp_hal_delay_ms(mp_uint_t ms) { - #ifdef MICROPY_EVENT_POLL_HOOK - mp_uint_t start = mp_hal_ticks_ms(); - while (mp_hal_ticks_ms() - start < ms) { - // MICROPY_EVENT_POLL_HOOK does usleep(500). - MICROPY_EVENT_POLL_HOOK - } - #else - // TODO: POSIX et al. define usleep() as guaranteedly capable only of 1s sleep: - // "The useconds argument shall be less than one million." - usleep(ms * 1000); - #endif -} -#endif - -// void mp_hal_get_random(size_t n, void *buf) { -// #ifdef _HAVE_GETRANDOM -// RAISE_ERRNO(getrandom(buf, n, 0), errno); -// #else -// int fd = open("/dev/random", O_RDONLY); -// RAISE_ERRNO(fd, errno); -// RAISE_ERRNO(read(fd, buf, n), errno); -// close(fd); -// #endif -// } diff --git a/micropython_port/core/mpthreadport.c b/micropython_port/core/mpthreadport.c index 6a267e7..2190bf4 100644 --- a/micropython_port/core/mpthreadport.c +++ b/micropython_port/core/mpthreadport.c @@ -191,6 +191,10 @@ void mp_thread_set_state(mp_state_thread_t *state) { pthread_setspecific(tls_key, state); } +mp_uint_t mp_thread_get_id(void) { + return (mp_uint_t)pthread_self(); +} + void mp_thread_start(void) { // enable realtime priority if `-X realtime` command line parameter was set #if defined(__APPLE__) @@ -210,7 +214,7 @@ void mp_thread_start(void) { mp_thread_unix_end_atomic_section(); } -void mp_thread_create(void *(*entry)(void *), void *arg, size_t *stack_size) { +mp_uint_t mp_thread_create(void *(*entry)(void *), void *arg, size_t *stack_size) { // default stack size is 8k machine-words if (*stack_size == 0) { *stack_size = 8192 * sizeof(void *); @@ -265,7 +269,8 @@ void mp_thread_create(void *(*entry)(void *), void *arg, size_t *stack_size) { mp_thread_unix_end_atomic_section(); - return; + MP_STATIC_ASSERT(sizeof(mp_uint_t) >= sizeof(pthread_t)); + return (mp_uint_t)id; er: mp_raise_OSError(ret); diff --git a/micropython_port/include/ai_cube/clipper.h b/micropython_port/include/ai_cube/clipper.h new file mode 100644 index 0000000..92b5410 --- /dev/null +++ b/micropython_port/include/ai_cube/clipper.h @@ -0,0 +1,365 @@ +#ifndef _CLIPPER_H_ +#define _CLIPPER_H_ + +#define CLIPPER_VERSION "6.4.2" + +#define use_lines + +//use_deprecated: Enables temporary support for the obsolete functions +//#define use_deprecated + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ClipperLib { + +enum ClipType { ctIntersection, ctUnion, ctDifference, ctXor }; +enum PolyType { ptSubject, ptClip }; +//By far the most widely used winding rules for polygon filling are +//EvenOdd & NonZero (GDI, GDI+, XLib, OpenGL, Cairo, AGG, Quartz, SVG, Gr32) +//Others rules include Positive, Negative and ABS_GTR_EQ_TWO (only in OpenGL) +//see http://glprogramming.com/red/chapter11.html +enum PolyFillType { pftEvenOdd, pftNonZero, pftPositive, pftNegative }; + +#ifdef use_int32 + typedef int cInt; + static cInt const loRange = 0x7FFF; + static cInt const hiRange = 0x7FFF; +#else + typedef signed long long cInt; + static cInt const loRange = 0x3FFFFFFF; + static cInt const hiRange = 0x3FFFFFFFFFFFFFFFLL; + typedef signed long long long64; //used by Int128 class + typedef unsigned long long ulong64; + +#endif + +struct IntPoint { + cInt X; + cInt Y; +#ifdef use_xyz + cInt Z; + IntPoint(cInt x = 0, cInt y = 0, cInt z = 0): X(x), Y(y), Z(z) {}; +#else + IntPoint(cInt x = 0, cInt y = 0): X(x), Y(y) {}; +#endif + + friend inline bool operator== (const IntPoint& a, const IntPoint& b) + { + return a.X == b.X && a.Y == b.Y; + } + friend inline bool operator!= (const IntPoint& a, const IntPoint& b) + { + return a.X != b.X || a.Y != b.Y; + } +}; +//------------------------------------------------------------------------------ + +typedef std::vector< IntPoint > Path; +typedef std::vector< Path > Paths; + +inline Path& operator <<(Path& poly, const IntPoint& p) {poly.push_back(p); return poly;} +inline Paths& operator <<(Paths& polys, const Path& p) {polys.push_back(p); return polys;} + +std::ostream& operator <<(std::ostream &s, const IntPoint &p); +std::ostream& operator <<(std::ostream &s, const Path &p); +std::ostream& operator <<(std::ostream &s, const Paths &p); + +struct DoublePoint +{ + double X; + double Y; + DoublePoint(double x = 0, double y = 0) : X(x), Y(y) {} + DoublePoint(IntPoint ip) : X((double)ip.X), Y((double)ip.Y) {} +}; +//------------------------------------------------------------------------------ + +#ifdef use_xyz +typedef void (*ZFillCallback)(IntPoint& e1bot, IntPoint& e1top, IntPoint& e2bot, IntPoint& e2top, IntPoint& pt); +#endif + +enum InitOptions {ioReverseSolution = 1, ioStrictlySimple = 2, ioPreserveCollinear = 4}; +enum JoinType {jtSquare, jtRound, jtMiter}; +enum EndType {etClosedPolygon, etClosedLine, etOpenButt, etOpenSquare, etOpenRound}; + +class PolyNode; +typedef std::vector< PolyNode* > PolyNodes; + +class PolyNode +{ +public: + PolyNode(); + virtual ~PolyNode(){}; + Path Contour; + PolyNodes Childs; + PolyNode* Parent; + PolyNode* GetNext() const; + bool IsHole() const; + bool IsOpen() const; + int ChildCount() const; +private: + //PolyNode& operator =(PolyNode& other); + unsigned Index; //node index in Parent.Childs + bool m_IsOpen; + JoinType m_jointype; + EndType m_endtype; + PolyNode* GetNextSiblingUp() const; + void AddChild(PolyNode& child); + friend class Clipper; //to access Index + friend class ClipperOffset; +}; + +class PolyTree: public PolyNode +{ +public: + ~PolyTree(){ Clear(); }; + PolyNode* GetFirst() const; + void Clear(); + int Total() const; +private: + //PolyTree& operator =(PolyTree& other); + PolyNodes AllNodes; + friend class Clipper; //to access AllNodes +}; + +bool Orientation(const Path &poly); +double Area(const Path &poly); +int PointInPolygon(const IntPoint &pt, const Path &path); + +void SimplifyPolygon(const Path &in_poly, Paths &out_polys, PolyFillType fillType = pftEvenOdd); +void SimplifyPolygons(const Paths &in_polys, Paths &out_polys, PolyFillType fillType = pftEvenOdd); +void SimplifyPolygons(Paths &polys, PolyFillType fillType = pftEvenOdd); + +void CleanPolygon(const Path& in_poly, Path& out_poly, double distance = 1.415); +void CleanPolygon(Path& poly, double distance = 1.415); +void CleanPolygons(const Paths& in_polys, Paths& out_polys, double distance = 1.415); +void CleanPolygons(Paths& polys, double distance = 1.415); + +void MinkowskiSum(const Path& pattern, const Path& path, Paths& solution, bool pathIsClosed); +void MinkowskiSum(const Path& pattern, const Paths& paths, Paths& solution, bool pathIsClosed); +void MinkowskiDiff(const Path& poly1, const Path& poly2, Paths& solution); + +void PolyTreeToPaths(const PolyTree& polytree, Paths& paths); +void ClosedPathsFromPolyTree(const PolyTree& polytree, Paths& paths); +void OpenPathsFromPolyTree(PolyTree& polytree, Paths& paths); + +void ReversePath(Path& p); +void ReversePaths(Paths& p); + +struct IntRect { cInt left; cInt top; cInt right; cInt bottom; }; + +//enums that are used internally ... +enum EdgeSide { esLeft = 1, esRight = 2}; + +//forward declarations (for stuff used internally) ... +struct TEdge; +struct IntersectNode; +struct LocalMinimum; +struct OutPt; +struct OutRec; +struct Join; + +typedef std::vector < OutRec* > PolyOutList; +typedef std::vector < TEdge* > EdgeList; +typedef std::vector < Join* > JoinList; +typedef std::vector < IntersectNode* > IntersectList; + +//------------------------------------------------------------------------------ + +//ClipperBase is the ancestor to the Clipper class. It should not be +//instantiated directly. This class simply abstracts the conversion of sets of +//polygon coordinates into edge objects that are stored in a LocalMinima list. +class ClipperBase +{ +public: + ClipperBase(); + virtual ~ClipperBase(); + virtual bool AddPath(const Path &pg, PolyType PolyTyp, bool Closed); + bool AddPaths(const Paths &ppg, PolyType PolyTyp, bool Closed); + virtual void Clear(); + IntRect GetBounds(); + bool PreserveCollinear() {return m_PreserveCollinear;}; + void PreserveCollinear(bool value) {m_PreserveCollinear = value;}; +protected: + void DisposeLocalMinimaList(); + TEdge* AddBoundsToLML(TEdge *e, bool IsClosed); + virtual void Reset(); + TEdge* ProcessBound(TEdge* E, bool IsClockwise); + void InsertScanbeam(const cInt Y); + bool PopScanbeam(cInt &Y); + bool LocalMinimaPending(); + bool PopLocalMinima(cInt Y, const LocalMinimum *&locMin); + OutRec* CreateOutRec(); + void DisposeAllOutRecs(); + void DisposeOutRec(PolyOutList::size_type index); + void SwapPositionsInAEL(TEdge *edge1, TEdge *edge2); + void DeleteFromAEL(TEdge *e); + void UpdateEdgeIntoAEL(TEdge *&e); + + typedef std::vector MinimaList; + MinimaList::iterator m_CurrentLM; + MinimaList m_MinimaList; + + bool m_UseFullRange; + EdgeList m_edges; + bool m_PreserveCollinear; + bool m_HasOpenPaths; + PolyOutList m_PolyOuts; + TEdge *m_ActiveEdges; + + typedef std::priority_queue ScanbeamList; + ScanbeamList m_Scanbeam; +}; +//------------------------------------------------------------------------------ + +class Clipper : public virtual ClipperBase +{ +public: + Clipper(int initOptions = 0); + bool Execute(ClipType clipType, + Paths &solution, + PolyFillType fillType = pftEvenOdd); + bool Execute(ClipType clipType, + Paths &solution, + PolyFillType subjFillType, + PolyFillType clipFillType); + bool Execute(ClipType clipType, + PolyTree &polytree, + PolyFillType fillType = pftEvenOdd); + bool Execute(ClipType clipType, + PolyTree &polytree, + PolyFillType subjFillType, + PolyFillType clipFillType); + bool ReverseSolution() { return m_ReverseOutput; }; + void ReverseSolution(bool value) {m_ReverseOutput = value;}; + bool StrictlySimple() {return m_StrictSimple;}; + void StrictlySimple(bool value) {m_StrictSimple = value;}; + //set the callback function for z value filling on intersections (otherwise Z is 0) +#ifdef use_xyz + void ZFillFunction(ZFillCallback zFillFunc); +#endif +protected: + virtual bool ExecuteInternal(); +private: + JoinList m_Joins; + JoinList m_GhostJoins; + IntersectList m_IntersectList; + ClipType m_ClipType; + typedef std::list MaximaList; + MaximaList m_Maxima; + TEdge *m_SortedEdges; + bool m_ExecuteLocked; + PolyFillType m_ClipFillType; + PolyFillType m_SubjFillType; + bool m_ReverseOutput; + bool m_UsingPolyTree; + bool m_StrictSimple; +#ifdef use_xyz + ZFillCallback m_ZFill; //custom callback +#endif + void SetWindingCount(TEdge& edge); + bool IsEvenOddFillType(const TEdge& edge) const; + bool IsEvenOddAltFillType(const TEdge& edge) const; + void InsertLocalMinimaIntoAEL(const cInt botY); + void InsertEdgeIntoAEL(TEdge *edge, TEdge* startEdge); + void AddEdgeToSEL(TEdge *edge); + bool PopEdgeFromSEL(TEdge *&edge); + void CopyAELToSEL(); + void DeleteFromSEL(TEdge *e); + void SwapPositionsInSEL(TEdge *edge1, TEdge *edge2); + bool IsContributing(const TEdge& edge) const; + bool IsTopHorz(const cInt XPos); + void DoMaxima(TEdge *e); + void ProcessHorizontals(); + void ProcessHorizontal(TEdge *horzEdge); + void AddLocalMaxPoly(TEdge *e1, TEdge *e2, const IntPoint &pt); + OutPt* AddLocalMinPoly(TEdge *e1, TEdge *e2, const IntPoint &pt); + OutRec* GetOutRec(int idx); + void AppendPolygon(TEdge *e1, TEdge *e2); + void IntersectEdges(TEdge *e1, TEdge *e2, IntPoint &pt); + OutPt* AddOutPt(TEdge *e, const IntPoint &pt); + OutPt* GetLastOutPt(TEdge *e); + bool ProcessIntersections(const cInt topY); + void BuildIntersectList(const cInt topY); + void ProcessIntersectList(); + void ProcessEdgesAtTopOfScanbeam(const cInt topY); + void BuildResult(Paths& polys); + void BuildResult2(PolyTree& polytree); + void SetHoleState(TEdge *e, OutRec *outrec); + void DisposeIntersectNodes(); + bool FixupIntersectionOrder(); + void FixupOutPolygon(OutRec &outrec); + void FixupOutPolyline(OutRec &outrec); + bool IsHole(TEdge *e); + bool FindOwnerFromSplitRecs(OutRec &outRec, OutRec *&currOrfl); + void FixHoleLinkage(OutRec &outrec); + void AddJoin(OutPt *op1, OutPt *op2, const IntPoint offPt); + void ClearJoins(); + void ClearGhostJoins(); + void AddGhostJoin(OutPt *op, const IntPoint offPt); + bool JoinPoints(Join *j, OutRec* outRec1, OutRec* outRec2); + void JoinCommonEdges(); + void DoSimplePolygons(); + void FixupFirstLefts1(OutRec* OldOutRec, OutRec* NewOutRec); + void FixupFirstLefts2(OutRec* InnerOutRec, OutRec* OuterOutRec); + void FixupFirstLefts3(OutRec* OldOutRec, OutRec* NewOutRec); +#ifdef use_xyz + void SetZ(IntPoint& pt, TEdge& e1, TEdge& e2); +#endif +}; +//------------------------------------------------------------------------------ + +class ClipperOffset +{ +public: + ClipperOffset(double miterLimit = 2.0, double roundPrecision = 0.25); + ~ClipperOffset(); + void AddPath(const Path& path, JoinType joinType, EndType endType); + void AddPaths(const Paths& paths, JoinType joinType, EndType endType); + void Execute(Paths& solution, double delta); + void Execute(PolyTree& solution, double delta); + void Clear(); + double MiterLimit; + double ArcTolerance; +private: + Paths m_destPolys; + Path m_srcPoly; + Path m_destPoly; + std::vector m_normals; + double m_delta, m_sinA, m_sin, m_cos; + double m_miterLim, m_StepsPerRad; + IntPoint m_lowest; + PolyNode m_polyNodes; + + void FixOrientations(); + void DoOffset(double delta); + void OffsetPoint(int j, int& k, JoinType jointype); + void DoSquare(int j, int k); + void DoMiter(int j, int k, double r); + void DoRound(int j, int k); +}; +//------------------------------------------------------------------------------ + +class clipperException : public std::exception +{ + public: + clipperException(const char* description): m_descr(description) {} + virtual ~clipperException() throw() {} + virtual const char* what() const throw() {return m_descr.c_str();} + private: + std::string m_descr; +}; +//------------------------------------------------------------------------------ + +} //ClipperLib namespace + +#endif //clipper_hpp + + diff --git a/micropython_port/include/ai_cube/postprocess.h b/micropython_port/include/ai_cube/postprocess.h new file mode 100644 index 0000000..16b5db4 --- /dev/null +++ b/micropython_port/include/ai_cube/postprocess.h @@ -0,0 +1,42 @@ +#include +typedef struct ob_det_res +{ + float x1; + float y1; + float x2; + float y2; + float score; + int label_index; +}ob_det_res; + +typedef struct FrameSize +{ + int width; + int height; +} FrameSize; + +typedef struct CenterPrior +{ + int x; + int y; + int stride; +}CenterPrior; + +typedef struct ArrayWrapper +{ + uint8_t* data; // 指向数组的指针 + int* dimensions; // 数组的维度信息 + float coordinates[8]; // 画图的四个点的位置 +}ArrayWrapper; + +#ifdef __cplusplus +extern "C" { +#endif + ArrayWrapper* ocr_post_process(FrameSize frame_size,FrameSize kmodel_frame_size,float box_thresh,float threshold, float* data_0, uint8_t* data_1, int* results_size); + ob_det_res* anchorbasedet_post_process(float* data0, float* data1, float* data2, FrameSize kmodel_frame_size, FrameSize frame_size, int* strides, int num_class, float ob_det_thresh, float ob_nms_thresh, float* anchors, bool nms_option, int* results_size); + ob_det_res* anchorfreedet_post_process(float* data0, float* data1, float* data2, FrameSize kmodel_frame_size, FrameSize frame_size, int* strides, int num_class, float ob_det_thresh, float ob_nms_thresh, bool nms_option, int* results_size); + ob_det_res* gfldet_post_process(float* data0, float* data1, float* data2, FrameSize kmodel_frame_size, FrameSize frame_size, int* strides, int num_class, float ob_det_thresh, float ob_nms_thresh, bool nms_option, int* results_size); + uint8_t* seg_post_process(float* data, int num_class, FrameSize ori_shape, FrameSize dst_shape); +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/micropython_port/include/ai_demo/ai_demo.h b/micropython_port/include/ai_demo/ai_demo.h new file mode 100644 index 0000000..c538d3a --- /dev/null +++ b/micropython_port/include/ai_demo/ai_demo.h @@ -0,0 +1,34 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _AI_DEMO_H_ +#define _AI_DEMO_H_ + +#include "py/obj.h" + +// This opencv class is implemented by ai_cube.c. +extern const mp_obj_type_t aidemo_type; + +#endif // _AI_DEMO_H_ diff --git a/micropython_port/include/ai_demo/aidemo_type.h b/micropython_port/include/ai_demo/aidemo_type.h new file mode 100644 index 0000000..05cd33c --- /dev/null +++ b/micropython_port/include/ai_demo/aidemo_type.h @@ -0,0 +1,112 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _AIDEMO_TYPE_H_ +#define _AIDEMO_TYPE_H_ +#include "py/obj.h" +#include "aidemo_wrap.h" + +//*****************************for common***************************** +struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +}; + +struct CHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +}; + +struct generic_array{ + void *data_; + size_t length_; +}; + +//*****************************for cv***************************** +struct cv_and_ndarray_convert_info +{ + uint8_t dtype_; + uint8_t ndim_; + size_t len_; + size_t shape_[3]; //ULAB_MAX_DIMS + size_t strides_[3]; + void *data_; +}; + +struct BoxPoint8 +{ + float points8[8]; +}; + +struct ArrayWrapperMat1 +{ + uint8_t* data; // 指向数组的指针 + FrameSize framesize; // 数组的维度信息 + float coordinates[8]; // 画图的四个点的位置 +}; + +//*****************************for face det***************************** +struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +}; + +struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +}; + +struct FaceDetectionInfoVector +{ + size_t vec_len; + Bbox *bbox; // 人脸检测框 + SparseLandmarks *sparse_kps; // 人脸五官关键点 + float *score; // 人脸检测框置信度 +}; + +//*****************************for object segment***************************** +struct SegOutput { + int id; //结果类别id + float confidence; //结果置信度 + int box[4]; //矩形框 +}; + +struct SegOutputs { + SegOutput *segOutput; + uint8_t *masks_results; +}; + +//*****************************for person keypoint detect********************** +struct PersonKPOutput { + float confidence; //结果置信度 + int box[4]; //矩形框 x1 y1 x2 y2 + float kps[17][3]; //关键点 向量 +}; +#endif // _AIDEMO_TYPE_H_ \ No newline at end of file diff --git a/micropython_port/include/ai_demo/aidemo_wrap.h b/micropython_port/include/ai_demo/aidemo_wrap.h new file mode 100644 index 0000000..b141ca6 --- /dev/null +++ b/micropython_port/include/ai_demo/aidemo_wrap.h @@ -0,0 +1,88 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _AIDEMO_WRAP_H_ +#define _AIDEMO_WRAP_H_ + +#include +#include +#include +#include "aidemo_type.h" + +//for common +typedef struct generic_array generic_array; +typedef struct FrameSize FrameSize; +typedef struct CHWSize CHWSize; +//for cv +typedef struct cv_and_ndarray_convert_info cv_and_ndarray_convert_info; +typedef struct BoxPoint8 BoxPoint8; +typedef struct ArrayWrapperMat1 ArrayWrapperMat1; +//for face det +typedef struct Bbox Bbox; +typedef struct SparseLandmarks SparseLandmarks; +typedef struct FaceDetectionInfoVector FaceDetectionInfoVector; +//for object segment +typedef struct SegOutput SegOutput; +typedef struct SegOutputs SegOutputs; +//for person kp det +typedef struct PersonKPOutput PersonKPOutput; +// for kws +typedef struct feature_pipeline feature_pipeline; +typedef struct processed_feat processed_feat; + +#ifdef __cplusplus +extern "C" { +#endif + //for cv + void invert_affine_transform(float* data,cv_and_ndarray_convert_info* info); + void draw_polylines(cv_and_ndarray_convert_info* in_info,generic_array* pts,bool is_closed,generic_array* color,int thickness,int line_type,int shift); + void draw_contours(cv_and_ndarray_convert_info* in_info,generic_array* pts,int contour_idx,generic_array* color,int thickness,int line_type); + float* mask_resize(float* dest, FrameSize ori_shape, FrameSize tag_shape); + void draw_mesh(cv_and_ndarray_convert_info *in_info, generic_array* p_vertices); + //for ocr rec + ArrayWrapperMat1* ocr_rec_pre_process(uint8_t* data, FrameSize ori_shape, BoxPoint8* boxpoint8, int box_cnt); + + //for face det + FaceDetectionInfoVector* face_detetion_post_process(float obj_thresh,float nms_thresh,int net_len,float* anchors,FrameSize* frame_size,float** p_outputs); + //for face parse + void face_parse_post_process(cv_and_ndarray_convert_info* in_info,FrameSize* ai_img_shape,FrameSize* osd_img_shape,int net_len,Bbox* bbox,CHWSize* model_out_shape,float* p_outputs); + //for face mesh + void face_mesh_post_process(Bbox roi,generic_array* p_vertices); + //for licence det + BoxPoint8* licence_det_post_process(float* p_outputs_0,float* p_outputs_1,float* p_outputs_2,float* p_outputs_3,float* p_outputs_4,float* p_outputs_5,float* p_outputs_6,float* p_outputs_7,float* p_outputs_8,FrameSize frame_size,FrameSize kmodel_frame_size,float obj_thresh,float nms_thresh,int* box_cnt); + //for object segment + SegOutputs object_seg_post_process(float *data_0, float *data_1, FrameSize frame_size, FrameSize kmodel_frame_size, FrameSize display_frame_size, float conf_thres, float nms_thres, float mask_thres, int *box_cnt); + //for person kp det + PersonKPOutput* person_kp_postprocess(float *data, FrameSize frame_size, FrameSize kmodel_frame_size, float obj_thresh, float nms_thresh, int *box_cnt); + //for kws + feature_pipeline *feature_pipeline_create(); + void release_preprocess_class(feature_pipeline *fp); + void release_final_feats(float* feats); + void wav_preprocess(feature_pipeline *fp, float *wav, size_t wav_length, float* final_feats); + void release_preprocess_class(feature_pipeline *fp); +#ifdef __cplusplus +} +#endif + +#endif // _AIDEMO_WRAP_H_ \ No newline at end of file diff --git a/micropython_port/include/ai_demo/kws/blocking_queue.h b/micropython_port/include/ai_demo/kws/blocking_queue.h new file mode 100644 index 0000000..b1748f6 --- /dev/null +++ b/micropython_port/include/ai_demo/kws/blocking_queue.h @@ -0,0 +1,98 @@ +// Copyright (c) 2020 Mobvoi Inc (Binbin Zhang) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS_BLOCKING_QUEUE_H_ +#define UTILS_BLOCKING_QUEUE_H_ + +#include +#include +#include +#include +#include + +namespace wenet { + +#define WENET_DISALLOW_COPY_AND_ASSIGN(Type) \ + Type(const Type&) = delete; \ + Type& operator=(const Type&) = delete; + +template +class BlockingQueue { + public: + explicit BlockingQueue(size_t capacity = std::numeric_limits::max()) + : capacity_(capacity) {} + + void Push(const T& value) { + { + std::unique_lock lock(mutex_); + while (queue_.size() >= capacity_) { + not_full_condition_.wait(lock); + } + queue_.push(value); + } + not_empty_condition_.notify_one(); + } + + void Push(T&& value) { + { + std::unique_lock lock(mutex_); + while (queue_.size() >= capacity_) { + not_full_condition_.wait(lock); + } + queue_.push(std::move(value)); + } + not_empty_condition_.notify_one(); + } + + T Pop() { + std::unique_lock lock(mutex_); + while (queue_.empty()) { + not_empty_condition_.wait(lock); + } + T t(std::move(queue_.front())); + queue_.pop(); + not_full_condition_.notify_one(); + return t; + } + + bool Empty() const { + std::lock_guard lock(mutex_); + return queue_.empty(); + } + + size_t Size() const { + std::lock_guard lock(mutex_); + return queue_.size(); + } + + void Clear() { + while (!Empty()) { + Pop(); + } + } + + private: + size_t capacity_; + mutable std::mutex mutex_; + std::condition_variable not_full_condition_; + std::condition_variable not_empty_condition_; + std::queue queue_; + + public: + WENET_DISALLOW_COPY_AND_ASSIGN(BlockingQueue); +}; + +} // namespace wenet + +#endif // UTILS_BLOCKING_QUEUE_H_ diff --git a/micropython_port/include/ai_demo/kws/fbank.h b/micropython_port/include/ai_demo/kws/fbank.h new file mode 100644 index 0000000..bc3f2cc --- /dev/null +++ b/micropython_port/include/ai_demo/kws/fbank.h @@ -0,0 +1,222 @@ +// Copyright (c) 2017 Personal (Binbin Zhang) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef FRONTEND_FBANK_H_ +#define FRONTEND_FBANK_H_ + +#include +#include +#include +#include +#include + +#include "fft.h" +#include "log.h" + +namespace wenet { + +// This code is based on kaldi Fbank implentation, please see +// https://github.com/kaldi-asr/kaldi/blob/master/src/feat/feature-fbank.cc +class Fbank { + public: + Fbank(int num_bins, int sample_rate, int frame_length, int frame_shift) + : num_bins_(num_bins), + sample_rate_(sample_rate), + frame_length_(frame_length), + frame_shift_(frame_shift), + use_log_(true), + remove_dc_offset_(true), + generator_(0), + distribution_(0, 1.0), + dither_(0.0) { + fft_points_ = UpperPowerOfTwo(frame_length_); + // generate bit reversal table and trigonometric function table + const int fft_points_4 = fft_points_ / 4; + bitrev_.resize(fft_points_); + sintbl_.resize(fft_points_ + fft_points_4); + make_sintbl(fft_points_, sintbl_.data()); + make_bitrev(fft_points_, bitrev_.data()); + + int num_fft_bins = fft_points_ / 2; + float fft_bin_width = static_cast(sample_rate_) / fft_points_; + int low_freq = 20, high_freq = sample_rate_ / 2; + float mel_low_freq = MelScale(low_freq); + float mel_high_freq = MelScale(high_freq); + float mel_freq_delta = (mel_high_freq - mel_low_freq) / (num_bins + 1); + bins_.resize(num_bins_); + center_freqs_.resize(num_bins_); + for (int bin = 0; bin < num_bins; ++bin) { + float left_mel = mel_low_freq + bin * mel_freq_delta, + center_mel = mel_low_freq + (bin + 1) * mel_freq_delta, + right_mel = mel_low_freq + (bin + 2) * mel_freq_delta; + center_freqs_[bin] = InverseMelScale(center_mel); + std::vector this_bin(num_fft_bins); + int first_index = -1, last_index = -1; + for (int i = 0; i < num_fft_bins; ++i) { + float freq = (fft_bin_width * i); // Center frequency of this fft + // bin. + float mel = MelScale(freq); + if (mel > left_mel && mel < right_mel) { + float weight; + if (mel <= center_mel) + weight = (mel - left_mel) / (center_mel - left_mel); + else + weight = (right_mel - mel) / (right_mel - center_mel); + this_bin[i] = weight; + if (first_index == -1) first_index = i; + last_index = i; + } + } + CHECK(first_index != -1 && last_index >= first_index); + bins_[bin].first = first_index; + int size = last_index + 1 - first_index; + bins_[bin].second.resize(size); + for (int i = 0; i < size; ++i) { + bins_[bin].second[i] = this_bin[first_index + i]; + } + } + + // NOTE(cdliang): add hamming window + hamming_window_.resize(frame_length_); + double a = M_2PI / (frame_length - 1); + for (int i = 0; i < frame_length; i++) { + double i_fl = static_cast(i); + hamming_window_[i] = 0.54 - 0.46 * cos(a * i_fl); + } + } + + void set_use_log(bool use_log) { use_log_ = use_log; } + + void set_remove_dc_offset(bool remove_dc_offset) { + remove_dc_offset_ = remove_dc_offset; + } + + void set_dither(float dither) { dither_ = dither; } + + int num_bins() const { return num_bins_; } + + static inline float InverseMelScale(float mel_freq) { + return 700.0f * (expf(mel_freq / 1127.0f) - 1.0f); + } + + static inline float MelScale(float freq) { + return 1127.0f * logf(1.0f + freq / 700.0f); + } + + static int UpperPowerOfTwo(int n) { + return static_cast(pow(2, ceil(log(n) / log(2)))); + } + + // preemphasis + void PreEmphasis(float coeff, std::vector* data) const { + if (coeff == 0.0) return; + for (int i = data->size() - 1; i > 0; i--) + (*data)[i] -= coeff * (*data)[i - 1]; + (*data)[0] -= coeff * (*data)[0]; + } + + // add hamming window + void Hamming(std::vector* data) const { + CHECK(data->size() >= hamming_window_.size()); + for (size_t i = 0; i < hamming_window_.size(); ++i) { + (*data)[i] *= hamming_window_[i]; + } + } + + // Compute fbank feat, return num frames + int Compute(const std::vector& wave, + std::vector>* feat) { + int num_samples = wave.size(); + if (num_samples < frame_length_) return 0; + int num_frames = 1 + ((num_samples - frame_length_) / frame_shift_); + feat->resize(num_frames); + std::vector fft_real(fft_points_, 0), fft_img(fft_points_, 0); + std::vector power(fft_points_ / 2); + for (int i = 0; i < num_frames; ++i) { + std::vector data(wave.data() + i * frame_shift_, + wave.data() + i * frame_shift_ + frame_length_); + // optional add noise + if (dither_ != 0.0) { + for (size_t j = 0; j < data.size(); ++j) + data[j] += dither_ * distribution_(generator_); + } + // optinal remove dc offset + if (remove_dc_offset_) { + float mean = 0.0; + for (size_t j = 0; j < data.size(); ++j) mean += data[j]; + mean /= data.size(); + for (size_t j = 0; j < data.size(); ++j) data[j] -= mean; + } + + PreEmphasis(0.97, &data); + // Povey(&data); + Hamming(&data); + // copy data to fft_real + memset(fft_img.data(), 0, sizeof(float) * fft_points_); + memset(fft_real.data() + frame_length_, 0, + sizeof(float) * (fft_points_ - frame_length_)); + memcpy(fft_real.data(), data.data(), sizeof(float) * frame_length_); + fft(bitrev_.data(), sintbl_.data(), fft_real.data(), fft_img.data(), + fft_points_); + // power + for (int j = 0; j < fft_points_ / 2; ++j) { + power[j] = fft_real[j] * fft_real[j] + fft_img[j] * fft_img[j]; + } + + (*feat)[i].resize(num_bins_); + // cepstral coefficients, triangle filter array + for (int j = 0; j < num_bins_; ++j) { + float mel_energy = 0.0; + int s = bins_[j].first; + for (size_t k = 0; k < bins_[j].second.size(); ++k) { + mel_energy += bins_[j].second[k] * power[s + k]; + } + // optional use log + if (use_log_) { + if (mel_energy < std::numeric_limits::epsilon()) + mel_energy = std::numeric_limits::epsilon(); + mel_energy = logf(mel_energy); + } + + (*feat)[i][j] = mel_energy; + // printf("%f ", mel_energy); + } + // printf("\n"); + } + return num_frames; + } + + private: + int num_bins_; + int sample_rate_; + int frame_length_, frame_shift_; + int fft_points_; + bool use_log_; + bool remove_dc_offset_; + std::vector center_freqs_; + std::vector>> bins_; + std::vector hamming_window_; + std::default_random_engine generator_; + std::normal_distribution distribution_; + float dither_; + + // bit reversal table + std::vector bitrev_; + // trigonometric function table + std::vector sintbl_; +}; + +} // namespace wenet + +#endif // FRONTEND_FBANK_H_ diff --git a/micropython_port/include/ai_demo/kws/feature_pipeline.h b/micropython_port/include/ai_demo/kws/feature_pipeline.h new file mode 100644 index 0000000..dca9ef0 --- /dev/null +++ b/micropython_port/include/ai_demo/kws/feature_pipeline.h @@ -0,0 +1,120 @@ +// Copyright (c) 2017 Personal (Binbin Zhang) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef FRONTEND_FEATURE_PIPELINE_H_ +#define FRONTEND_FEATURE_PIPELINE_H_ + +#include +#include +#include +#include + +#include "fbank.h" +#include "log.h" +#include "blocking_queue.h" + +namespace wenet { + +struct FeaturePipelineConfig { + int num_bins; + int sample_rate; + int frame_length; + int frame_shift; + + FeaturePipelineConfig(int num_bins, int sample_rate) + : num_bins(num_bins), // 80 dim fbank + sample_rate(sample_rate) { // 16k sample rate + frame_length = sample_rate / 1000 * 25; // frame length 25ms + frame_shift = sample_rate / 1000 * 10; // frame shift 10ms + } + + void Info() const { + LOG(INFO) << "feature pipeline config" + << " num_bins " << num_bins << " frame_length " << frame_length + << " frame_shift " << frame_shift; + } +}; + +// Typically, FeaturePipeline is used in two threads: one thread A calls +// AcceptWaveform() to add raw wav data and set_input_finished() to notice +// the end of input wav, another thread B (decoder thread) calls Read() to +// consume features.So a BlockingQueue is used to make this class thread safe. + +// The Read() is designed as a blocking method when there is no feature +// in feature_queue_ and the input is not finished. + +class FeaturePipeline { + public: + //explicit FeaturePipeline(const FeaturePipelineConfig& config); + explicit FeaturePipeline(); + + // The feature extraction is done in AcceptWaveform(). + void AcceptWaveform(const std::vector& wav); + void AcceptWaveform(const std::vector& wav); + + // Current extracted frames number. + int num_frames() const { return num_frames_; } + int feature_dim() const { return feature_dim_; } + // const FeaturePipelineConfig& config() const { return config_; } + + // The caller should call this method when speech input is end. + // Never call AcceptWaveform() after calling set_input_finished() ! + void set_input_finished(); + bool input_finished() const { return input_finished_; } + + // Return False if input is finished and no feature could be read. + // Return True if a feature is read. + // This function is a blocking method. It will block the thread when + // there is no feature in feature_queue_ and the input is not finished. + bool ReadOne(std::vector* feat); + + // Read #num_frames frame features. + // Return False if less then #num_frames features are read and the + // input is finished. + // Return True if #num_frames features are read. + // This function is a blocking method when there is no feature + // in feature_queue_ and the input is not finished. + bool Read(int num_frames, std::vector>* feats); + + void Reset(); + bool IsLastFrame(int frame) const { + return input_finished_ && (frame == num_frames_ - 1); + } + + int NumQueuedFrames() const { return feature_queue_.Size(); } + + private: + // const FeaturePipelineConfig& config_; + int feature_dim_; + Fbank fbank_; + + BlockingQueue> feature_queue_; + int num_frames_; + bool input_finished_; + + // The feature extraction is done in AcceptWaveform(). + // This wavefrom sample points are consumed by frame size. + // The residual wavefrom sample points after framing are + // kept to be used in next AcceptWaveform() calling. + std::vector remained_wav_; + + // Used to block the Read when there is no feature in feature_queue_ + // and the input is not finished. + mutable std::mutex mutex_; + std::condition_variable finish_condition_; +}; + +} // namespace wenet + +#endif // FRONTEND_FEATURE_PIPELINE_H_ diff --git a/micropython_port/include/ai_demo/kws/fft.h b/micropython_port/include/ai_demo/kws/fft.h new file mode 100644 index 0000000..5015311 --- /dev/null +++ b/micropython_port/include/ai_demo/kws/fft.h @@ -0,0 +1,25 @@ +// Copyright (c) 2016 HR + +#ifndef FRONTEND_FFT_H_ +#define FRONTEND_FFT_H_ + +#ifndef M_PI +#define M_PI 3.1415926535897932384626433832795 +#endif +#ifndef M_2PI +#define M_2PI 6.283185307179586476925286766559005 +#endif + +namespace wenet { + +// Fast Fourier Transform + +void make_sintbl(int n, float* sintbl); + +void make_bitrev(int n, int* bitrev); + +int fft(const int* bitrev, const float* sintbl, float* x, float* y, int n); + +} // namespace wenet + +#endif // FRONTEND_FFT_H_ diff --git a/micropython_port/include/ai_demo/kws/log.h b/micropython_port/include/ai_demo/kws/log.h new file mode 100644 index 0000000..9d7601c --- /dev/null +++ b/micropython_port/include/ai_demo/kws/log.h @@ -0,0 +1,83 @@ +// Copyright (c) 2022 Binbin Zhang (binbzha@qq.com) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + + +#ifndef UTILS_LOG_H_ +#define UTILS_LOG_H_ + +#include + +#include +#include + +namespace wenet { + +const int INFO = 0, WARNING = 1, ERROR = 2, FATAL = 3; + +class Logger { + public: + Logger(int severity, const char* func, const char* file, int line) { + severity_ = severity; + switch (severity) { + case INFO: + ss_ << "INFO ("; + break; + case WARNING: + ss_ << "WARNING ("; + break; + case ERROR: + ss_ << "ERROR ("; + break; + case FATAL: + ss_ << "FATAL ("; + break; + default: + severity_ = FATAL; + ss_ << "FATAL ("; + } + ss_ << func << "():" << file << ':' << line << ") "; + } + + ~Logger() { + std::cerr << ss_.str() << std::endl << std::flush; + if (severity_ == FATAL) { + abort(); + } + } + + template Logger& operator<<(const T &val) { + ss_ << val; + return *this; + } + + private: + int severity_; + std::ostringstream ss_; +}; + +#define LOG(severity) ::wenet::Logger( \ + ::wenet::severity, __func__, __FILE__, __LINE__) + +#define CHECK(test) \ +do { \ + if (!(test)) { \ + std::cerr << "CHECK (" << __func__ << "():" << __FILE__ << ":" \ + << __LINE__ << ") " << #test << std::endl; \ + exit(-1); \ + } \ +} while (0) + +} // namespace wenet + +#endif // UTILS_LOG_H_ diff --git a/micropython_port/include/core/mphalport.h b/micropython_port/include/core/mphalport.h index 724fc8a..7aec8a5 100644 --- a/micropython_port/include/core/mphalport.h +++ b/micropython_port/include/core/mphalport.h @@ -64,11 +64,6 @@ static inline int mp_hal_readline(vstr_t *vstr, const char *p) { #endif -static inline void mp_hal_delay_us(mp_uint_t us) { - usleep(us); -} -#define mp_hal_ticks_cpu() 0 - // This macro is used to implement PEP 475 to retry specified syscalls on EINTR #define MP_HAL_RETRY_SYSCALL(ret, syscall, raise) { \ for (;;) { \ diff --git a/micropython_port/include/machine/machine_fft.h b/micropython_port/include/machine/machine_fft.h new file mode 100644 index 0000000..46ee464 --- /dev/null +++ b/micropython_port/include/machine/machine_fft.h @@ -0,0 +1,33 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _MACHINE_FFT_H_ +#define _MACHINE_FFT_H_ + +#include "py/obj.h" + +extern const mp_obj_type_t machine_fft_type; + +#endif diff --git a/micropython_port/include/machine/machine_iomux_fpioa.h b/micropython_port/include/machine/machine_iomux_fpioa.h new file mode 100644 index 0000000..bafeeb1 --- /dev/null +++ b/micropython_port/include/machine/machine_iomux_fpioa.h @@ -0,0 +1,294 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _MACHINE_IOMUX_FPIOA_H__ +#define _MACHINE_IOMUX_FPIOA_H__ + +#include "py/obj.h" + +extern const mp_obj_type_t machine_fpioa_type; + +typedef struct _machine_fpioa_obj_t { + mp_obj_base_t base; +} machine_fpioa_obj_t; + +enum en_func_def_ { + GPIO0 , + GPIO1 , + GPIO2 , + GPIO3 , + GPIO4 , + GPIO5 , + GPIO6 , + GPIO7 , + GPIO8 , + GPIO9 , + GPIO10, + GPIO11, + GPIO12, + GPIO13, + GPIO14, + GPIO15, + GPIO16, + GPIO17, + GPIO18, + GPIO19, + GPIO20, + GPIO21, + GPIO22, + GPIO23, + GPIO24, + GPIO25, + GPIO26, + GPIO27, + GPIO28, + GPIO29, + GPIO30, + GPIO31, + GPIO32, + GPIO33, + GPIO34, + GPIO35, + GPIO36, + GPIO37, + GPIO38, + GPIO39, + GPIO40, + GPIO41, + GPIO42, + GPIO43, + GPIO44, + GPIO45, + GPIO46, + GPIO47, + GPIO48, + GPIO49, + GPIO50, + GPIO51, + GPIO52, + GPIO53, + GPIO54, + GPIO55, + GPIO56, + GPIO57, + GPIO58, + GPIO59, + GPIO60, + GPIO61, + GPIO62, + GPIO63, + BOOT0, + BOOT1, + CI0, + CI1, + CI2, + CI3, + CO0, + CO1, + CO2, + CO3, + DI0, + DI1, + DI2, + DI3, + DO0, + DO1, + DO2, + DO3, + HSYNC0, + HSYNC1, + IIC0_SCL, + IIC0_SDA, + IIC1_SCL, + IIC1_SDA, + IIC2_SCL, + IIC2_SDA, + IIC3_SCL, + IIC3_SDA, + IIC4_SCL, + IIC4_SDA, + IIS_CLK, + IIS_D_IN0, + IIS_D_IN1, + IIS_D_OUT0, + IIS_D_OUT1, + IIS_WS, + JTAG_RST, + JTAG_TCK, + JTAG_TDI, + JTAG_TDO, + JTAG_TMS, + M_CLK1, + M_CLK2, + M_CLK3, + MMC1_CLK, + MMC1_CMD, + MMC1_D0, + MMC1_D1, + MMC1_D2, + MMC1_D3, + OSPI_CLK, + OSPI_CS, + OSPI_D0, + OSPI_D1, + OSPI_D2, + OSPI_D3, + OSPI_D4, + OSPI_D5, + OSPI_D6, + OSPI_D7, + OSPI_DQS, + PDM_IN0, + PDM_IN1, + PDM_IN2, + PDM_IN3, + PULSE_CNTR0, + PULSE_CNTR1, + PULSE_CNTR2, + PULSE_CNTR3, + PULSE_CNTR4, + PULSE_CNTR5, + PWM0, + PWM1, + PWM2, + PWM3, + PWM4, + PWM5, + QSPI0_CLK, + QSPI0_CS0, + QSPI0_CS1, + QSPI0_CS2, + QSPI0_CS3, + QSPI0_CS4, + QSPI0_D0, + QSPI0_D1, + QSPI0_D2, + QSPI0_D3, + QSPI1_CLK, + QSPI1_CS0, + QSPI1_CS1, + QSPI1_CS2, + QSPI1_CS3, + QSPI1_CS4, + QSPI1_D0, + QSPI1_D1, + QSPI1_D2, + QSPI1_D3, + SPI2AXI_CK, + SPI2AXI_CS, + SPI2AXI_DI, + SPI2AXI_DO, + UART0_RXD, + UART0_TXD, + UART1_CTS, + UART1_RTS, + UART1_RXD, + UART1_TXD, + UART2_CTS, + UART2_RTS, + UART2_RXD, + UART2_TXD, + UART3_CTS, + UART3_DE, + UART3_RE, + UART3_RTS, + UART3_RXD, + UART3_TXD, + UART4_RXD, + UART4_TXD, + PDM_CLK, + VSYNC0, + VSYNC1, + CTRL_IN_3D, + CTRL_O1_3D, + CTRL_O2_3D, + TEST_PIN0 , + TEST_PIN1 , + TEST_PIN2 , + TEST_PIN3 , + TEST_PIN4 , + TEST_PIN5 , + TEST_PIN6 , + TEST_PIN7 , + TEST_PIN8 , + TEST_PIN9 , + TEST_PIN10, + TEST_PIN11, + TEST_PIN12, + TEST_PIN13, + TEST_PIN14, + TEST_PIN15, + TEST_PIN16, + TEST_PIN17, + TEST_PIN18, + TEST_PIN19, + TEST_PIN20, + TEST_PIN21, + TEST_PIN22, + TEST_PIN23, + TEST_PIN24, + TEST_PIN25, + TEST_PIN26, + TEST_PIN27, + TEST_PIN28, + TEST_PIN29, + TEST_PIN30, + TEST_PIN31, + FUNC_MAX, +}; +#pragma pack (1) +struct st_func_describe{ + enum en_func_def_ func; + char *name ; + char *describe_str; +}; +struct st_pin_func{ + uint8_t func0; + uint8_t func1; + uint8_t func2; + uint8_t func3; + uint8_t func4; +}; +struct st_iomux_reg{ + union{ + struct { + uint32_t st:1;//bit 0 输入施密特触发器控制使能 + uint32_t ds:4; //bit 4-1 驱动电流控制： + uint32_t pd:1;//bit 5 下拉； + uint32_t pu:1;//bit 6 + uint32_t oe:1; //bit 7 out + uint32_t ie:1; //bit 8 input + uint32_t msc:1;// bit 9 电压选择； + uint32_t sl:1;//bit 10 输出翻转率控制使能（双电压PAD无此控制端 + uint32_t io_sel:3; //bit 13-11 func 选择 + uint32_t rsv:17; // bit 30-14 + uint32_t di:1; // bit 31 当前PAD输入到芯片内部的数据(即PAD的C端) + }bit; + uint32_t value; + }u; +}; + +#pragma pack () +#endif diff --git a/micropython_port/include/machine/machine_spi.h b/micropython_port/include/machine/machine_spi.h new file mode 100755 index 0000000..55ac26b --- /dev/null +++ b/micropython_port/include/machine/machine_spi.h @@ -0,0 +1,124 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2016 Damien P. George + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#ifndef MICROPY_INCLUDED_EXTMOD_MACHINE_SPI_H +#define MICROPY_INCLUDED_EXTMOD_MACHINE_SPI_H + +#include "py/obj.h" +#include "py/mphal.h" + +#define SPI_DEVICE_NAME "/dev/spi" +#define SPI0_DEVICE_NAME "/dev/spi0" +#define SPI1_DEVICE_NAME "/dev/spi1" +#define SPI2_DEVICE_NAME "/dev/spi2" + +#define RT_SPI_DEV_CTRL_CONFIG (0xc00+ 0x01) +#define RT_SPI_DEV_CTRL_RW (0xc00 + 0x02) +#define RT_SPI_DEV_CTRL_CLK (0xc00 + 0x03) + +struct rt_spi_priv_data { + const void *send_buf; + size_t send_length; + void *recv_buf; + size_t recv_length; +}; + +struct rt_spi_configuration +{ + uint8_t mode; + uint8_t data_width; + uint16_t reserved; + uint32_t max_hz; +}; + +typedef enum { + DWENUM_SPI_TXRX = 0, + DWENUM_SPI_TX = 1, + DWENUM_SPI_RX = 2, + DWENUM_SPI_EEPROM = 3 +} DWENUM_SPI_TRANSFER_MODE; + +enum { + MP_SPI_IOCTL_INIT, + MP_SPI_IOCTL_DEINIT, +}; + +typedef struct _mp_spi_proto_t { + int (*ioctl)(void *self, uint32_t cmd); + void (*transfer)(void *self, size_t src_len, const uint8_t *src, size_t dest_len, uint8_t *dest); +} mp_spi_proto_t; + +typedef struct _mp_soft_spi_obj_t { + uint32_t baud; + uint8_t polarity; + uint8_t phase; + uint8_t bits; + uint8_t reserver; +} mp_soft_spi_obj_t; + +extern const mp_spi_proto_t mp_soft_spi_proto; + +int mp_soft_spi_ioctl(void *self, uint32_t cmd); +void mp_soft_spi_transfer(void *self, size_t src_len, const uint8_t *src, size_t dest_len, uint8_t *dest); + + +// Temporary support for legacy construction of SoftSPI via SPI type. +#define MP_MACHINE_SPI_CHECK_FOR_LEGACY_SOFTSPI_CONSTRUCTION(n_args, n_kw, all_args) \ + do { \ + if (n_args == 0 || all_args[0] == MP_OBJ_NEW_SMALL_INT(-1)) { \ + mp_print_str(MICROPY_ERROR_PRINTER, "Warning: SPI(-1, ...) is deprecated, use SoftSPI(...) instead\n"); \ + if (n_args != 0) { \ + --n_args; \ + ++all_args; \ + } \ + return MP_OBJ_TYPE_GET_SLOT(&mp_machine_soft_spi_type, make_new)(&mp_machine_soft_spi_type, n_args, n_kw, all_args); \ + } \ + } while (0) + +// SPI protocol +typedef struct _mp_machine_spi_p_t { + void (*init)(mp_obj_base_t *obj, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args); + void (*deinit)(mp_obj_base_t *obj); // can be NULL + void (*transfer)(mp_obj_base_t *obj, size_t src_len, const uint8_t *src, size_t dest_len, uint8_t *dest); +} mp_machine_spi_p_t; + +typedef struct _mp_machine_soft_spi_obj_t { + mp_obj_base_t base; + mp_soft_spi_obj_t spi; + uint32_t fd; +} mp_machine_soft_spi_obj_t; + +extern const mp_machine_spi_p_t mp_machine_soft_spi_p; +extern const mp_obj_type_t machine_spi_type; +extern const mp_obj_dict_t mp_machine_spi_locals_dict; + +mp_obj_t mp_machine_spi_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args); + +MP_DECLARE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_spi_read_obj); +MP_DECLARE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_spi_readinto_obj); +MP_DECLARE_CONST_FUN_OBJ_2(mp_machine_spi_write_obj); +MP_DECLARE_CONST_FUN_OBJ_3(mp_machine_spi_write_readinto_obj); + +#endif // MICROPY_INCLUDED_EXTMOD_MACHINE_SPI_H diff --git a/micropython_port/include/machine/machine_uart.h b/micropython_port/include/machine/machine_uart.h new file mode 100644 index 0000000..1e3c064 --- /dev/null +++ b/micropython_port/include/machine/machine_uart.h @@ -0,0 +1,33 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _MACHINE_UART_H_ +#define _MACHINE_UART_H_ + +#include "py/obj.h" + +extern const mp_obj_type_t machine_uart_type; + +#endif // _MACHINE_UART_H_ diff --git a/micropython_port/kpu/ai2d.c b/micropython_port/kpu/ai2d.c index 8eb10a7..4d5378d 100644 --- a/micropython_port/kpu/ai2d.c +++ b/micropython_port/kpu/ai2d.c @@ -237,13 +237,12 @@ STATIC mp_obj_t mp_ai2d_set_affine_param(size_t n_args, const mp_obj_t *args) { ap.bound_ind = (uint)mp_obj_get_int(args[4]); ap.bound_val = mp_obj_get_int(args[5]); ap.bound_smooth = (uint)mp_obj_get_int(args[6]); - _kd_mpi_struct_test_f(args[7], ap.M.data, &ap.M.data_size); ai2d_set_affine_param(self->ai2d_, ap); return mp_const_none; } -MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_ai2d_set_affine_param_obj, 7, 7, mp_ai2d_set_affine_param); +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_ai2d_set_affine_param_obj, 8, 8, mp_ai2d_set_affine_param); // set dict STATIC const mp_rom_map_elem_t ai2d_locals_dict_table[] = { diff --git a/micropython_port/machine/machine_fft.c b/micropython_port/machine/machine_fft.c new file mode 100644 index 0000000..a393238 --- /dev/null +++ b/micropython_port/machine/machine_fft.c @@ -0,0 +1,227 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include "sys/ioctl.h" +#include "machine_fft.h" +#include "mpi_fft_api.h" +#include "py/runtime.h" +#include "py/obj.h" + + + + +typedef struct _machine_fft_obj_t { + mp_obj_base_t base; + short* byte_addr; + uint32_t points; + uint32_t shift; + short i_real[FFT_MAX_POINT];//实数 + short i_imag[FFT_MAX_POINT];//虚数 + short o_h_real[FFT_MAX_POINT]; + short o_h_imag[FFT_MAX_POINT]; + short o_h_ifft_real[FFT_MAX_POINT]; + short o_h_ifft_imag[FFT_MAX_POINT]; +} machine_fft_obj_t; + +STATIC mp_obj_t machine_fft_obj_init_helper(machine_fft_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum{ARG_byte, + ARG_points, + ARG_shift, + // ARG_direction, + }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_byte, MP_ARG_OBJ, {.u_obj = mp_const_none} }, + { MP_QSTR_points, MP_ARG_INT, {.u_int = 64} }, + { MP_QSTR_shift, MP_ARG_INT, {.u_int = 0} }, + // { MP_QSTR_direction, MP_ARG_INT, {.u_int = FFT_DIR_FORWARD} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + self->points = args[ARG_points].u_int; + self->shift = args[ARG_shift].u_int; + // uint32_t direction = args[ARG_direction].u_int; + + if(self->points != 64 && self->points != 128 && self->points != 256 && self->points != 512 && self->points != 1024 && self->points != 2048 && self->points != 4096) + { + mp_raise_ValueError("[CANMV]FFT:invalid points"); + } + + uint32_t byte_len = 0; + + if( args[ARG_byte].u_obj != mp_const_none) + { + mp_obj_t byte = args[ARG_byte].u_obj; + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(byte, &bufinfo, MP_BUFFER_READ); + byte_len = bufinfo.len; + self->byte_addr = (short*)bufinfo.buf; + } + else + { + mp_raise_ValueError("[CANMV]FFT:invalid byte"); + } + if(byte_len % 4 != 0) + { + mp_raise_ValueError("[CANMV]FFT:Buffer length must be a multiple of 4"); + } + // // how to get the length of i2s buffer? + // if(byte_len < self->points * 4) + // { + // mp_printf(&mp_plat_print, "[CANMV]FFT:Zero padding\r\n"); + // memset(self->byte_addr+byte_len, 0, self->points * 4 - byte_len );//Zero padding + // } + + return mp_const_none; +} + +STATIC mp_obj_t mp_machine_fft_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { + + mp_arg_check_num(n_args, n_kw, 1, 3, false); + machine_fft_obj_t *self = mp_obj_malloc(machine_fft_obj_t, &machine_fft_type); + mp_map_t kw_args; + mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); + machine_fft_obj_init_helper(self, n_args, args, &kw_args); + + + return MP_OBJ_FROM_PTR(self); +} + + +STATIC mp_obj_t machine_fft_run(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) + { + //----------parse parameter--------------- + machine_fft_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + + //------------------get data---------------------- + for(int i = 0; i < self->points; ++i) + { + self->i_real[i] = self->byte_addr[i]; + self->i_imag[i] = 0; + // printf("self->i_real[%d] = 0x%04x\n",i,self->i_real[i]); + } + //run fft + kd_mpi_fft(self->points,RIRI,RR_II_OUT, 0, self->shift,self->i_real, self->i_imag, self->o_h_real, self->o_h_imag); + //return a list + // for(int i = 0; i < self->points; ++i) + // printf("self->o_h_real[%d] = 0x%04x\n",i,self->o_h_real[i]); + mp_obj_list_t* ret_list = (mp_obj_list_t*)m_new(mp_obj_list_t,sizeof(mp_obj_list_t));//m_new + mp_obj_list_init(ret_list, 0); + mp_obj_t tuple_1[2]; + for (int i = 0; i < self->points / 2; i++) + { + tuple_1[0] = mp_obj_new_int(self->o_h_real[i]); + tuple_1[1] = mp_obj_new_int(self->o_h_imag[i]); + mp_obj_list_append(ret_list, mp_obj_new_tuple(MP_ARRAY_SIZE(tuple_1), tuple_1)); + } + // kd_mpi_ifft(self->points, RIRI,RR_II_OUT, 0, self->shift,self->o_h_real, self->o_h_imag, self->o_h_ifft_real, self->o_h_ifft_imag); + // for(int i = 0; i < self->points; ++i) + // printf("self->o_h_ifft_real[%d] = 0x%04x\n",i,self->o_h_ifft_real[i]); + return MP_OBJ_FROM_PTR(ret_list); +} + +MP_DEFINE_CONST_FUN_OBJ_KW(machine_fft_run_obj,1, machine_fft_run); + +STATIC mp_obj_t machine_fft_freq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) + { + //----------parse parameter--------------- + enum{ARG_points, + ARG_sample_rate, + }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_points, MP_ARG_INT, {.u_int = 64} }, + { MP_QSTR_sample_rate, MP_ARG_INT, {.u_int = 16000} }, + }; + machine_fft_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args -1 , pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + uint32_t sample_rate = args[ARG_sample_rate].u_int; + self->points = args[ARG_points].u_int; + + uint32_t step = sample_rate/self->points; + mp_obj_list_t* ret_list = (mp_obj_list_t*)m_new(mp_obj_list_t,sizeof(mp_obj_list_t));//m_new + mp_obj_list_init(ret_list, 0); + for(int i = 0; i < self->points; i++) + { + mp_obj_list_append(ret_list, mp_obj_new_int(step * i)); + } + return MP_OBJ_FROM_PTR(ret_list); +} + +MP_DEFINE_CONST_FUN_OBJ_KW(machine_fft_freq_obj,1, machine_fft_freq); + + +STATIC mp_obj_t machine_fft_amplitude(mp_obj_t self_o,const mp_obj_t list_obj) + { + // machine_gpio_obj_t *self = MP_OBJ_TO_PTR(self_o); + if(&mp_type_list != mp_obj_get_type(list_obj)) + { + mp_raise_ValueError("[CANMV]FFT:obj is not a list"); + } + mp_obj_list_t* ret_list = (mp_obj_list_t*)m_new(mp_obj_list_t,sizeof(mp_obj_list_t));//m_new + mp_obj_list_init(ret_list, 0); + mp_obj_list_t* list = MP_OBJ_TO_PTR(list_obj); + uint32_t index = 0; + mp_obj_t list_iter; + mp_obj_tuple_t* tuple; + for(index = 0; index < list->len; index++) + { + list_iter = list->items[index]; + tuple = MP_OBJ_FROM_PTR(list_iter); + uint32_t r_val = MP_OBJ_SMALL_INT_VALUE(tuple->items[0]); + uint32_t i_val = MP_OBJ_SMALL_INT_VALUE(tuple->items[1]); + uint32_t amplitude = sqrt(r_val * r_val + i_val * i_val); + //Convert to power + uint32_t hard_power = 2*amplitude/list->len; + mp_obj_list_append(ret_list,mp_obj_new_int(hard_power)); + } + return MP_OBJ_FROM_PTR(ret_list); +} +MP_DEFINE_CONST_FUN_OBJ_2(machine_fft_amplitude_obj, machine_fft_amplitude); + +STATIC const mp_rom_map_elem_t machine_fft_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_run), MP_ROM_PTR(&machine_fft_run_obj) }, + { MP_ROM_QSTR(MP_QSTR_freq), MP_ROM_PTR(&machine_fft_freq_obj) }, + { MP_ROM_QSTR(MP_QSTR_amplitude), MP_ROM_PTR(&machine_fft_amplitude_obj) }, + +}; + +STATIC MP_DEFINE_CONST_DICT(machine_fft_locals_dict, machine_fft_locals_dict_table); + +MP_DEFINE_CONST_OBJ_TYPE( + machine_fft_type, + MP_QSTR_FFT, + MP_TYPE_FLAG_NONE, + make_new, mp_machine_fft_make_new, + locals_dict, &machine_fft_locals_dict + ); diff --git a/micropython_port/machine/machine_gpio.c b/micropython_port/machine/machine_gpio.c index 1d75d4a..1ccf763 100644 --- a/micropython_port/machine/machine_gpio.c +++ b/micropython_port/machine/machine_gpio.c @@ -28,6 +28,7 @@ #include #include #include +#include #include #include "sys/ioctl.h" #include "machine_gpio.h" @@ -48,7 +49,18 @@ #define GPIO_WRITE_LOW _IOW('G', 4, int) #define GPIO_WRITE_HIGH _IOW('G', 5, int) -#define GPIO_READ_VALUE _IOW('G', 12, int) +#define KD_GPIO_PE_RISING _IOW('G', 7, int) +#define KD_GPIO_PE_FALLING _IOW('G', 8, int) +#define KD_GPIO_PE_BOTH _IOW('G', 9, int) +#define KD_GPIO_PE_HIGH _IOW('G', 10, int) +#define KD_GPIO_PE_LOW _IOW('G', 11, int) + +#define GPIO_READ_VALUE _IOW('G', 12, int) +#define KD_GPIO_ENABLE_IRQ _IOW('G', 13, int) +#define KD_GPIO_DISABLE_IRQ _IOW('G', 14, int) +#define KD_GPIO_ATTACH_IRQ _IOW('G', 15, int) +#define KD_GPIO_DETACH_IRQ _IOW('G', 16, int) + enum { GPIO_DM_PULL_NONE = -1, @@ -68,13 +80,40 @@ typedef struct kd_pin_mode unsigned short mode; /* pin level status, 0 low level, 1 high level */ } pin_mode_t; +typedef enum _gpio_pin_edge +{ + GPIO_PE_NONE, + GPIO_PE_FALLING, + GPIO_PE_RISING, + GPIO_PE_BOTH, + GPIO_PE_LOW, + GPIO_PE_HIGH = 8, +} gpio_pin_edge_t; typedef struct _machine_gpio_obj_t { mp_obj_base_t base; int fd; pin_mode_t gpio; + mp_obj_t callback; + mp_obj_t arg; } machine_gpio_obj_t; +machine_gpio_obj_t *overall_self; + +STATIC void sigroutine(int signo) +{ + switch (signo){ + case SIGUSR2: + printf("Catch a signal -- SIGUSR2 \n"); + mp_sched_schedule(overall_self->callback,overall_self->arg); + break; + case SIGUSR1: + printf("Catch a signal -- SIGUSR1 \n"); + break; + } +} + + STATIC void mp_machine_gpio_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { machine_gpio_obj_t *self = self_in; mp_printf(print, @@ -223,9 +262,66 @@ STATIC mp_obj_t machine_gpio_mode(mp_obj_t self_o, mp_obj_t mode) } STATIC MP_DEFINE_CONST_FUN_OBJ_2(machine_gpio_mode_obj, machine_gpio_mode); + +STATIC mp_obj_t machine_gpio_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_handler, ARG_trigger, ARG_wake ,ARG_priority}; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_handler, MP_ARG_OBJ, {.u_obj = mp_const_none} }, + { MP_QSTR_trigger, MP_ARG_INT, {.u_int = GPIO_PE_BOTH} }, + { MP_QSTR_wake, MP_ARG_OBJ, {.u_obj = mp_const_none} }, + { MP_QSTR_priority, MP_ARG_INT, {.u_int = 7} }, + }; + machine_gpio_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + signal(SIGUSR2,sigroutine); + if ((n_args > 1 || kw_args->used != 0)) { + // configure irq + mp_obj_t handler = args[ARG_handler].u_obj; + uint32_t trigger = args[ARG_trigger].u_int; + mp_obj_t wake_obj = args[ARG_wake].u_obj; + mp_int_t temp_wake_int; + mp_obj_get_int_maybe(args[ARG_wake].u_obj,&temp_wake_int); + if(wake_obj != mp_const_none && temp_wake_int != 0){ + mp_raise_ValueError("This platform does not support interrupt wakeup"); + }else{ + if (trigger == GPIO_PE_NONE || trigger == GPIO_PE_RISING || trigger == GPIO_PE_FALLING || trigger == GPIO_PE_BOTH) { + if (handler == mp_const_none) { + handler = MP_OBJ_NULL; + trigger = 0; + } + self->callback = handler; + // overall_self->callback = handler; + if(ioctl(self->fd,KD_GPIO_PE_BOTH,&(self->gpio))) + mp_raise_ValueError("set GPIO trigger failed"); + + if(ioctl(self->fd,KD_GPIO_ENABLE_IRQ,&(self->gpio))) + mp_raise_ValueError("set GPIO irq enable failed"); + }else{ + + } + } + + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_gpio_irq_obj, 1, machine_gpio_irq); + + +STATIC mp_obj_t machine_gpio_disirq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + machine_gpio_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + if(ioctl(self->fd,KD_GPIO_DISABLE_IRQ,&(self->gpio))) + mp_raise_ValueError("set GPIO trigger failed"); + return mp_const_none; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_gpio_disirq_obj,1,machine_gpio_disirq); + STATIC const mp_rom_map_elem_t machine_gpio_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_mode), MP_ROM_PTR(&machine_gpio_mode_obj) }, { MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_gpio_value_obj) }, + { MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_gpio_irq_obj) }, + { MP_ROM_QSTR(MP_QSTR_disirq), MP_ROM_PTR(&machine_gpio_disirq_obj) }, { MP_ROM_QSTR(MP_QSTR_IN), MP_ROM_INT(GPIO_INPUT) }, { MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(GPIO_OUTPUT) }, { MP_ROM_QSTR(MP_QSTR_PULL_UP), MP_ROM_INT(GPIO_INPUT_PULL_UP) }, diff --git a/micropython_port/machine/machine_iomux_fpioa.c b/micropython_port/machine/machine_iomux_fpioa.c new file mode 100644 index 0000000..78e03f0 --- /dev/null +++ b/micropython_port/machine/machine_iomux_fpioa.c @@ -0,0 +1,841 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include +#include "sys/ioctl.h" +#include "machine_iomux_fpioa.h" +#include "py/runtime.h" +#include "py/obj.h" +#include + +#define MAX_PIN_NUM 64 +#define TEMP_STR_LEN 128 +#define IOMUX_REG_ADD 0X91105000 +enum { + ARG_pin, + ARG_func, + ARG_set_st, + ARG_set_ds, + ARG_set_pd, + ARG_set_pu, + ARG_set_oe, + ARG_set_ie, + ARG_set_msc, + ARG_set_sl, + ARG_set_di, +}; + +#pragma pack (1) + +static const struct st_func_describe g_func_describ_array[]={ + {BOOT0, "BOOT0" ,"" }, + {BOOT1, "BOOT1" ,"" }, + {CI0, "CI0" ,"" }, + {CI1, "CI1" ,"" }, + {CI2, "CI2" ,"" }, + {CI3, "CI3" ,"" }, + {CO0, "CO0" ,"" }, + {CO1, "CO1" ,"" }, + {CO2, "CO2" ,"" }, + {CO3, "CO3" ,"" }, + {DI0, "DI0" ,"" }, + {DI1, "DI1" ,"" }, + {DI2, "DI2" ,"" }, + {DI3, "DI3" ,"" }, + {DO0, "DO0" ,"" }, + {DO1, "DO1" ,"" }, + {DO2, "DO2" ,"" }, + {DO3, "DO3" ,"" }, + {HSYNC0, "HSYNC0" ,"" }, + {HSYNC1, "HSYNC1" ,"" }, + {IIC0_SCL, "IIC0_SCL" ,"" }, + {IIC0_SDA, "IIC0_SDA" ,"" }, + {IIC1_SCL, "IIC1_SCL" ,"" }, + {IIC1_SDA, "IIC1_SDA" ,"" }, + {IIC2_SCL, "IIC2_SCL" ,"" }, + {IIC2_SDA, "IIC2_SDA" ,"" }, + {IIC3_SCL, "IIC3_SCL" ,"" }, + {IIC3_SDA, "IIC3_SDA" ,"" }, + {IIC4_SCL, "IIC4_SCL" ,"" }, + {IIC4_SDA, "IIC4_SDA" ,"" }, + {IIS_CLK, "IIS_CLK" ,"" }, + {IIS_D_IN0, "IIS_D_IN0" ,"" }, + {IIS_D_IN1, "IIS_D_IN1" ,"" }, + {IIS_D_OUT0, "IIS_D_OUT0" ,"" }, + {IIS_D_OUT1, "IIS_D_OUT1" ,"" }, + {IIS_WS, "IIS_WS" ,"" }, + {JTAG_RST, "JTAG_RST" ,"" }, + {JTAG_TCK, "JTAG_TCK" ,"" }, + {JTAG_TDI, "JTAG_TDI" ,"" }, + {JTAG_TDO, "JTAG_TDO" ,"" }, + {JTAG_TMS, "JTAG_TMS" ,"" }, + {M_CLK1, "M_CLK1" ,"" }, + {M_CLK2, "M_CLK2" ,"" }, + {M_CLK3, "M_CLK3" ,"" }, + {MMC1_CLK, "MMC1_CLK" ,"" }, + {MMC1_CMD, "MMC1_CMD" ,"" }, + {MMC1_D0, "MMC1_D0" ,"" }, + {MMC1_D1, "MMC1_D1" ,"" }, + {MMC1_D2, "MMC1_D2" ,"" }, + {MMC1_D3, "MMC1_D3" ,"" }, + {OSPI_CLK, "OSPI_CLK" ,"" }, + {OSPI_CS, "OSPI_CS" ,"" }, + {OSPI_D0, "OSPI_D0" ,"" }, + {OSPI_D1, "OSPI_D1" ,"" }, + {OSPI_D2, "OSPI_D2" ,"" }, + {OSPI_D3, "OSPI_D3" ,"" }, + {OSPI_D4, "OSPI_D4" ,"" }, + {OSPI_D5, "OSPI_D5" ,"" }, + {OSPI_D6, "OSPI_D6" ,"" }, + {OSPI_D7, "OSPI_D7" ,"" }, + {OSPI_DQS, "OSPI_DQS" ,"" }, + {PDM_IN0, "PDM_IN0" ,"" }, + {PDM_IN1, "PDM_IN1" ,"" }, + {PDM_IN2, "PDM_IN2" ,"" }, + {PDM_IN3, "PDM_IN3" ,"" }, + {PULSE_CNTR0, "PULSE_CNTR0" ,"" }, + {PULSE_CNTR1, "PULSE_CNTR1" ,"" }, + {PULSE_CNTR2, "PULSE_CNTR2" ,"" }, + {PULSE_CNTR3, "PULSE_CNTR3" ,"" }, + {PULSE_CNTR4, "PULSE_CNTR4" ,"" }, + {PULSE_CNTR5, "PULSE_CNTR5" ,"" }, + {PWM0, "PWM0" ,"" }, + {PWM1, "PWM1" ,"" }, + {PWM2, "PWM2" ,"" }, + {PWM3, "PWM3" ,"" }, + {PWM4, "PWM4" ,"" }, + {PWM5, "PWM5" ,"" }, + {QSPI0_CLK, "QSPI0_CLK" ,"" }, + {QSPI0_CS0, "QSPI0_CS0" ,"" }, + {QSPI0_CS1, "QSPI0_CS1" ,"" }, + {QSPI0_CS2, "QSPI0_CS2" ,"" }, + {QSPI0_CS3, "QSPI0_CS3" ,"" }, + {QSPI0_CS4, "QSPI0_CS4" ,"" }, + {QSPI0_D0, "QSPI0_D0" ,"" }, + {QSPI0_D1, "QSPI0_D1" ,"" }, + {QSPI0_D2, "QSPI0_D2" ,"" }, + {QSPI0_D3, "QSPI0_D3" ,"" }, + {QSPI1_CLK, "QSPI1_CLK" ,"" }, + {QSPI1_CS0, "QSPI1_CS0" ,"" }, + {QSPI1_CS1, "QSPI1_CS1" ,"" }, + {QSPI1_CS2, "QSPI1_CS2" ,"" }, + {QSPI1_CS3, "QSPI1_CS3" ,"" }, + {QSPI1_CS4, "QSPI1_CS4" ,"" }, + {QSPI1_D0, "QSPI1_D0" ,"" }, + {QSPI1_D1, "QSPI1_D1" ,"" }, + {QSPI1_D2, "QSPI1_D2" ,"" }, + {QSPI1_D3, "QSPI1_D3" ,"" }, + {SPI2AXI_CK, "SPI2AXI_CK" ,"" }, + {SPI2AXI_CS, "SPI2AXI_CS" ,"" }, + {SPI2AXI_DI, "SPI2AXI_DI" ,"" }, + {SPI2AXI_DO, "SPI2AXI_DO" ,"" }, + {UART0_RXD, "UART0_RXD" ,"" }, + {UART0_TXD, "UART0_TXD" ,"" }, + {UART1_CTS, "UART1_CTS" ,"" }, + {UART1_RTS, "UART1_RTS" ,"" }, + {UART1_RXD, "UART1_RXD" ,"" }, + {UART1_TXD, "UART1_TXD" ,"" }, + {UART2_CTS, "UART2_CTS" ,"" }, + {UART2_RTS, "UART2_RTS" ,"" }, + {UART2_RXD, "UART2_RXD" ,"" }, + {UART2_TXD, "UART2_TXD" ,"" }, + {UART3_CTS, "UART3_CTS" ,"" }, + {UART3_DE, "UART3_DE" ,"" }, + {UART3_RE, "UART3_RE" ,"" }, + {UART3_RTS, "UART3_RTS" ,"" }, + {UART3_RXD, "UART3_RXD" ,"" }, + {UART3_TXD, "UART3_TXD" ,"" }, + {UART4_RXD, "UART4_RXD" ,"" }, + {UART4_TXD, "UART4_TXD" ,"" }, + {PDM_CLK, "PDM_CLK" ,"" }, + {VSYNC0, "VSYNC0" ,"" }, + {VSYNC1, "VSYNC1" ,"" }, + {CTRL_IN_3D, "CTRL_IN_3D" ,"" }, + {CTRL_O1_3D, "CTRL_O1_3D" ,"" }, + {CTRL_O2_3D, "CTRL_O2_3D" ,"" }, +}; + + +//pin_func_str; +static const struct st_pin_func g_pin_func_array[]= +{ + { GPIO0, BOOT0, TEST_PIN0, FUNC_MAX, FUNC_MAX }, + { GPIO1, BOOT1, TEST_PIN1,FUNC_MAX,FUNC_MAX, }, + { GPIO2, JTAG_TCK, PULSE_CNTR0, TEST_PIN2, FUNC_MAX,}, + { GPIO3, JTAG_TDI, PULSE_CNTR1, UART1_TXD, TEST_PIN0, }, + { GPIO4, JTAG_TDO, PULSE_CNTR2, UART1_RXD, TEST_PIN1, }, + { GPIO5, JTAG_TMS, PULSE_CNTR3, UART2_TXD, TEST_PIN2, }, + { GPIO6, JTAG_RST, PULSE_CNTR4, UART2_RXD, TEST_PIN3, }, + { GPIO7, PWM2, IIC4_SCL, TEST_PIN3, DI0, }, + { GPIO8, PWM3, IIC4_SDA, TEST_PIN4, DI1, }, + { GPIO9, PWM4, UART1_TXD, IIC1_SCL, DI2, }, + { GPIO10, CTRL_IN_3D, UART1_RXD, IIC1_SDA, DI3, }, + { GPIO11, CTRL_O1_3D, UART2_TXD, IIC2_SCL, DO0, }, + { GPIO12, CTRL_O2_3D, UART2_RXD, IIC2_SDA, DO1, }, + { GPIO13, M_CLK1, DO2, FUNC_MAX,FUNC_MAX,}, + { GPIO14, OSPI_CS, TEST_PIN5, QSPI0_CS0, DO3, }, + { GPIO15, OSPI_CLK, TEST_PIN6, QSPI0_CLK, CO3, }, + { GPIO16, OSPI_D0, QSPI1_CS4, QSPI0_D0, CO2, }, + { GPIO17, OSPI_D1, QSPI1_CS3, QSPI0_D1, CO1, }, + { GPIO18, OSPI_D2, QSPI1_CS2, QSPI0_D2, CO0, }, + { GPIO19, OSPI_D3, QSPI1_CS1, QSPI0_D3, TEST_PIN4, }, + { GPIO20, OSPI_D4, QSPI1_CS0, PULSE_CNTR0, TEST_PIN5, }, + { GPIO21, OSPI_D5, QSPI1_CLK, PULSE_CNTR1, TEST_PIN6, }, + { GPIO22, OSPI_D6, QSPI1_D0, PULSE_CNTR2, TEST_PIN7, }, + { GPIO23, OSPI_D7, QSPI1_D1, PULSE_CNTR3, TEST_PIN8, }, + { GPIO24, OSPI_DQS, QSPI1_D2, PULSE_CNTR4, TEST_PIN9, }, + { GPIO25, PWM5, QSPI1_D3, PULSE_CNTR5, TEST_PIN10, }, + { GPIO26, MMC1_CLK, TEST_PIN7,PDM_CLK, FUNC_MAX,}, + { GPIO27, MMC1_CMD, PULSE_CNTR5, PDM_IN0, CI0, }, + { GPIO28, MMC1_D0, UART3_TXD, PDM_IN1, CI1, }, + { GPIO29, MMC1_D1, UART3_RXD, CTRL_IN_3D, CI2, }, + { GPIO30, MMC1_D2, UART3_RTS, CTRL_O1_3D, CI3, }, + { GPIO31, MMC1_D3, UART3_CTS, CTRL_O2_3D, TEST_PIN11, }, + { GPIO32, IIC0_SCL, IIS_CLK, UART3_TXD, TEST_PIN12, }, + { GPIO33, IIC0_SDA, IIS_WS, UART3_RXD, TEST_PIN13, }, + { GPIO34, IIC1_SCL, IIS_D_IN0, PDM_IN3, UART3_RTS, }, + { GPIO35, IIC1_SDA, IIS_D_OUT0, PDM_IN1, UART3_CTS, }, + { GPIO36, IIC3_SCL, IIS_D_IN1, PDM_IN2, UART4_TXD, }, + { GPIO37, IIC3_SDA, IIS_D_OUT1, PDM_IN0, UART4_RXD, }, + { GPIO38, UART0_TXD, TEST_PIN8, QSPI1_CS0, HSYNC0, }, + { GPIO39, UART0_RXD, TEST_PIN9, QSPI1_CLK, VSYNC0, }, + { GPIO40, UART1_TXD, IIC1_SCL, QSPI1_D0, TEST_PIN18, }, + { GPIO41, UART1_RXD, IIC1_SDA, QSPI1_D1, TEST_PIN19, }, + { GPIO42, UART1_RTS, PWM0, QSPI1_D2, TEST_PIN20, }, + { GPIO43, UART1_CTS, PWM1, QSPI1_D3, TEST_PIN21, }, + { GPIO44, UART2_TXD, IIC3_SCL, TEST_PIN10, SPI2AXI_CK, }, + { GPIO45, UART2_RXD, IIC3_SDA, TEST_PIN11, SPI2AXI_CS, }, + { GPIO46, UART2_RTS, PWM2, IIC4_SCL, TEST_PIN22, }, + { GPIO47, UART2_CTS, PWM3, IIC4_SDA, TEST_PIN23, }, + { GPIO48, UART4_TXD, TEST_PIN12, IIC0_SCL, SPI2AXI_DI, }, + { GPIO49, UART4_RXD, TEST_PIN13, IIC0_SDA, SPI2AXI_DO, }, + { GPIO50, UART3_TXD, IIC2_SCL, QSPI0_CS4, TEST_PIN24, }, + { GPIO51, UART3_RXD, IIC2_SDA, QSPI0_CS3, TEST_PIN25, }, + { GPIO52, UART3_RTS, PWM4, IIC3_SCL, TEST_PIN26, }, + { GPIO53, UART3_CTS, PWM5, IIC3_SDA,FUNC_MAX, }, + { GPIO54, QSPI0_CS0, MMC1_CMD, PWM0, TEST_PIN27, }, + { GPIO55, QSPI0_CLK, MMC1_CLK, PWM1, TEST_PIN28, }, + { GPIO56, QSPI0_D0, MMC1_D0, PWM2, TEST_PIN29, }, + { GPIO57, QSPI0_D1, MMC1_D1, PWM3, TEST_PIN30, }, + { GPIO58, QSPI0_D2, MMC1_D2, PWM4, TEST_PIN31, }, + { GPIO59, QSPI0_D3, MMC1_D3, PWM5, FUNC_MAX,}, + { GPIO60, PWM0, IIC0_SCL, QSPI0_CS2, HSYNC1, }, + { GPIO61, PWM1, IIC0_SDA, QSPI0_CS1, VSYNC1, }, + { GPIO62, M_CLK2, UART3_DE, TEST_PIN14,FUNC_MAX, }, + { GPIO63, M_CLK3, UART3_RE, TEST_PIN15 ,FUNC_MAX, }, +}; + +#pragma pack () +// 0 ---ok other ---failed +static int fpioa_drv_reg_get_or_set(uint32_t pin, uint32_t *value, int set_flage) +{ + int ret = -1; + uint32_t * regadd = NULL; + int mem_fd = open("/dev/mem", O_RDWR|O_SYNC); + if(mem_fd < 0) + return -2; + + regadd = (uint32_t *)mmap(NULL, 4*MAX_PIN_NUM, \ + PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, IOMUX_REG_ADD); + if(regadd != MAP_FAILED ){ + if(set_flage){ + *(regadd + pin) = *value; + //printf("write pin %d add =%p valu=%x %p\n", pin, regadd, *value, regadd + pin ); + }else { + *value = *(regadd + pin); + //printf("read pin %d add =%p valu=%x %p\n", pin, regadd, *value, regadd + pin ); + } + munmap(regadd, 4*MAX_PIN_NUM); + ret = 0; + } + close(mem_fd); + return ret; +} +//0---ok +int fpioa_drv_reg_set(uint32_t pin, uint32_t value) +{ + return fpioa_drv_reg_get_or_set(pin, &value, 1); +} +//0---ok +int fpioa_drv_reg_get(uint32_t pin, uint32_t *value) +{ + return fpioa_drv_reg_get_or_set(pin, value, 0); +} +// -1 ---error +int fpioa_drv_func_2_pin_io_sel(uint32_t func, uint32_t pin) +{ + int io_sel = -1; + + if(func == g_pin_func_array[pin].func0) + io_sel = 0; + else if (func == g_pin_func_array[pin].func1) + io_sel = 1; + else if (func == g_pin_func_array[pin].func2) + io_sel = 2; + else if (func == g_pin_func_array[pin].func3) + io_sel = 3; + else if (func == g_pin_func_array[pin].func4) + io_sel = 4; + + return io_sel; +} + +static int fpioa_drv_get_pin_from_func(uint32_t func,uint8_t pins[]) +{ + int count = 0; + int i = 0; + int io_sel = 0; + struct st_iomux_reg reg_value; + + for(i = 0; i < MAX_PIN_NUM; i++){ + io_sel = fpioa_drv_func_2_pin_io_sel(func, i); + if(io_sel < 0) + continue; + if(fpioa_drv_reg_get(i, (uint32_t*)®_value)){ + count = -1; + break; + } + if(reg_value.u.bit.io_sel == io_sel){ + pins[count++] = i; + } + } + + return count; +} + +static int fpioa_get_func_name_str(uint32_t func ,char *str, uint32_t len) +{ + if (func >= FUNC_MAX){ + return 0; + } + if( func <= GPIO63 ){ + snprintf(str, len-2, "GPIO%d", func-GPIO0); + }else if (func < TEST_PIN0 ){ + strncpy(str, g_func_describ_array[func - BOOT0].name, len-2); + }else if (func < FUNC_MAX){ + snprintf(str, len-2, "TEST_PIN%d", func-TEST_PIN0); + } + strcat(str,"/"); + return strlen(str); +} + +static char * fpioa_get_pin_funcs_str(uint32_t pin ,char *str, uint32_t len) +{ + uint32_t cur_pos=0; + cur_pos += fpioa_get_func_name_str(g_pin_func_array[pin].func0, str + cur_pos, len - cur_pos); + cur_pos += fpioa_get_func_name_str(g_pin_func_array[pin].func1, str + cur_pos, len - cur_pos); + cur_pos += fpioa_get_func_name_str(g_pin_func_array[pin].func2, str + cur_pos, len - cur_pos); + cur_pos += fpioa_get_func_name_str(g_pin_func_array[pin].func3, str + cur_pos, len - cur_pos); + cur_pos += fpioa_get_func_name_str(g_pin_func_array[pin].func4, str + cur_pos, len - cur_pos); + return str; +} +static char * fpioa_get_pin_cur_func_str(uint32_t pin ,char *str, uint32_t len, int detail_flage) +{ + struct st_iomux_reg reg_value; + const uint8_t *pfunc = &g_pin_func_array[pin].func0; + int cur_pos = 0; + + if(fpioa_drv_reg_get(pin, (uint32_t*)®_value)) + return str; + + cur_pos = fpioa_get_func_name_str(*(pfunc + reg_value.u.bit.io_sel), str, len); + if(cur_pos == 0) + return str; + + str[cur_pos - 1]=0; + + if(detail_flage){ + str[cur_pos - 1]= ',';//gpio0,ie:,oe:, + snprintf(str+cur_pos, len-cur_pos,\ + "ie:%d,oe:%d,pd:%d,pu:%d,msc:%s,ds:%d,st:%d,sl:%d,di:%d",\ + reg_value.u.bit.ie, reg_value.u.bit.oe,reg_value.u.bit.pd, reg_value.u.bit.pu,\ + ((reg_value.u.bit.msc)?"1-1.8v":"0-3.3v"),reg_value.u.bit.ds,reg_value.u.bit.st,\ + reg_value.u.bit.sl,reg_value.u.bit.di); + } + return str; +} + +// pin_num : 0-63 +static void machine_fpioa_help_print_pin_func(int pin_num, int detail_flag) +{ + int i = 0; + char str_tmp[TEMP_STR_LEN]; + char str_tmp1[TEMP_STR_LEN]; + + if(pin_num == -1){ + for(i = 0; i < MAX_PIN_NUM; i++){ + machine_fpioa_help_print_pin_func(i, detail_flag); + } + return; + } + memset(str_tmp, 0, sizeof(str_tmp)); + memset(str_tmp1, 0, sizeof(str_tmp1)); + fpioa_get_pin_funcs_str(pin_num, str_tmp, sizeof(str_tmp)); + fpioa_get_pin_cur_func_str(pin_num, str_tmp1, sizeof(str_tmp1), detail_flag); + + if(detail_flag){ + mp_printf(&mp_plat_print, "|%-17s|%-60s|\r\n","current config", str_tmp1); + mp_printf(&mp_plat_print, "|%-17s|%-60s|\r\n","can be function", str_tmp); + } else { + mp_printf(&mp_plat_print, "| %-2d | %-10s | %-56s|\r\n",pin_num, str_tmp1, str_tmp); + } +} + + +// 0---ok, other --failed +static int fpioa_drv_pin_set(uint32_t pin , mp_arg_val_t *args) +{ + struct st_iomux_reg reg_value,org_value; + int io_sel = 0; + + int func = args[ARG_func].u_int; + int16_t set_st = args[ARG_set_st].u_int; + int16_t set_ds = args[ARG_set_ds].u_int; + int16_t set_pd = args[ARG_set_pd].u_int; + int16_t set_pu = args[ARG_set_pu].u_int; + int16_t set_oe = args[ARG_set_oe].u_int; + int16_t set_ie = args[ARG_set_ie].u_int; + int16_t set_msc = args[ARG_set_msc].u_int; + int16_t set_sl = args[ARG_set_sl].u_int; + int16_t set_di = args[ARG_set_di].u_int; + + //printf("st %d %d %d %d %d %d %d %d %d %d \n",set_st,set_ds,set_pd,set_pu,set_oe,set_ie,set_msc,set_sl,set_di, func); + + if(pin >= MAX_PIN_NUM) + return -2; + + if(fpioa_drv_reg_get(pin, (uint32_t*)®_value)) + return -3; + org_value.u.value = reg_value.u.value; + + if(func != -1){ + io_sel = fpioa_drv_func_2_pin_io_sel(func, pin); + reg_value.u.bit.io_sel = io_sel; + if(io_sel < 0) + return -4; + } + + if(set_st != -1){ + if( (set_st < 0 ) || (set_st > 1 )) + return -5; + reg_value.u.bit.st = set_st; + } + + if(set_ds != -1){ + if( (set_ds < 0) || (set_ds > 7 )) + return -6; + reg_value.u.bit.ds = set_ds; + } + + if(set_pd != -1){ + if( (set_pd < 0) || (set_pd > 1 )) + return -7; + reg_value.u.bit.pd = set_pd; + } + + if(set_pu != -1){ + if( (set_pu < 0) || (set_pu > 1 )) + return -8; + reg_value.u.bit.pu = set_pu; + } + + if(set_oe != -1){ + if( (set_oe < 0) || (set_oe > 1 )) + return -9; + reg_value.u.bit.oe = set_oe; + } + + + if(set_ie != -1){ + if( (set_ie < 0) || (set_ie > 1 )) + return -10; + reg_value.u.bit.ie = set_ie; + } + + if(set_msc != -1){ + // if( (set_msc < 0) || (set_msc > 1 )) + // return -11; + //reg_value.u.bit.msc = set_msc; + return -100; + } + + if(set_sl != -1){ + if( (set_sl < 0) || (set_sl > 1 )) + return -12; + reg_value.u.bit.sl = set_sl; + } + + if(set_di != -1){ + if( (set_di < 0) || (set_di > 1 )) + return -14; + reg_value.u.bit.di = set_di; + } + + + if(reg_value.u.value != org_value.u.value){ + if(fpioa_drv_reg_set(pin, reg_value.u.value)) + return -15; + } + + return 0; +} + +STATIC mp_obj_t machine_fpioa_set_function(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) +{ + int ret; + char str_tmp[TEMP_STR_LEN]={0}; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_pin, MP_ARG_INT | MP_ARG_REQUIRED, {.u_int = -1} }, + { MP_QSTR_func, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_st, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_ds, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_pd, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_pu, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_oe, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_ie, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_msc, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_sl, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_set_di, MP_ARG_INT, {.u_int = -1} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args-1, pos_args+1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + uint16_t pin_num = args[ARG_pin].u_int; + + + + //printf("%x %x %x %x %x \n",pin_num, func_num, set_sl, set_st, set_io_driving); + + if(pin_num >= MAX_PIN_NUM) + mp_raise_msg_varg(&mp_type_IndexError, MP_ERROR_TEXT("pin num %d error ,need 0-%d"),pin_num, MAX_PIN_NUM-1); + + ret = fpioa_drv_pin_set(pin_num, args); + + //printf("ret =%d \n", ret); + + if(ret == -4) + mp_raise_msg_varg(&mp_type_IndexError, \ + MP_ERROR_TEXT("pin num %d have not this func,can by "),pin_num, fpioa_get_pin_funcs_str(pin_num, str_tmp, sizeof(str_tmp))); + else if(ret == -100){ + mp_raise_msg_varg(&mp_type_KeyError, MP_ERROR_TEXT("msc not support modify")); + } else if( (ret >= -14 ) && (ret <= -5)) + mp_raise_msg_varg(&mp_type_IndexError, MP_ERROR_TEXT("parameter error")); + else if(ret){ + mp_raise_msg_varg(&mp_type_OSError, MP_ERROR_TEXT("system error,pleade retry")); + } + + return mp_const_true; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_fpioa_set_function_obj, 1, machine_fpioa_set_function); + +STATIC mp_obj_t machine_get_Pin_num(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) +{ + uint16_t func = -1; + uint8_t pins[MAX_PIN_NUM]; + int pin_count = 0; + + if(n_args > 1){ + func = mp_obj_get_int(pos_args[1]); + } + pin_count = fpioa_drv_get_pin_from_func(func, pins); + + if(pin_count < -1) + mp_raise_msg_varg(&mp_type_OSError, MP_ERROR_TEXT("iomux pin reg read error ")); + + mp_obj_t list = mp_obj_new_list(0, NULL); + for(;pin_count >0;pin_count--) + mp_obj_list_append(list, mp_obj_new_int(pins[pin_count-1])); + + return list; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_fpioa_get_Pin_num_obj, 0, machine_get_Pin_num); + +STATIC mp_obj_t machine_fpioa_help(size_t n_args, const mp_obj_t *args) +{ + int pin_num = -1; + if(n_args > 1){ + pin_num = mp_obj_get_int(args[1]); + if( (pin_num >= MAX_PIN_NUM) || (pin_num < -1)){ + mp_raise_msg_varg(&mp_type_IndexError, MP_ERROR_TEXT("pin num %d error ,need 0-%d"),pin_num, MAX_PIN_NUM-1); + } + mp_printf(&mp_plat_print, "|%-17s|%-60d|\r\n","pin num ",pin_num); + machine_fpioa_help_print_pin_func(pin_num, 1); + }else { + mp_printf(&mp_plat_print, "| pin | cur func | can be func |\r\n") ; + mp_printf(&mp_plat_print, "| ---- |------------|---------------------------------------------------------|\r\n") ; + machine_fpioa_help_print_pin_func(pin_num, 0); + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_fpioa_help_obj, 1,2,machine_fpioa_help); + +STATIC void mp_machine_gpio_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + machine_fpioa_help(1, NULL); + return ; +} +STATIC mp_obj_t mp_machine_fpioa_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { + machine_fpioa_obj_t *self = mp_obj_malloc(machine_fpioa_obj_t, &machine_fpioa_type); + return MP_OBJ_FROM_PTR(self); +} +STATIC const mp_rom_map_elem_t machine_fpioa_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_set_function), MP_ROM_PTR(&machine_fpioa_set_function_obj) }, + { MP_ROM_QSTR(MP_QSTR_get_Pin_num), MP_ROM_PTR(&machine_fpioa_get_Pin_num_obj) }, + { MP_ROM_QSTR(MP_QSTR_help), MP_ROM_PTR(&machine_fpioa_help_obj) }, + { MP_ROM_QSTR(MP_QSTR_GPIO0 ), MP_ROM_INT(GPIO0 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO1 ), MP_ROM_INT(GPIO1 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO2 ), MP_ROM_INT(GPIO2 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO3 ), MP_ROM_INT(GPIO3 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO4 ), MP_ROM_INT(GPIO4 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO5 ), MP_ROM_INT(GPIO5 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO6 ), MP_ROM_INT(GPIO6 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO7 ), MP_ROM_INT(GPIO7 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO8 ), MP_ROM_INT(GPIO8 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO9 ), MP_ROM_INT(GPIO9 ) }, + { MP_ROM_QSTR(MP_QSTR_GPIO10), MP_ROM_INT(GPIO10) }, + { MP_ROM_QSTR(MP_QSTR_GPIO11), MP_ROM_INT(GPIO11) }, + { MP_ROM_QSTR(MP_QSTR_GPIO12), MP_ROM_INT(GPIO12) }, + { MP_ROM_QSTR(MP_QSTR_GPIO13), MP_ROM_INT(GPIO13) }, + { MP_ROM_QSTR(MP_QSTR_GPIO14), MP_ROM_INT(GPIO14) }, + { MP_ROM_QSTR(MP_QSTR_GPIO15), MP_ROM_INT(GPIO15) }, + { MP_ROM_QSTR(MP_QSTR_GPIO16), MP_ROM_INT(GPIO16) }, + { MP_ROM_QSTR(MP_QSTR_GPIO17), MP_ROM_INT(GPIO17) }, + { MP_ROM_QSTR(MP_QSTR_GPIO18), MP_ROM_INT(GPIO18) }, + { MP_ROM_QSTR(MP_QSTR_GPIO19), MP_ROM_INT(GPIO19) }, + { MP_ROM_QSTR(MP_QSTR_GPIO20), MP_ROM_INT(GPIO20) }, + { MP_ROM_QSTR(MP_QSTR_GPIO21), MP_ROM_INT(GPIO21) }, + { MP_ROM_QSTR(MP_QSTR_GPIO22), MP_ROM_INT(GPIO22) }, + { MP_ROM_QSTR(MP_QSTR_GPIO23), MP_ROM_INT(GPIO23) }, + { MP_ROM_QSTR(MP_QSTR_GPIO24), MP_ROM_INT(GPIO24) }, + { MP_ROM_QSTR(MP_QSTR_GPIO25), MP_ROM_INT(GPIO25) }, + { MP_ROM_QSTR(MP_QSTR_GPIO26), MP_ROM_INT(GPIO26) }, + { MP_ROM_QSTR(MP_QSTR_GPIO27), MP_ROM_INT(GPIO27) }, + { MP_ROM_QSTR(MP_QSTR_GPIO28), MP_ROM_INT(GPIO28) }, + { MP_ROM_QSTR(MP_QSTR_GPIO29), MP_ROM_INT(GPIO29) }, + { MP_ROM_QSTR(MP_QSTR_GPIO30), MP_ROM_INT(GPIO30) }, + { MP_ROM_QSTR(MP_QSTR_GPIO31), MP_ROM_INT(GPIO31) }, + { MP_ROM_QSTR(MP_QSTR_GPIO32), MP_ROM_INT(GPIO32) }, + { MP_ROM_QSTR(MP_QSTR_GPIO33), MP_ROM_INT(GPIO33) }, + { MP_ROM_QSTR(MP_QSTR_GPIO34), MP_ROM_INT(GPIO34) }, + { MP_ROM_QSTR(MP_QSTR_GPIO35), MP_ROM_INT(GPIO35) }, + { MP_ROM_QSTR(MP_QSTR_GPIO36), MP_ROM_INT(GPIO36) }, + { MP_ROM_QSTR(MP_QSTR_GPIO37), MP_ROM_INT(GPIO37) }, + { MP_ROM_QSTR(MP_QSTR_GPIO38), MP_ROM_INT(GPIO38) }, + { MP_ROM_QSTR(MP_QSTR_GPIO39), MP_ROM_INT(GPIO39) }, + { MP_ROM_QSTR(MP_QSTR_GPIO40), MP_ROM_INT(GPIO40) }, + { MP_ROM_QSTR(MP_QSTR_GPIO41), MP_ROM_INT(GPIO41) }, + { MP_ROM_QSTR(MP_QSTR_GPIO42), MP_ROM_INT(GPIO42) }, + { MP_ROM_QSTR(MP_QSTR_GPIO43), MP_ROM_INT(GPIO43) }, + { MP_ROM_QSTR(MP_QSTR_GPIO44), MP_ROM_INT(GPIO44) }, + { MP_ROM_QSTR(MP_QSTR_GPIO45), MP_ROM_INT(GPIO45) }, + { MP_ROM_QSTR(MP_QSTR_GPIO46), MP_ROM_INT(GPIO46) }, + { MP_ROM_QSTR(MP_QSTR_GPIO47), MP_ROM_INT(GPIO47) }, + { MP_ROM_QSTR(MP_QSTR_GPIO48), MP_ROM_INT(GPIO48) }, + { MP_ROM_QSTR(MP_QSTR_GPIO49), MP_ROM_INT(GPIO49) }, + { MP_ROM_QSTR(MP_QSTR_GPIO50), MP_ROM_INT(GPIO50) }, + { MP_ROM_QSTR(MP_QSTR_GPIO51), MP_ROM_INT(GPIO51) }, + { MP_ROM_QSTR(MP_QSTR_GPIO52), MP_ROM_INT(GPIO52) }, + { MP_ROM_QSTR(MP_QSTR_GPIO53), MP_ROM_INT(GPIO53) }, + { MP_ROM_QSTR(MP_QSTR_GPIO54), MP_ROM_INT(GPIO54) }, + { MP_ROM_QSTR(MP_QSTR_GPIO55), MP_ROM_INT(GPIO55) }, + { MP_ROM_QSTR(MP_QSTR_GPIO56), MP_ROM_INT(GPIO56) }, + { MP_ROM_QSTR(MP_QSTR_GPIO57), MP_ROM_INT(GPIO57) }, + { MP_ROM_QSTR(MP_QSTR_GPIO58), MP_ROM_INT(GPIO58) }, + { MP_ROM_QSTR(MP_QSTR_GPIO59), MP_ROM_INT(GPIO59) }, + { MP_ROM_QSTR(MP_QSTR_GPIO60), MP_ROM_INT(GPIO60) }, + { MP_ROM_QSTR(MP_QSTR_GPIO61), MP_ROM_INT(GPIO61) }, + { MP_ROM_QSTR(MP_QSTR_GPIO62), MP_ROM_INT(GPIO62) }, + { MP_ROM_QSTR(MP_QSTR_GPIO63), MP_ROM_INT(GPIO63) }, + { MP_ROM_QSTR(MP_QSTR_BOOT0), MP_ROM_INT(BOOT0) }, + { MP_ROM_QSTR(MP_QSTR_BOOT1), MP_ROM_INT(BOOT1) }, + { MP_ROM_QSTR(MP_QSTR_CI0), MP_ROM_INT(CI0) }, + { MP_ROM_QSTR(MP_QSTR_CI1), MP_ROM_INT(CI1) }, + { MP_ROM_QSTR(MP_QSTR_CI2), MP_ROM_INT(CI2) }, + { MP_ROM_QSTR(MP_QSTR_CI3), MP_ROM_INT(CI3) }, + { MP_ROM_QSTR(MP_QSTR_CO0), MP_ROM_INT(CO0) }, + { MP_ROM_QSTR(MP_QSTR_CO1), MP_ROM_INT(CO1) }, + { MP_ROM_QSTR(MP_QSTR_CO2), MP_ROM_INT(CO2) }, + { MP_ROM_QSTR(MP_QSTR_CO3), MP_ROM_INT(CO3) }, + { MP_ROM_QSTR(MP_QSTR_DI0), MP_ROM_INT(DI0) }, + { MP_ROM_QSTR(MP_QSTR_DI1), MP_ROM_INT(DI1) }, + { MP_ROM_QSTR(MP_QSTR_DI2), MP_ROM_INT(DI2) }, + { MP_ROM_QSTR(MP_QSTR_DI3), MP_ROM_INT(DI3) }, + { MP_ROM_QSTR(MP_QSTR_DO0), MP_ROM_INT(DO0) }, + { MP_ROM_QSTR(MP_QSTR_DO1), MP_ROM_INT(DO1) }, + { MP_ROM_QSTR(MP_QSTR_DO2), MP_ROM_INT(DO2) }, + { MP_ROM_QSTR(MP_QSTR_DO3), MP_ROM_INT(DO3) }, + { MP_ROM_QSTR(MP_QSTR_HSYNC0), MP_ROM_INT(HSYNC0) }, + { MP_ROM_QSTR(MP_QSTR_HSYNC1), MP_ROM_INT(HSYNC1) }, + { MP_ROM_QSTR(MP_QSTR_IIC0_SCL), MP_ROM_INT(IIC0_SCL) }, + { MP_ROM_QSTR(MP_QSTR_IIC0_SDA), MP_ROM_INT(IIC0_SDA) }, + { MP_ROM_QSTR(MP_QSTR_IIC1_SCL), MP_ROM_INT(IIC1_SCL) }, + { MP_ROM_QSTR(MP_QSTR_IIC1_SDA), MP_ROM_INT(IIC1_SDA) }, + { MP_ROM_QSTR(MP_QSTR_IIC2_SCL), MP_ROM_INT(IIC2_SCL) }, + { MP_ROM_QSTR(MP_QSTR_IIC2_SDA), MP_ROM_INT(IIC2_SDA) }, + { MP_ROM_QSTR(MP_QSTR_IIC3_SCL), MP_ROM_INT(IIC3_SCL) }, + { MP_ROM_QSTR(MP_QSTR_IIC3_SDA), MP_ROM_INT(IIC3_SDA) }, + { MP_ROM_QSTR(MP_QSTR_IIC4_SCL), MP_ROM_INT(IIC4_SCL) }, + { MP_ROM_QSTR(MP_QSTR_IIC4_SDA), MP_ROM_INT(IIC4_SDA) }, + { MP_ROM_QSTR(MP_QSTR_IIS_CLK), MP_ROM_INT(IIS_CLK) }, + { MP_ROM_QSTR(MP_QSTR_IIS_D_IN0), MP_ROM_INT(IIS_D_IN0) }, + { MP_ROM_QSTR(MP_QSTR_IIS_D_IN1), MP_ROM_INT(IIS_D_IN1) }, + { MP_ROM_QSTR(MP_QSTR_IIS_D_OUT0), MP_ROM_INT(IIS_D_OUT0) }, + { MP_ROM_QSTR(MP_QSTR_IIS_D_OUT1), MP_ROM_INT(IIS_D_OUT1) }, + { MP_ROM_QSTR(MP_QSTR_IIS_WS), MP_ROM_INT(IIS_WS) }, + { MP_ROM_QSTR(MP_QSTR_JTAG_RST), MP_ROM_INT(JTAG_RST) }, + { MP_ROM_QSTR(MP_QSTR_JTAG_TCK), MP_ROM_INT(JTAG_TCK) }, + { MP_ROM_QSTR(MP_QSTR_JTAG_TDI), MP_ROM_INT(JTAG_TDI) }, + { MP_ROM_QSTR(MP_QSTR_JTAG_TDO), MP_ROM_INT(JTAG_TDO) }, + { MP_ROM_QSTR(MP_QSTR_JTAG_TMS), MP_ROM_INT(JTAG_TMS) }, + { MP_ROM_QSTR(MP_QSTR_M_CLK1), MP_ROM_INT(M_CLK1) }, + { MP_ROM_QSTR(MP_QSTR_M_CLK2), MP_ROM_INT(M_CLK2) }, + { MP_ROM_QSTR(MP_QSTR_M_CLK3), MP_ROM_INT(M_CLK3) }, + { MP_ROM_QSTR(MP_QSTR_MMC1_CLK), MP_ROM_INT(MMC1_CLK) }, + { MP_ROM_QSTR(MP_QSTR_MMC1_CMD), MP_ROM_INT(MMC1_CMD) }, + { MP_ROM_QSTR(MP_QSTR_MMC1_D0), MP_ROM_INT(MMC1_D0) }, + { MP_ROM_QSTR(MP_QSTR_MMC1_D1), MP_ROM_INT(MMC1_D1) }, + { MP_ROM_QSTR(MP_QSTR_MMC1_D2), MP_ROM_INT(MMC1_D2) }, + { MP_ROM_QSTR(MP_QSTR_MMC1_D3), MP_ROM_INT(MMC1_D3) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_CLK), MP_ROM_INT(OSPI_CLK) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_CS), MP_ROM_INT(OSPI_CS) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D0), MP_ROM_INT(OSPI_D0) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D1), MP_ROM_INT(OSPI_D1) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D2), MP_ROM_INT(OSPI_D2) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D3), MP_ROM_INT(OSPI_D3) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D4), MP_ROM_INT(OSPI_D4) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D5), MP_ROM_INT(OSPI_D5) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D6), MP_ROM_INT(OSPI_D6) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_D7), MP_ROM_INT(OSPI_D7) }, + { MP_ROM_QSTR(MP_QSTR_OSPI_DQS), MP_ROM_INT(OSPI_DQS) }, + { MP_ROM_QSTR(MP_QSTR_PDM_IN0), MP_ROM_INT(PDM_IN0) }, + { MP_ROM_QSTR(MP_QSTR_PDM_IN1), MP_ROM_INT(PDM_IN1) }, + { MP_ROM_QSTR(MP_QSTR_PDM_IN2), MP_ROM_INT(PDM_IN2) }, + { MP_ROM_QSTR(MP_QSTR_PDM_IN3), MP_ROM_INT(PDM_IN3) }, + { MP_ROM_QSTR(MP_QSTR_PULSE_CNTR0), MP_ROM_INT(PULSE_CNTR0) }, + { MP_ROM_QSTR(MP_QSTR_PULSE_CNTR1), MP_ROM_INT(PULSE_CNTR1) }, + { MP_ROM_QSTR(MP_QSTR_PULSE_CNTR2), MP_ROM_INT(PULSE_CNTR2) }, + { MP_ROM_QSTR(MP_QSTR_PULSE_CNTR3), MP_ROM_INT(PULSE_CNTR3) }, + { MP_ROM_QSTR(MP_QSTR_PULSE_CNTR4), MP_ROM_INT(PULSE_CNTR4) }, + { MP_ROM_QSTR(MP_QSTR_PULSE_CNTR5), MP_ROM_INT(PULSE_CNTR5) }, + { MP_ROM_QSTR(MP_QSTR_PWM0), MP_ROM_INT(PWM0) }, + { MP_ROM_QSTR(MP_QSTR_PWM1), MP_ROM_INT(PWM1) }, + { MP_ROM_QSTR(MP_QSTR_PWM2), MP_ROM_INT(PWM2) }, + { MP_ROM_QSTR(MP_QSTR_PWM3), MP_ROM_INT(PWM3) }, + { MP_ROM_QSTR(MP_QSTR_PWM4), MP_ROM_INT(PWM4) }, + { MP_ROM_QSTR(MP_QSTR_PWM5), MP_ROM_INT(PWM5) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_CLK), MP_ROM_INT(QSPI0_CLK) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_CS0), MP_ROM_INT(QSPI0_CS0) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_CS1), MP_ROM_INT(QSPI0_CS1) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_CS2), MP_ROM_INT(QSPI0_CS2) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_CS3), MP_ROM_INT(QSPI0_CS3) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_CS4), MP_ROM_INT(QSPI0_CS4) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_D0), MP_ROM_INT(QSPI0_D0) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_D1), MP_ROM_INT(QSPI0_D1) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_D2), MP_ROM_INT(QSPI0_D2) }, + { MP_ROM_QSTR(MP_QSTR_QSPI0_D3), MP_ROM_INT(QSPI0_D3) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_CLK), MP_ROM_INT(QSPI1_CLK) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_CS0), MP_ROM_INT(QSPI1_CS0) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_CS1), MP_ROM_INT(QSPI1_CS1) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_CS2), MP_ROM_INT(QSPI1_CS2) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_CS3), MP_ROM_INT(QSPI1_CS3) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_CS4), MP_ROM_INT(QSPI1_CS4) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_D0), MP_ROM_INT(QSPI1_D0) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_D1), MP_ROM_INT(QSPI1_D1) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_D2), MP_ROM_INT(QSPI1_D2) }, + { MP_ROM_QSTR(MP_QSTR_QSPI1_D3), MP_ROM_INT(QSPI1_D3) }, + { MP_ROM_QSTR(MP_QSTR_SPI2AXI_CK), MP_ROM_INT(SPI2AXI_CK) }, + { MP_ROM_QSTR(MP_QSTR_SPI2AXI_CS), MP_ROM_INT(SPI2AXI_CS) }, + { MP_ROM_QSTR(MP_QSTR_SPI2AXI_DI), MP_ROM_INT(SPI2AXI_DI) }, + { MP_ROM_QSTR(MP_QSTR_SPI2AXI_DO), MP_ROM_INT(SPI2AXI_DO) }, + { MP_ROM_QSTR(MP_QSTR_UART0_RXD), MP_ROM_INT(UART0_RXD) }, + { MP_ROM_QSTR(MP_QSTR_UART0_TXD), MP_ROM_INT(UART0_TXD) }, + { MP_ROM_QSTR(MP_QSTR_UART1_CTS), MP_ROM_INT(UART1_CTS) }, + { MP_ROM_QSTR(MP_QSTR_UART1_RTS), MP_ROM_INT(UART1_RTS) }, + { MP_ROM_QSTR(MP_QSTR_UART1_RXD), MP_ROM_INT(UART1_RXD) }, + { MP_ROM_QSTR(MP_QSTR_UART1_TXD), MP_ROM_INT(UART1_TXD) }, + { MP_ROM_QSTR(MP_QSTR_UART2_CTS), MP_ROM_INT(UART2_CTS) }, + { MP_ROM_QSTR(MP_QSTR_UART2_RTS), MP_ROM_INT(UART2_RTS) }, + { MP_ROM_QSTR(MP_QSTR_UART2_RXD), MP_ROM_INT(UART2_RXD) }, + { MP_ROM_QSTR(MP_QSTR_UART2_TXD), MP_ROM_INT(UART2_TXD) }, + { MP_ROM_QSTR(MP_QSTR_UART3_CTS), MP_ROM_INT(UART3_CTS) }, + { MP_ROM_QSTR(MP_QSTR_UART3_DE), MP_ROM_INT(UART3_DE) }, + { MP_ROM_QSTR(MP_QSTR_UART3_RE), MP_ROM_INT(UART3_RE) }, + { MP_ROM_QSTR(MP_QSTR_UART3_RTS), MP_ROM_INT(UART3_RTS) }, + { MP_ROM_QSTR(MP_QSTR_UART3_RXD), MP_ROM_INT(UART3_RXD) }, + { MP_ROM_QSTR(MP_QSTR_UART3_TXD), MP_ROM_INT(UART3_TXD) }, + { MP_ROM_QSTR(MP_QSTR_UART4_RXD), MP_ROM_INT(UART4_RXD) }, + { MP_ROM_QSTR(MP_QSTR_UART4_TXD), MP_ROM_INT(UART4_TXD) }, + { MP_ROM_QSTR(MP_QSTR_PDM_CLK), MP_ROM_INT(PDM_CLK) }, + { MP_ROM_QSTR(MP_QSTR_VSYNC0), MP_ROM_INT(VSYNC0) }, + { MP_ROM_QSTR(MP_QSTR_VSYNC1), MP_ROM_INT(VSYNC1) }, + { MP_ROM_QSTR(MP_QSTR_CTRL_IN_3D), MP_ROM_INT(CTRL_IN_3D) }, + { MP_ROM_QSTR(MP_QSTR_CTRL_O1_3D), MP_ROM_INT(CTRL_O1_3D) }, + { MP_ROM_QSTR(MP_QSTR_CTRL_O2_3D), MP_ROM_INT(CTRL_O2_3D) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN0 ), MP_ROM_INT(TEST_PIN0 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN1 ), MP_ROM_INT(TEST_PIN1 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN2 ), MP_ROM_INT(TEST_PIN2 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN3 ), MP_ROM_INT(TEST_PIN3 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN4 ), MP_ROM_INT(TEST_PIN4 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN5 ), MP_ROM_INT(TEST_PIN5 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN6 ), MP_ROM_INT(TEST_PIN6 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN7 ), MP_ROM_INT(TEST_PIN7 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN8 ), MP_ROM_INT(TEST_PIN8 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN9 ), MP_ROM_INT(TEST_PIN9 ) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN10), MP_ROM_INT(TEST_PIN10) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN11), MP_ROM_INT(TEST_PIN11) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN12), MP_ROM_INT(TEST_PIN12) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN13), MP_ROM_INT(TEST_PIN13) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN14), MP_ROM_INT(TEST_PIN14) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN15), MP_ROM_INT(TEST_PIN15) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN16), MP_ROM_INT(TEST_PIN16) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN17), MP_ROM_INT(TEST_PIN17) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN18), MP_ROM_INT(TEST_PIN18) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN19), MP_ROM_INT(TEST_PIN19) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN20), MP_ROM_INT(TEST_PIN20) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN21), MP_ROM_INT(TEST_PIN21) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN22), MP_ROM_INT(TEST_PIN22) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN23), MP_ROM_INT(TEST_PIN23) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN24), MP_ROM_INT(TEST_PIN24) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN25), MP_ROM_INT(TEST_PIN25) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN26), MP_ROM_INT(TEST_PIN26) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN27), MP_ROM_INT(TEST_PIN27) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN28), MP_ROM_INT(TEST_PIN28) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN29), MP_ROM_INT(TEST_PIN29) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN30), MP_ROM_INT(TEST_PIN30) }, + { MP_ROM_QSTR(MP_QSTR_TEST_PIN31), MP_ROM_INT(TEST_PIN31) }, +}; +STATIC MP_DEFINE_CONST_DICT(machine_fpioa_locals_dict, machine_fpioa_locals_dict_table); + +MP_DEFINE_CONST_OBJ_TYPE( + machine_fpioa_type, + MP_QSTR_FPIOA, + MP_TYPE_FLAG_NONE, + make_new, mp_machine_fpioa_make_new, + print, mp_machine_gpio_print, + locals_dict, &machine_fpioa_locals_dict + ); \ No newline at end of file diff --git a/micropython_port/machine/machine_spi.c b/micropython_port/machine/machine_spi.c new file mode 100755 index 0000000..a3177b0 --- /dev/null +++ b/micropython_port/machine/machine_spi.c @@ -0,0 +1,290 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2016 Damien P. George + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include +#include +#include +#include +#include +#include + +#include "py/runtime.h" + +#include "machine_spi.h" +#include "sys/ioctl.h" +#include "py/obj.h" + +/******************************************************************************/ +// MicroPython bindings for generic machine.SPI + +STATIC mp_obj_t machine_spi_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { + mp_obj_base_t *s = (mp_obj_base_t *)MP_OBJ_TO_PTR(args[0]); + mp_machine_spi_p_t *spi_p = (mp_machine_spi_p_t *)MP_OBJ_TYPE_GET_SLOT(s->type, protocol); + spi_p->init(s, n_args - 1, args + 1, kw_args); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_spi_init_obj, 1, machine_spi_init); + +STATIC mp_obj_t machine_spi_deinit(mp_obj_t self) { + mp_obj_base_t *s = (mp_obj_base_t *)MP_OBJ_TO_PTR(self); + mp_machine_spi_p_t *spi_p = (mp_machine_spi_p_t *)MP_OBJ_TYPE_GET_SLOT(s->type, protocol); + if (spi_p->deinit != NULL) { + spi_p->deinit(s); + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_spi_deinit_obj, machine_spi_deinit); + +STATIC void mp_machine_spi_transfer(mp_obj_t self, size_t src_len, const void *src, size_t dest_len, void *dest) { + mp_obj_base_t *s = (mp_obj_base_t *)MP_OBJ_TO_PTR(self); + mp_machine_spi_p_t *spi_p = (mp_machine_spi_p_t *)MP_OBJ_TYPE_GET_SLOT(s->type, protocol); + spi_p->transfer(s, src_len, src, dest_len, dest); +} + +STATIC mp_obj_t mp_machine_spi_read(size_t n_args, const mp_obj_t *args) { + vstr_t vstr; + vstr_init_len(&vstr, mp_obj_get_int(args[1])); + memset(vstr.buf, n_args == 3 ? mp_obj_get_int(args[2]) : 0, vstr.len); + mp_machine_spi_transfer(args[0], 0, NULL, vstr.len, vstr.buf); + return mp_obj_new_bytes_from_vstr(&vstr); +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_spi_read_obj, 2, 3, mp_machine_spi_read); + +STATIC mp_obj_t mp_machine_spi_readinto(size_t n_args, const mp_obj_t *args) { + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(args[1], &bufinfo, MP_BUFFER_WRITE); + memset(bufinfo.buf, n_args == 3 ? mp_obj_get_int(args[2]) : 0, bufinfo.len); + mp_machine_spi_transfer(args[0], 0, NULL, bufinfo.len, bufinfo.buf); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_spi_readinto_obj, 2, 3, mp_machine_spi_readinto); + +STATIC mp_obj_t mp_machine_spi_write(mp_obj_t self, mp_obj_t wr_buf) { + mp_buffer_info_t src; + mp_get_buffer_raise(wr_buf, &src, MP_BUFFER_READ); + mp_machine_spi_transfer(self, src.len, (const uint8_t *)src.buf, 0, NULL); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(mp_machine_spi_write_obj, mp_machine_spi_write); + +STATIC mp_obj_t mp_machine_spi_write_readinto(mp_obj_t self, mp_obj_t wr_buf, mp_obj_t rd_buf) { + mp_buffer_info_t src; + mp_get_buffer_raise(wr_buf, &src, MP_BUFFER_READ); + mp_buffer_info_t dest; + mp_get_buffer_raise(rd_buf, &dest, MP_BUFFER_WRITE); + // if (src.len != dest.len) { + // mp_raise_ValueError(MP_ERROR_TEXT("buffers must be the same length")); + // } + mp_machine_spi_transfer(self, src.len, src.buf, dest.len, dest.buf); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_3(mp_machine_spi_write_readinto_obj, mp_machine_spi_write_readinto); + +STATIC const mp_rom_map_elem_t machine_spi_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_spi_init_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&machine_spi_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_machine_spi_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_machine_spi_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&mp_machine_spi_write_obj) }, + { MP_ROM_QSTR(MP_QSTR_write_readinto), MP_ROM_PTR(&mp_machine_spi_write_readinto_obj) }, +}; +MP_DEFINE_CONST_DICT(mp_machine_spi_locals_dict, machine_spi_locals_dict_table); + + +/******************************************************************************/ +// Implementation of soft SPI + + + +STATIC void mp_machine_soft_spi_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + mp_machine_soft_spi_obj_t *self = MP_OBJ_TO_PTR(self_in); + mp_printf(print, "SoftSPI(id=%u,baudrate=%u, polarity=%u, phase=%u, bits=%u)", + self->fd, self->spi.baud, self->spi.polarity, self->spi.phase, self->spi.bits); +} + +STATIC mp_obj_t mp_machine_soft_spi_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) { + enum { ARG_id, ARG_baudrate, ARG_polarity, ARG_phase, ARG_bits }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_id, MP_ARG_INT, {.u_int = 1} }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 20} }, + { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // create new object + mp_machine_soft_spi_obj_t *self = mp_obj_malloc(mp_machine_soft_spi_obj_t, &machine_spi_type); + + // set parameters + int id = args[ARG_id].u_int; + switch (id) + { + case 0: + self -> fd = open(SPI0_DEVICE_NAME, O_RDWR); + break; + + case 1: + self -> fd = open(SPI1_DEVICE_NAME, O_RDWR); + break; + + case 2: + self -> fd = open(SPI2_DEVICE_NAME, O_RDWR); + break; + + default: + break; + } + if (self->fd < 0){ + mp_raise_OSError_with_filename(errno, SPI_DEVICE_NAME); + mp_raise_ValueError(MP_ERROR_TEXT("invalid id")); + } + + self->spi.baud = args[ARG_baudrate].u_int; + self->spi.polarity = args[ARG_polarity].u_int; + self->spi.phase = args[ARG_phase].u_int; + self->spi.bits = args[ARG_bits].u_int; + if (args[ARG_bits].u_int != 8) { + mp_raise_ValueError(MP_ERROR_TEXT("bits must be 8")); + } + + return MP_OBJ_FROM_PTR(self); +} + +STATIC void mp_machine_soft_spi_init(mp_obj_base_t *self_in, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + mp_machine_soft_spi_obj_t *self = (mp_machine_soft_spi_obj_t *)self_in; + + enum {ARG_id, ARG_baudrate, ARG_polarity, ARG_phase,ARG_bits }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_id, MP_ARG_INT, {.u_int = 1} }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_polarity, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_phase, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_bits, MP_ARG_INT, {.u_int = 8} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // set parameters + int id = args[ARG_id].u_int; + switch (id) + { + case 0: + self -> fd = open(SPI0_DEVICE_NAME, O_RDWR); + break; + + case 1: + self -> fd = open(SPI1_DEVICE_NAME, O_RDWR); + break; + + case 2: + self -> fd = open(SPI2_DEVICE_NAME, O_RDWR); + break; + + default: + break; + } + if (self->fd < 0){ + mp_raise_OSError_with_filename(errno, SPI_DEVICE_NAME); + mp_raise_ValueError(MP_ERROR_TEXT("invalid id")); + } + + if (args[ARG_baudrate].u_int != -1) { + self->spi.baud = args[ARG_baudrate].u_int; + } + if (args[ARG_polarity].u_int != -1) { + self->spi.polarity = args[ARG_polarity].u_int; + } + if (args[ARG_phase].u_int != -1) { + self->spi.phase = args[ARG_phase].u_int; + } + if (args[ARG_phase].u_int != -1) { + self->spi.bits = args[ARG_phase].u_int; + } + +} + +STATIC void mp_machine_soft_spi_deinit(mp_obj_base_t *self_in) { + mp_machine_soft_spi_obj_t *self = (mp_machine_soft_spi_obj_t *)self_in; + + close(self->fd); + self->fd = -1; +} + +STATIC void mp_machine_soft_spi_transfer(mp_obj_base_t *self_in, size_t src_len, const uint8_t *src, size_t dest_len, uint8_t *dest) { + mp_machine_soft_spi_obj_t *self = (mp_machine_soft_spi_obj_t *)self_in; + struct rt_spi_priv_data *priv_data = mp_local_alloc(sizeof(struct rt_spi_priv_data)); + priv_data->send_buf = src; + priv_data->send_length = src_len; + priv_data->recv_buf = dest; + priv_data->recv_length = dest_len; + + if(dest == NULL){ + struct rt_spi_configuration cfg = { + .mode = DWENUM_SPI_TX, + .data_width = self->spi.bits, + .max_hz = self->spi.baud, + }; + ioctl(self->fd, RT_SPI_DEV_CTRL_CONFIG, &cfg); + write(self->fd, src, src_len); + }else if((src == NULL)&&(dest != NULL)){ + struct rt_spi_configuration cfg = { + .mode = DWENUM_SPI_RX, + .data_width = self->spi.bits, + .max_hz = self->spi.baud, + }; + ioctl(self->fd, RT_SPI_DEV_CTRL_CONFIG, &cfg); + read(self->fd, dest, dest_len); + }else{ + struct rt_spi_configuration cfg = { + .mode = DWENUM_SPI_EEPROM, + .data_width = self->spi.bits, + .max_hz = self->spi.baud, + }; + ioctl(self->fd, RT_SPI_DEV_CTRL_CONFIG, &cfg); + ioctl(self->fd, RT_SPI_DEV_CTRL_RW, priv_data); + } + + mp_local_free(priv_data); +} + +const mp_machine_spi_p_t mp_machine_soft_spi_p = { + .init = mp_machine_soft_spi_init, + .deinit = mp_machine_soft_spi_deinit, + .transfer = mp_machine_soft_spi_transfer, +}; + +MP_DEFINE_CONST_OBJ_TYPE( + machine_spi_type, + MP_QSTR_SoftSPI, + MP_TYPE_FLAG_NONE, + make_new, mp_machine_soft_spi_make_new, + print, mp_machine_soft_spi_print, + protocol, &mp_machine_soft_spi_p, + locals_dict, &mp_machine_spi_locals_dict + ); + diff --git a/micropython_port/machine/machine_uart.c b/micropython_port/machine/machine_uart.c new file mode 100644 index 0000000..622f96d --- /dev/null +++ b/micropython_port/machine/machine_uart.c @@ -0,0 +1,206 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include +#include "sys/ioctl.h" +#include "machine_uart.h" +#include "py/runtime.h" +#include "py/obj.h" +#include "py/stream.h" + +#define IOC_SET_BAUDRATE _IOW('U', 0x40, int) + +typedef struct { + mp_obj_base_t base; + int fd; + uint32_t baudrate; + uint8_t uart_num; + uint8_t bitwidth; + uint8_t parity; + uint8_t stop; +} machine_uart_obj_t; + +struct uart_configure +{ + uint32_t baud_rate; + uint32_t data_bits :4; + uint32_t stop_bits :2; + uint32_t parity :2; + uint32_t fifo_lenth :2; + uint32_t auto_flow :1; + uint32_t reserved :21; +}; + +STATIC void machine_uart_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in); + mp_printf(print, "uart %d: fd=%u, baudrate=%u, bitwidth=%u, parity=%u, stop=%u", self->uart_num, + self->fd, self->baudrate, self->bitwidth, self->parity, self->stop); +} + +STATIC void machine_uart_init_helper(machine_uart_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_baudrate, ARG_bits, ARG_parity, ARG_stop }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 115200} }, + { MP_QSTR_bits, MP_ARG_INT, {.u_int = 8} }, + { MP_QSTR_parity, MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_stop, MP_ARG_INT, {.u_int = 0} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + self->baudrate = args[ARG_baudrate].u_int; + self->bitwidth = args[ARG_bits].u_int; + self->parity = args[ARG_parity].u_int; + self->stop = args[ARG_stop].u_int; + + struct uart_configure conf; + conf.baud_rate = self->baudrate; + conf.data_bits = self->bitwidth; + conf.parity = self->parity; + conf.stop_bits = self->stop; + conf.fifo_lenth = 2; + conf.auto_flow = 0; + + ioctl(self->fd, IOC_SET_BAUDRATE, &conf); +} + +STATIC mp_obj_t machine_uart_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { + int uart_num, fd; + + mp_arg_check_num(n_args, n_kw, 1, 5, true); + + if (mp_obj_is_int(args[0])) { + uart_num = mp_obj_get_int(args[0]); + if (uart_num < 1 || uart_num > 4) + mp_raise_ValueError(MP_ERROR_TEXT("invalid uart")); + // todo fix uart3 driver + if (uart_num == 3) + mp_raise_ValueError(MP_ERROR_TEXT("uart3 busy")); + } else { + mp_raise_ValueError(MP_ERROR_TEXT("invalid param")); + } + + char dev_name[16] = "/dev/uart0"; + dev_name[9] = '0' + uart_num; + fd = open(dev_name, O_RDWR); + if (fd < 0) + mp_raise_OSError_with_filename(errno, dev_name); + + machine_uart_obj_t *self = m_new_obj_with_finaliser(machine_uart_obj_t); + self->base.type = &machine_uart_type; + self->uart_num = uart_num; + self->fd = fd; + + mp_map_t kw_args; + mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); + machine_uart_init_helper(self, n_args - 1, args + 1, &kw_args); + + return MP_OBJ_FROM_PTR(self); +} + +STATIC mp_obj_t machine_uart_deinit(mp_obj_t self_in) { + machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in); + close(self->fd); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_uart_deinit_obj, machine_uart_deinit); + +STATIC mp_obj_t machine_uart_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { + machine_uart_init_helper(args[0], n_args - 1, args + 1, kw_args); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_uart_init_obj, 1, machine_uart_init); + +STATIC mp_uint_t machine_uart_read(mp_obj_t self_in, void *buf_in, mp_uint_t size, int *errcode) { + machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in); + + size = read(self->fd, buf_in, size); + *errcode = 0; + + return size; +} + +STATIC mp_uint_t machine_uart_write(mp_obj_t self_in, const void *buf_in, mp_uint_t size, int *errcode) { + machine_uart_obj_t *self = MP_OBJ_TO_PTR(self_in); + + write(self->fd, buf_in, size); + *errcode = 0; + + return size; +} + +STATIC mp_uint_t machine_uart_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) { + mp_uint_t ret; + + *errcode = MP_EINVAL; + ret = MP_STREAM_ERROR; + + return ret; +} + +STATIC const mp_rom_map_elem_t machine_uart_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&machine_uart_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_uart_init_obj) }, + { MP_ROM_QSTR(MP_QSTR_readline), MP_ROM_PTR(&mp_stream_unbuffered_readline_obj)}, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_stream_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&mp_stream_write_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_stream_read_obj) }, + + { MP_ROM_QSTR(MP_QSTR_UART1), MP_ROM_INT(1) }, + { MP_ROM_QSTR(MP_QSTR_UART2), MP_ROM_INT(2) }, + { MP_ROM_QSTR(MP_QSTR_UART3), MP_ROM_INT(3) }, + { MP_ROM_QSTR(MP_QSTR_UART4), MP_ROM_INT(4) }, + { MP_ROM_QSTR(MP_QSTR_FIVEBITS), MP_ROM_INT(5) }, + { MP_ROM_QSTR(MP_QSTR_SIXBITS), MP_ROM_INT(6) }, + { MP_ROM_QSTR(MP_QSTR_SEVENBITS), MP_ROM_INT(7) }, + { MP_ROM_QSTR(MP_QSTR_EIGHTBITS), MP_ROM_INT(8) }, + { MP_ROM_QSTR(MP_QSTR_STOPBITS_ONE), MP_ROM_INT(0) }, + { MP_ROM_QSTR(MP_QSTR_STOPBITS_TWO), MP_ROM_INT(1) }, + { MP_ROM_QSTR(MP_QSTR_PARITY_NONE), MP_ROM_INT(0) }, + { MP_ROM_QSTR(MP_QSTR_PARITY_ODD), MP_ROM_INT(1) }, + { MP_ROM_QSTR(MP_QSTR_PARITY_EVEN), MP_ROM_INT(3) }, +}; +STATIC MP_DEFINE_CONST_DICT(machine_uart_locals_dict, machine_uart_locals_dict_table); + +STATIC const mp_stream_p_t machine_uart_stream_p = { + .read = machine_uart_read, + .write = machine_uart_write, + .ioctl = machine_uart_ioctl, +}; + +MP_DEFINE_CONST_OBJ_TYPE( + machine_uart_type, + MP_QSTR_UART, + MP_TYPE_FLAG_ITER_IS_STREAM, + make_new, machine_uart_make_new, + print, machine_uart_print, + protocol, &machine_uart_stream_p, + locals_dict, &machine_uart_locals_dict + ); diff --git a/micropython_port/machine/modmachine.c b/micropython_port/machine/modmachine.c index 437cf3a..5f1a54f 100644 --- a/micropython_port/machine/modmachine.c +++ b/micropython_port/machine/modmachine.c @@ -29,37 +29,48 @@ #include "py/runtime.h" #include "py/obj.h" +#include +#include + #include "extmod/machine_mem.h" +#include "machine_uart.h" #include "machine_pwm.h" #include "machine_wdt.h" #include "machine_gpio.h" #include "machine_i2c.h" #include "machine_timer.h" #include "machine_adc.h" - +#include "machine_fft.h" +#include "machine_iomux_fpioa.h" +#include "machine_spi.h" #if MICROPY_PY_MACHINE -#if MICROPY_PLAT_DEV_MEM -#include -#include -#include -#define MICROPY_PAGE_SIZE 4096 -#define MICROPY_PAGE_MASK (MICROPY_PAGE_SIZE - 1) -#endif +STATIC mp_obj_t machine_reset(void) { + int fd = open("/dev/mem", O_RDWR | O_SYNC); + if (fd < 0) + mp_raise_OSError(errno); + void *reset_base = mmap(NULL, 4096, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x91102000); + if (reset_base == NULL) + mp_raise_OSError(errno); + *(uint32_t *)(reset_base + 0x60) = 0x10001; + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_0(machine_reset_obj, machine_reset); STATIC const mp_rom_map_elem_t machine_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_machine) }, - - { MP_ROM_QSTR(MP_QSTR_mem8), MP_ROM_PTR(&machine_mem8_obj) }, - { MP_ROM_QSTR(MP_QSTR_mem16), MP_ROM_PTR(&machine_mem16_obj) }, - { MP_ROM_QSTR(MP_QSTR_mem32), MP_ROM_PTR(&machine_mem32_obj) }, + { MP_ROM_QSTR(MP_QSTR_reset), MP_ROM_PTR(&machine_reset_obj) }, + { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&machine_uart_type) }, { MP_ROM_QSTR(MP_QSTR_PWM), MP_ROM_PTR(&machine_pwm_type) }, { MP_ROM_QSTR(MP_QSTR_WDT), MP_ROM_PTR(&machine_wdt_type) }, { MP_ROM_QSTR(MP_QSTR_GPIO), MP_ROM_PTR(&machine_gpio_type) }, + { MP_ROM_QSTR(MP_QSTR_FPIOA), MP_ROM_PTR(&machine_fpioa_type) }, { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&machine_i2c_type) }, { MP_ROM_QSTR(MP_QSTR_Timer), MP_ROM_PTR(&machine_timer_type) }, { MP_ROM_QSTR(MP_QSTR_ADC), MP_ROM_PTR(&machine_adc_type) }, + { MP_ROM_QSTR(MP_QSTR_FFT), MP_ROM_PTR(&machine_fft_type) }, + { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&machine_spi_type) }, }; STATIC MP_DEFINE_CONST_DICT(machine_module_globals, machine_module_globals_table); diff --git a/micropython_port/media/camera.py b/micropython_port/media/camera.py index 1e9049b..080d057 100755 --- a/micropython_port/media/camera.py +++ b/micropython_port/media/camera.py @@ -3,6 +3,7 @@ from time import * from media.media import * import image +import _thread CAM_CHN0_OUT_WIDTH_MAX = 3072 CAM_CHN0_OUT_HEIGHT_MAX = 2160 @@ -83,8 +84,8 @@ def sensor_init(cls, dev_num, type): print("sensor_init enter") if (dev_num > CAM_DEV_ID_MAX - 1) or (type > CAM_SENSOR_TYPE_MAX - 1): - printf(f"sensor_init, invalid param, dev_num({dev_num}, sensor type({type}))"); - return -1; + print(f"sensor_init, invalid param, dev_num({dev_num}, sensor type({type}))") + return -1 ret = kd_mpi_vicap_get_sensor_info(type, cls.cam_dev[dev_num].dev_attr.sensor_info) if ret: @@ -113,8 +114,8 @@ def set_inbufs(cls, dev_num, num): print("set_inbufs enter") if (dev_num > CAM_DEV_ID_MAX - 1): - printf(f"set_inbufs, invalid param, dev_num({dev_num}"); - return -1; + print(f"set_inbufs, invalid param, dev_num({dev_num}") + return -1 cls.cam_dev[dev_num].dev_attr.mode = VICAP_WORK_OFFLINE_MODE cls.cam_dev[dev_num].dev_attr.buffer_num = num @@ -144,8 +145,8 @@ def set_outbufs(cls, dev_num, chn_num, num): print("set_outbufs enter") if (dev_num > CAM_DEV_ID_MAX - 1) or (chn_num > CAM_CHN_ID_MAX - 1): - printf(f"set_outbufs, invalid param, dev_num({dev_num}, chn_num({chn_num}))"); - return -1; + print(f"set_outbufs, invalid param, dev_num({dev_num}, chn_num({chn_num}))") + return -1 cls.cam_dev[dev_num].chn_attr[chn_num].chn_enable = True cls.cam_dev[dev_num].chn_attr[chn_num].buffer_num = num @@ -175,15 +176,15 @@ def set_outsize(cls, dev_num, chn_num, width, height): print("set_outsize enter") if (dev_num > CAM_DEV_ID_MAX - 1) or (chn_num > CAM_CHN_ID_MAX - 1): - printf(f"invalid param, dev_num({dev_num}, chn_num({chn_num}))"); - return -1; + print(f"invalid param, dev_num({dev_num}, chn_num({chn_num}))") + return -1 if (width > cls.cam_dev[dev_num].dev_attr.acq_win.width) \ or (height > cls.cam_dev[dev_num].dev_attr.acq_win.height) \ or (width < CAM_OUT_WIDTH_MIN) \ or (height < CAM_OUT_HEIGHT_MIN): - printf(f"invalid out size, width({width}, height({height}))"); - return -1; + print(f"invalid out size, width({width}, height({height}))") + return -1 cls.cam_dev[dev_num].chn_attr[chn_num].chn_enable = True cls.cam_dev[dev_num].chn_attr[chn_num].out_win.h_start = 0 @@ -201,7 +202,7 @@ def set_outsize(cls, dev_num, chn_num, width, height): if pix_format == PIXEL_FORMAT_YUV_SEMIPLANAR_420: buf_size = ALIGN_UP((out_width * out_height * 3 // 2), VICAP_ALIGN_4K) - elif pix_format in [PIXEL_FORMAT_RGB_888, PIXEL_FORMAT_BGR_888_PLANAR]: + elif pix_format in [PIXEL_FORMAT_RGB_888, PIXEL_FORMAT_RGB_888_PLANAR]: buf_size = ALIGN_UP((out_width * out_height * 3), VICAP_ALIGN_4K) elif pix_format in [PIXEL_FORMAT_RGB_BAYER_10BPP, PIXEL_FORMAT_RGB_BAYER_12BPP, \ PIXEL_FORMAT_RGB_BAYER_14BPP, PIXEL_FORMAT_RGB_BAYER_16BPP]: @@ -239,8 +240,8 @@ def set_outfmt(cls, dev_num, chn_num, pix_format): print("set_outfmt enter") if (dev_num > CAM_DEV_ID_MAX - 1) or (chn_num > CAM_CHN_ID_MAX - 1): - printf(f"invalid param, dev_num({dev_num}, chn_num({chn_num}))"); - return -1; + print(f"invalid param, dev_num({dev_num}, chn_num({chn_num}))") + return -1 cls.cam_dev[dev_num].chn_attr[chn_num].pix_format = pix_format cls.cam_dev[dev_num].chn_attr[chn_num].chn_enable = True @@ -255,7 +256,7 @@ def set_outfmt(cls, dev_num, chn_num, pix_format): if pix_format == PIXEL_FORMAT_YUV_SEMIPLANAR_420: buf_size = ALIGN_UP((out_width * out_height * 3 // 2), VICAP_ALIGN_4K) - elif pix_format in [PIXEL_FORMAT_RGB_888, PIXEL_FORMAT_BGR_888_PLANAR]: + elif pix_format in [PIXEL_FORMAT_RGB_888, PIXEL_FORMAT_RGB_888_PLANAR]: buf_size = ALIGN_UP((out_width * out_height * 3), VICAP_ALIGN_4K) elif pix_format in [PIXEL_FORMAT_RGB_BAYER_10BPP, PIXEL_FORMAT_RGB_BAYER_12BPP, \ PIXEL_FORMAT_RGB_BAYER_14BPP, PIXEL_FORMAT_RGB_BAYER_16BPP]: @@ -293,8 +294,8 @@ def start_stream(cls, dev_num): print("start_stream enter") if (dev_num > CAM_DEV_ID_MAX - 1): - printf(f"invalid param, dev_num({dev_num}"); - return -1; + print(f"invalid param, dev_num({dev_num}") + return -1 ret = kd_mpi_vicap_set_dev_attr(dev_num, cls.cam_dev[dev_num].dev_attr) if ret: @@ -330,8 +331,8 @@ def start_stream(cls, dev_num): def stop_stream(cls, dev_num): print("stop_stream enter") if (dev_num > CAM_DEV_ID_MAX - 1): - printf(f"stop_stream, invalid param, dev_num({dev_num}"); - return -1; + print(f"stop_stream, invalid param, dev_num({dev_num}") + return -1 ret = kd_mpi_vicap_stop_stream(dev_num) if ret: @@ -355,43 +356,69 @@ def capture_image(cls, dev_num, chn_num): frame_info = k_video_frame_info() if (dev_num > CAM_DEV_ID_MAX - 1) or (chn_num > CAM_CHN_ID_MAX - 1): - printf(f"capture_image, invalid param, dev_num({dev_num}, chn_num({chn_num}))") - return -1; - - ret = kd_mpi_vicap_dump_frame(dev_num, chn_num, VICAP_DUMP_YUV, frame_info, 1000) - if ret: - print(f"capture_image, dev({dev_num}) chn({chn_num}) request frame failed.") + print(f"capture_image, invalid param, dev_num({dev_num}, chn_num({chn_num}))") return -1 + try: + virt_addr = 0 + gil_lock = _thread.allocate_lock() + gil_lock.acquire() + ret = kd_mpi_vicap_dump_frame(dev_num, chn_num, VICAP_DUMP_YUV, frame_info, 1000) + if ret: + print(f"capture_image, dev({dev_num}) chn({chn_num}) request frame failed.") + return -1 + gil_lock.release() + del gil_lock + phys_addr = frame_info.v_frame.phys_addr[0] + img_width = frame_info.v_frame.width + img_height = frame_info.v_frame.height + fmt = frame_info.v_frame.pixel_format + + if fmt == PIXEL_FORMAT_YUV_SEMIPLANAR_420: + img_size = img_width * img_height * 3 // 2 + img_fmt = image.YUV420 + elif fmt == PIXEL_FORMAT_RGB_888: + img_size = img_width * img_height * 3 + img_fmt = image.RGB888 + elif fmt == PIXEL_FORMAT_RGB_888_PLANAR: + img_size = img_width * img_height * 3 + img_fmt = image.RGBP888 + else: + print("capture_image: unsupported format.") + return -1 - phys_addr = frame_info.v_frame.phys_addr[0] - img_width = frame_info.v_frame.width - img_height = frame_info.v_frame.height - fmt = frame_info.v_frame.pixel_format - - if fmt == PIXEL_FORMAT_YUV_SEMIPLANAR_420: - img_size = img_width * img_height * 3 // 2 - img_fmt = image.YUV420 - elif fmt == PIXEL_FORMAT_RGB_888: - img_size = img_width * img_height * 3 - img_fmt = image.RGB888 - elif fmt == PIXEL_FORMAT_BGR_888_PLANAR: - img_size = img_width * img_height * 3 - img_fmt = image.RGBP888 - else: - print("capture_image: unsupported format.") - return -1; - - virt_addr = kd_mpi_sys_mmap(phys_addr, img_size) - if virt_addr: - # Create image object - img = image.Image(img_width, img_height, img_fmt, alloc=image.ALLOC_VB, phyaddr=phys_addr, virtaddr=virt_addr) - else: - print("capture_image, mmap failed") - return -1; - - #print("capture_image exit") - return img + virt_addr = kd_mpi_sys_mmap(phys_addr, img_size) + if virt_addr: + # Create image object + img = image.Image(img_width, img_height, img_fmt, alloc=image.ALLOC_VB, phyaddr=phys_addr, virtaddr=virt_addr, poolid=frame_info.pool_id) + else: + print("capture_image, mmap failed") + return -1 + #print("capture_image exit") + return img + except Exception as e: + print(f'camera.py catch exception, phys: {hex(frame_info.v_frame.phys_addr[0])}') + if frame_info.v_frame.phys_addr[0]: + if virt_addr: + phys_addr = frame_info.v_frame.phys_addr[0] + img_width = frame_info.v_frame.width + img_height = frame_info.v_frame.height + fmt = frame_info.v_frame.pixel_format + if fmt == PIXEL_FORMAT_YUV_SEMIPLANAR_420: + img_size = img_width * img_height * 3 // 2 + img_fmt = image.YUV420 + elif fmt == PIXEL_FORMAT_RGB_888: + img_size = img_width * img_height * 3 + img_fmt = image.RGB888 + elif fmt == PIXEL_FORMAT_RGB_888_PLANAR: + img_size = img_width * img_height * 3 + img_fmt = image.RGBP888 + print('munmap', kd_mpi_sys_munmap(virt_addr, img_size)) + + print('release blk', kd_mpi_vicap_dump_release(dev_num, chn_num, frame_info)) + else: + print('Unfortunately, VB may be missing.') + raise e # release_image @classmethod @@ -404,16 +431,87 @@ def release_image(cls, dev_num, chn_num, img): virt_addr = img.virtaddr() img_size = img.size() - ret = kd_mpi_sys_munmap(virt_addr, img_size) - if ret: - print(f"release_image, dev({dev_num}) chn({chn_num}) munmap failed") + if virt_addr: + ret = kd_mpi_sys_munmap(virt_addr, img_size) + if ret: + print(f"release_image, dev({dev_num}) chn({chn_num}) munmap failed") - frame_info.v_frame.phys_addr[0] = phy_addr; + frame_info.v_frame.phys_addr[0] = phy_addr ret = kd_mpi_vicap_dump_release(dev_num, chn_num, frame_info) + img = None if ret: print(f"release_image, dev({dev_num}) chn({chn_num}) release frame failed") #print("release_image exit") return 0 +class Camera: + + def __init__(self, dev_num: int = CAM_DEV_ID_0, type: int = CAM_DEFAULT_SENSOR, offline: bool = False, + output0=(640, 480, PIXEL_FORMAT_YUV_SEMIPLANAR_420), + output1=None, output2=None, start: bool = True + ) -> None: + cam_dev = __camera_device() + self.cam_dev = cam_dev + if (dev_num > CAM_DEV_ID_MAX - 1) or (type > CAM_SENSOR_TYPE_MAX - 1): + raise Exception(f"Invalid params, dev_num({dev_num}), sensor type({type})") + + ret = kd_mpi_vicap_get_sensor_info(type, cam_dev.dev_attr.sensor_info) + if ret: + raise Exception("Get sensor info err") + if type == CAM_OV5647_1920X1080_30FPS_10BIT_USEMCLK_LINEAR: + kd_mpi_vicap_set_mclk(VICAP_MCLK0, VICAP_PLL0_CLK_DIV4, 16, 1) + cam_dev.dev_attr.acq_win.h_start = 0 + cam_dev.dev_attr.acq_win.v_start = 0 + cam_dev.dev_attr.acq_win.width = cam_dev.dev_attr.sensor_info.width + cam_dev.dev_attr.acq_win.height = cam_dev.dev_attr.sensor_info.height + cam_dev.dev_attr.mode = VICAP_WORK_OFFLINE_MODE if offline else VICAP_WORK_ONLINE_MODE + cam_dev.dev_attr.input_type = VICAP_INPUT_TYPE_SENSOR + cam_dev.dev_attr.dev_enable = True + self.flag_stream_started = False + self.outputs = (output0, output1, output2) + # set input video buffer + if cam_dev.dev_attr.mode == VICAP_WORK_OFFLINE_MODE: + cam_dev.dev_attr.buffer_num = 3 + cam_dev.dev_attr.buffer_size = ALIGN_UP((cam_dev.dev_attr.acq_win.width * cam_dev.dev_attr.acq_win.height * 2), VICAP_ALIGN_4K) + config = k_vb_config() + config.max_pool_cnt = 64 + config.comm_pool[0].blk_cnt = cam_dev.dev_attr.buffer_num + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + config.comm_pool[0].blk_size = cam_dev.dev_attr.buffer_size + media.buffer_config(config) + for idx, out in enumerate(self.outputs): + if out: + chn_attr = cam_dev.chn_attr[idx] + out_window = chn_attr.out_win + chn_attr.chn_enable = True + out_window.h_start = 0 + out_window.v_start = 0 + out_window.width = ALIGN_UP(out[0], 16) + out_window.height = out[1] + chn_attr.pix_format = out[2] + if out[2] == PIXEL_FORMAT_YUV_SEMIPLANAR_420: + buffer_size = ALIGN_UP((out_window.width * out_window.height * 3 // 2), VICAP_ALIGN_4K) + elif out[2] == PIXEL_FORMAT_RGB_888 or out[2] == PIXEL_FORMAT_RGB_888_PLANAR: + buffer_size = ALIGN_UP((out_window.width * out_window.height * 3), VICAP_ALIGN_4K) + elif out[2] in [PIXEL_FORMAT_RGB_BAYER_10BPP, PIXEL_FORMAT_RGB_BAYER_12BPP, + PIXEL_FORMAT_RGB_BAYER_14BPP, PIXEL_FORMAT_RGB_BAYER_16BPP]: + out_window.width = cam_dev.dev_attr.acq_win.width + out_window.height = cam_dev.dev_attr.acq_win.height + buffer_size = ALIGN_UP((out_window.width * out_window.height * 3), VICAP_ALIGN_4K) + else: + raise Exception(f"Invalid output{idx} format") + chn_attr.buffer_size = buffer_size + config = k_vb_config() + config.max_pool_cnt = 64 + config.comm_pool[0].blk_cnt = cam_dev.dev_attr.buffer_num + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + config.comm_pool[0].blk_size = cam_dev.dev_attr.buffer_size + + + def __enter__(self) -> None: + pass + + def __exit__(self, type, value, tb) -> None: + pass diff --git a/micropython_port/media/display.py b/micropython_port/media/display.py index 8569f28..26ba260 100755 --- a/micropython_port/media/display.py +++ b/micropython_port/media/display.py @@ -81,7 +81,7 @@ def set_video_plane(cls, x, y, width, height, pixelformat, mirror, chn): video_attr = k_vo_video_layer_attr() video_attr.pixel_format = pixelformat video_attr.func = mirror - video_attr.stride = (width // 8 - 1) + ((height - 1) << 16); + video_attr.stride = (width // 8 - 1) + ((height - 1) << 16) struct_copy(offset, video_attr.display_rect) struct_copy(img_size, video_attr.img_size) kd_mpi_vo_set_video_layer_attr(chn, video_attr) @@ -124,13 +124,13 @@ def show_image(cls, img, x, y, chn): cls.set_plane(x, y, width, height, pixelformat, DISPLAY_MIRROR_NONE, chn) frame_info = k_video_frame_info() - frame_info.mod_id = K_ID_VO; - frame_info.pool_id = pool_id; + frame_info.mod_id = K_ID_VO + frame_info.pool_id = pool_id frame_info.v_frame.width = width frame_info.v_frame.height = height frame_info.v_frame.pixel_format = pixelformat frame_info.v_frame.stride[0] = width - frame_info.v_frame.phys_addr[0] = phys_addr; + frame_info.v_frame.phys_addr[0] = phys_addr if pixelformat == PIXEL_FORMAT_YUV_SEMIPLANAR_420: frame_info.v_frame.phys_addr[1] = phys_addr + (width * height) kd_mpi_vo_chn_insert_frame(chn, frame_info) diff --git a/micropython_port/media/g711.py b/micropython_port/media/g711.py new file mode 100644 index 0000000..e4c0a55 --- /dev/null +++ b/micropython_port/media/g711.py @@ -0,0 +1,205 @@ +from mpp.vb import * +from mpp import * +from mpp.sys import * +from media.media import * +from mpp.payload_struct import * +from mpp.adec_struct import * +from mpp.aenc_struct import * +import uctypes +import time + +BUF_CNT = 5 + +def _vb_buffer_init(frames_per_buffer=1024): + config = k_vb_config() + config.max_pool_cnt = 64 + config.comm_pool[0].blk_cnt = BUF_CNT + config.comm_pool[0].blk_size = int(frames_per_buffer * 2 * 4) + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + return media.buffer_config(config) + +class Encoder: + chns_enable = [0 for i in range(0,AENC_MAX_CHN_NUMS)] + + def _init_audio_frame(self): + if (self._audio_handle == -1): + frame_size = int(self.point_num_per_frame*2*2) + self._audio_handle = kd_mpi_vb_get_block(-1, frame_size, "") + if (self._audio_handle == -1): + raise ValueError("kd_mpi_vb_get_block failed") + + self._audio_frame.len = frame_size + self._audio_frame.pool_id = kd_mpi_vb_handle_to_pool_id(self._audio_handle) + self._audio_frame.phys_addr = kd_mpi_vb_handle_to_phyaddr(self._audio_handle) + self._audio_frame.virt_addr = kd_mpi_sys_mmap(self._audio_frame.phys_addr, frame_size) + return 0 + + def _deinit_audio_frame(self): + if (self._audio_handle != -1): + kd_mpi_vb_release_block(self._audio_handle) + self._audio_handle = -1 + + @classmethod + def get_free_chn_index(cls): + for i in cls.chns_enable: + if (i == 0): + return i + return -1 + + def __init__(self,type,frames_per_buffer): + self.type = type + self.point_num_per_frame = frames_per_buffer + self.chn = -1 + self.init = False + self._audio_handle = -1 + self._audio_frame = k_audio_frame() + _vb_buffer_init(frames_per_buffer) + + def create(self): + if (not self.init): + self._init_audio_frame() + chn_index = Encoder.get_free_chn_index() + if (chn_index == -1): + self._deinit_audio_frame() + raise ValueError("Encoder has no free chn") + else: + Encoder.chns_enable[chn_index] = 1 + + self.chn = chn_index + aenc_chn_attr = k_aenc_chn_attr() + aenc_chn_attr.type = self.type + aenc_chn_attr.buf_size = BUF_CNT + aenc_chn_attr.point_num_per_frame = self.point_num_per_frame + + if (0 != kd_mpi_aenc_create_chn(self.chn, aenc_chn_attr)): + self._deinit_audio_frame() + raise ValueError(("kd_mpi_aenc_create_chn:%d faild")%(self.chn)) + + self.init = True + return 0 + + return -1 + + def destroy(self): + if (self.init): + if (0 != kd_mpi_aenc_destroy_chn(self.chn)): + self._deinit_audio_frame() + raise ValueError(("kd_mpi_aenc_destroy_chn:%d faild")%(self.chn)) + else: + Encoder.chns_enable[self.chn] = 0 + + self._deinit_audio_frame() + + self.init = False + return 0 + + def encode(self,frame_data): + audio_stream = k_audio_stream() + self._audio_frame.len = len(frame_data) + uctypes.bytearray_at(self._audio_frame.virt_addr, self._audio_frame.len)[:] = frame_data + + if (0 != kd_mpi_aenc_send_frame(self.chn, self._audio_frame)): + raise ValueError(("kd_mpi_aenc_send_frame:%d faild")%(self.chn)) + + if (0 != kd_mpi_aenc_get_stream(self.chn, audio_stream, 1000)): + raise ValueError(("kd_mpi_aenc_get_stream:%d faild")%(self.chn)) + + vir_data = kd_mpi_sys_mmap(audio_stream.phys_addr, audio_stream.len) + data = uctypes.bytes_at(vir_data,audio_stream.len) + kd_mpi_sys_munmap(vir_data,audio_stream.len) + kd_mpi_aenc_release_stream(self.chn, audio_stream) + + return data + + +class Decoder: + chns_enable = [0 for i in range(0,ADEC_MAX_CHN_NUMS)] + + def _init_audio_stream(self): + if (self._audio_handle == -1): + frame_size = int(self.point_num_per_frame*2*2) + self._audio_handle = kd_mpi_vb_get_block(-1, frame_size, "") + if (self._audio_handle == -1): + raise ValueError("kd_mpi_vb_get_block failed") + + self._audio_stream.len = frame_size + self._audio_stream.phys_addr = kd_mpi_vb_handle_to_phyaddr(self._audio_handle) + self._audio_stream.stream = kd_mpi_sys_mmap(self._audio_stream.phys_addr, frame_size) + return 0 + + def _deinit_audio_stream(self): + if (self._audio_handle != -1): + kd_mpi_vb_release_block(self._audio_handle) + self._audio_handle = -1 + @classmethod + def get_free_chn_index(cls): + for i in cls.chns_enable: + if (i == 0): + return i + return -1 + + def __init__(self,type,frames_per_buffer): + self.type = type + self.point_num_per_frame = frames_per_buffer + self.chn = -1 + self.init = False + self._audio_handle = -1 + self._audio_stream = k_audio_stream() + _vb_buffer_init(frames_per_buffer) + + def create(self): + if (not self.init): + self._init_audio_stream() + chn_index = Decoder.get_free_chn_index() + if (chn_index == -1): + self._deinit_audio_stream() + raise ValueError("Decoder has no free chn") + else: + Decoder.chns_enable[chn_index] = 1 + + self.chn = chn_index + adec_chn_attr = k_adec_chn_attr() + adec_chn_attr.type = self.type + adec_chn_attr.buf_size = BUF_CNT + adec_chn_attr.point_num_per_frame = self.point_num_per_frame + + if (0 != kd_mpi_adec_create_chn(self.chn, adec_chn_attr)): + self._deinit_audio_stream() + raise ValueError(("kd_mpi_adec_create_chn:%d faild")%(self.chn)) + + self.init = True + return 0 + return -1 + + def destroy(self): + if (self.init): + if (0 != kd_mpi_adec_destroy_chn(self.chn)): + self._deinit_audio_stream() + raise ValueError(("kd_mpi_adec_destroy_chn:%d faild")%(self.chn)) + else: + Decoder.chns_enable[self.chn] = 0 + self._deinit_audio_stream() + + self.init = False + return 0 + + def decode(self,stream_data): + audio_frame = k_audio_frame() + self._audio_stream.len = len(stream_data) + uctypes.bytearray_at(self._audio_stream.stream, self._audio_stream.len)[:] = stream_data + + if (0 != kd_mpi_adec_send_stream(self.chn, self._audio_stream,True)): + raise ValueError(("kd_mpi_adec_send_stream:%d faild")%(self.chn)) + + if (0 != kd_mpi_adec_get_frame(self.chn, audio_frame, 1000)): + raise ValueError(("kd_mpi_adec_get_frame:%d faild")%(self.chn)) + + vir_data = kd_mpi_sys_mmap(audio_frame.phys_addr, audio_frame.len) + data = uctypes.bytes_at(vir_data,audio_frame.len) + kd_mpi_sys_munmap(vir_data,audio_frame.len) + kd_mpi_adec_release_frame(self.chn, audio_frame) + + return data + + diff --git a/micropython_port/media/media.py b/micropython_port/media/media.py index ec2ca12..aa8284f 100755 --- a/micropython_port/media/media.py +++ b/micropython_port/media/media.py @@ -46,6 +46,7 @@ # video decode device id definition # TODO +VDEC_DEV_ID = const(0) # audio channel id definition # TODO @@ -80,7 +81,11 @@ VENC_PACK_CNT_MAX = const(12) # video decode channel id definition -# TODO +VDEC_CHN_ID_0 = const(0) +VDEC_CHN_ID_1 = const(1) +VDEC_CHN_ID_2 = const(2) +VDEC_CHN_ID_3 = const(3) +VDEC_CHN_ID_MAX = VDEC_MAX_CHN_NUMS # data align up @@ -186,6 +191,10 @@ def buffer_init(cls): print("This method can only be called once, please check your code!!!") return -1 + # for JPEG encoder + cls.buf_config.comm_pool[cls.config_index].blk_size = 1843200 + cls.buf_config.comm_pool[cls.config_index].blk_cnt = 8 + cls.buf_config.comm_pool[cls.config_index].mode = VB_REMAP_MODE_NOCACHE ret = kd_mpi_vb_set_config(cls.buf_config) if ret: print(f"buffer_init, vb config failed({ret})") @@ -209,6 +218,7 @@ def buffer_init(cls): @classmethod def buffer_deinit(cls): + return cls.buf_config.max_pool_cnt = 0 cls.config_index = 0 cls.__buf_has_init = False diff --git a/micropython_port/media/mp4format.py b/micropython_port/media/mp4format.py index ec78cf9..cf32d16 100644 --- a/micropython_port/media/mp4format.py +++ b/micropython_port/media/mp4format.py @@ -4,9 +4,14 @@ from mpp.mp4_format import * from mpp.mp4_format_struct import * from mpp.aenc import * +from media.pyaudio import * +import media.g711 as g711 +from mpp.payload_struct import * import uctypes import time + + class MuxerCfgStr: def __init__(self): self.file_name = 0 @@ -59,6 +64,7 @@ def __init__(self): self.idr_size = 0 self.idr_pts = 0 self.count = 0 + self.audio_timestamp = 0 def Create(self, mp4Cfg): @@ -71,16 +77,19 @@ def Create(self, mp4Cfg): print("Mp4Container, venc SetOutBufs failed.") return -1 - # audio vb - config = k_vb_config() - config.max_pool_cnt = 64 - config.comm_pool[0].blk_cnt = 150 - config.comm_pool[0].blk_size = 8000 * 2 * 4 // 25 - config.comm_pool[0].mode = VB_REMAP_MODE_CACHED - config.comm_pool[1].blk_cnt = 2 - config.comm_pool[1].blk_size = 8000 * 2 * 4 // 25 * 2 - config.comm_pool[1].mode = VB_REMAP_MODE_CACHED - media.buffer_config(config) + # audio init + + FORMAT = paInt16 + CHANNELS = 2 + RATE = 44100 + CHUNK = RATE//25 + self.pyaudio = PyAudio() + self.pyaudio.initialize(CHUNK) + + if mp4Cfg.muxerCfg.audio_payload_type == self.MP4_CODEC_ID_G711U: + self.aenc = g711.Encoder(K_PT_G711A,CHUNK) + elif mp4Cfg.muxerCfg.audio_payload_type == self.MP4_CODEC_ID_G711A: + self.aenc = g711.Encoder(K_PT_G711A,CHUNK) ret = media.buffer_init() if ret: @@ -107,34 +116,12 @@ def Create(self, mp4Cfg): print("Mp4Container, venc Create failed.") return -1 - aenc_chn_attr = k_aenc_chn_attr() - if mp4Cfg.muxerCfg.audio_payload_type == self.MP4_CODEC_ID_G711U: - aenc_chn_attr.type = K_PT_G711U - elif mp4Cfg.muxerCfg.audio_payload_type == self.MP4_CODEC_ID_G711A: - aenc_chn_attr.type = K_PT_G711A - aenc_chn_attr.buf_size = 25 - aenc_chn_attr.point_num_per_frame = 320 # 8000 / 25 - ret = kd_mpi_aenc_create_chn(0, aenc_chn_attr) - if ret: - print("Mp4Container, aenc Create failed.") - return -1 - - aio_dev_attr = k_aio_dev_attr() - aio_dev_attr.audio_type = KD_AUDIO_INPUT_TYPE_I2S - aio_dev_attr.kd_audio_attr.i2s_attr.sample_rate = 8000 - aio_dev_attr.kd_audio_attr.i2s_attr.bit_width = KD_AUDIO_BIT_WIDTH_16 - aio_dev_attr.kd_audio_attr.i2s_attr.chn_cnt = 2 - aio_dev_attr.kd_audio_attr.i2s_attr.i2s_mode = K_STANDARD_MODE - aio_dev_attr.kd_audio_attr.i2s_attr.frame_num = 25 - aio_dev_attr.kd_audio_attr.i2s_attr.point_num_per_frame = 320 # 8000 / 25 - aio_dev_attr.kd_audio_attr.i2s_attr.i2s_type = K_AIO_I2STYPE_INNERCODEC - ret = kd_mpi_ai_set_pub_attr(0, aio_dev_attr) - if ret: - print("Mp4Container, ai set pub sttr failed.") - return -1 - - kd_mpi_ai_enable(0) - kd_mpi_ai_enable_chn(0, 0) + self.aenc.create() + self.audio_stream = self.pyaudio.open(format=FORMAT, + channels=CHANNELS, + rate=RATE, + input=True, + frames_per_buffer=CHUNK) mp4_cfg = k_mp4_config_s() mp4_cfg.config_type = mp4Cfg.type @@ -171,7 +158,7 @@ def Create(self, mp4Cfg): audio_track_info.audio_info.codec_id = K_MP4_CODEC_ID_G711U elif mp4Cfg.muxerCfg.audio_payload_type == self.MP4_CODEC_ID_G711A: audio_track_info.audio_info.codec_id = K_MP4_CODEC_ID_G711A - audio_track_info.audio_info.sample_rate = 8000 + audio_track_info.audio_info.sample_rate = RATE audio_track_info.audio_info.bit_per_sample = 16 audio_track_handle = k_u64_ptr() ret = kd_mp4_create_track(self.mp4_handle, audio_track_handle, audio_track_info) @@ -191,13 +178,6 @@ def Start(self): print("Mp4Container, create link with camera failed.") return -1 - audio_source = media_device(AUDIO_IN_MOD_ID, 0, 0) - audio_sink = media_device(AUDIO_ENCODE_MOD_ID, 0, 0) - ret = media.create_link(audio_source, audio_sink) - if ret: - print("Mp4Container, create audio link with camera failed.") - return -1 - ret = self.venc.Start(VENC_CHN_ID_0) if ret: print("Mp4Container, venc Start failed.") @@ -256,26 +236,19 @@ def Process(self): print("Mp4Container, venc ReleaseStream failed.") return -1 - audio_stream = k_audio_stream() - ret = kd_mpi_aenc_get_stream(0, audio_stream, 1000) - if ret: - print("Mp4Container, get audio stream failed.") - return -1 - vir_adata = kd_mpi_sys_mmap(audio_stream.phys_addr, audio_stream.len) + enc_data = self.aenc.encode(self.audio_stream.read()) frame_data.codec_id = self.audio_payload_type - frame_data.data = vir_adata - frame_data.data_length = audio_stream.len - frame_data.time_stamp = audio_stream.time_stamp + frame_data.data = uctypes.addressof(enc_data) + frame_data.data_length = len(enc_data) + self.audio_timestamp += 40*1000 + frame_data.time_stamp = self.audio_timestamp ret = kd_mp4_write_frame(self.mp4_handle, self.mp4_audio_track_handle, frame_data) if ret: print("Mp4Container, write audio stream failed.") return -1 - kd_mpi_sys_munmap(vir_adata, audio_stream.len) - kd_mpi_aenc_release_stream(0, audio_stream) return 0 - def Stop(self): camera.stop_stream(CAM_DEV_ID_0) @@ -286,21 +259,16 @@ def Stop(self): print("Mp4Container, destroy link with camera failed.") return -1 - audio_source = media_device(AUDIO_IN_MOD_ID, 0, 0) - audio_sink = media_device(AUDIO_ENCODE_MOD_ID, 0, 0) - ret = media.destroy_link(audio_source, audio_sink) - if ret: - print("Mp4Container, destroy audio link with camera failed.") - return -1 - - kd_mpi_ai_disable_chn(0, 0) - kd_mpi_ai_disable(0) - self.venc.Stop(VENC_CHN_ID_0) if ret: print("Mp4Container, venc Stop failed.") return -1 + self.audio_stream.stop_stream() + self.audio_stream.close() + self.pyaudio.terminate() + self.aenc.destroy() + return 0 diff --git a/micropython_port/media/player.py b/micropython_port/media/player.py new file mode 100644 index 0000000..fe3e15b --- /dev/null +++ b/micropython_port/media/player.py @@ -0,0 +1,220 @@ +from media.media import * +from mpp.mp4_format import * +from mpp.mp4_format_struct import * +from media.pyaudio import * +import media.g711 as g711 +from mpp.payload_struct import * +import media.vdecoder as vdecoder +from media.display import * +import uctypes +import time +import _thread + +K_PLAYER_EVENT_EOF = 0 +K_PLAYER_EVENT_PROGRESS = 1 +DIV = 25 + +PLAY_START = 0 +PLAY_STOP = 1 +PLAY_PAUSE = 2 + +class Player: + def __init__(self): + self.mp4_cfg = k_mp4_config_s() + self.video_info = k_mp4_video_info_s() + self.video_track = False + self.audio_info = k_mp4_audio_info_s() + self.audio_track = False + self.mp4_handle = k_u64_ptr() + self.play_status = PLAY_STOP + + def _init_media_buffer(self): + if (self.audio_track): + CHUNK = self.audio_info.sample_rate//DIV + self.pyaudio = PyAudio() + self.pyaudio.initialize(CHUNK) + if (self.audio_info.codec_id == K_MP4_CODEC_ID_G711A): + self.adec = g711.Decoder(K_PT_G711A,CHUNK) + elif (self.audio_info.codec_id == K_MP4_CODEC_ID_G711U): + self.adec = g711.Decoder(K_PT_G711U,CHUNK) + + if (self.video_track): + if (self.video_info.codec_id == K_MP4_CODEC_ID_H264): + self.vdec = vdecoder.Decoder(K_PT_H264) + elif (self.video_info.codec_id == K_MP4_CODEC_ID_H265): + self.vdec = vdecoder.Decoder(K_PT_H265) + + if (not self.audio_track): + self.pyaudio = PyAudio() + self.pyaudio.initialize(48000//25) + + ret = media.buffer_init() + if ret: + raise ValueError("player buffer_init failed") + + if (self.audio_track): + self.adec.create() + + if (self.video_track): + self.vdec.create() + display.init(LT9611_1920X1080_30FPS) + if (self.video_info.width >= 1920): + display.set_plane(0, 0, self.video_info.width, self.video_info.height, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + else: + display.set_plane(400, 200, self.video_info.width, self.video_info.height, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + return 0 + + def _deinit_media_buffer(self): + if (self.video_track): + self.vdec.destroy() + + if (self.audio_track): + self.pyaudio.terminate() + self.adec.destroy() + + if (self.video_track): + time.sleep(1) + display.deinit() + + self.video_track = False + self.audio_track = False + media.buffer_deinit() + return 0 + + + def _do_file_data(self): + frame_data = k_mp4_frame_data_s() + while(self.play_status == PLAY_START or self.play_status == PLAY_PAUSE): + if (self.play_status == PLAY_PAUSE): + time.sleep(0.1) + else: + ret = kd_mp4_get_frame(self.mp4_handle.value, frame_data) + if (ret < 0 ): + raise ValueError("get frame data failed") + + if (frame_data.eof): + print("demuxer finished.") + break + + if (frame_data.codec_id == K_MP4_CODEC_ID_H264 or frame_data.codec_id == K_MP4_CODEC_ID_H265): + data = uctypes.bytes_at(frame_data.data,frame_data.data_length) + self.vdec.decode(data) + elif(frame_data.codec_id == K_MP4_CODEC_ID_G711A or frame_data.codec_id == K_MP4_CODEC_ID_G711U): + data = uctypes.bytes_at(frame_data.data,frame_data.data_length) + self.audio_out_stream.write(self.adec.decode(data)) + + self.callback(K_PLAYER_EVENT_EOF,0) + + def debug_codec_info(self): + if (self.video_track): + if (self.video_info.codec_id == K_MP4_CODEC_ID_H264): + print("video track h264") + elif (self.video_info.codec_id == K_MP4_CODEC_ID_H265): + print("video track h265") + + if (self.audio_track): + if (self.audio_info.codec_id == K_MP4_CODEC_ID_G711A): + print("audio track g711a") + elif (self.audio_info.codec_id == K_MP4_CODEC_ID_G711U): + print("audio track g711u") + + def load(self,filename): + self.mp4_cfg.config_type = K_MP4_CONFIG_DEMUXER + self.mp4_cfg.muxer_config.file_name[:] = bytes(filename, 'utf-8') + self.mp4_cfg.muxer_config.fmp4_flag = 0 + ret = kd_mp4_create(self.mp4_handle, self.mp4_cfg) + if ret: + print("kd_mp4_create failed:",filename) + return -1 + + file_info = k_mp4_file_info_s() + kd_mp4_get_file_info(self.mp4_handle.value, file_info) + #print("=====file_info: track_num:",file_info.track_num,"duration:",file_info.duration) + + for i in range(file_info.track_num): + track_info = k_mp4_track_info_s() + ret = kd_mp4_get_track_by_index(self.mp4_handle.value, i, track_info) + if (ret < 0): + raise ValueError("kd_mp4_get_track_by_index failed") + + if (track_info.track_type == K_MP4_STREAM_VIDEO): + if (track_info.video_info.codec_id == K_MP4_CODEC_ID_H264 or track_info.video_info.codec_id == K_MP4_CODEC_ID_H265): + self.video_track = True + self.video_info = track_info.video_info + print(" codec_id: ", self.video_info.codec_id) + print(" track_id: ", self.video_info.track_id) + print(" width: ", self.video_info.width) + print(" height: ", self.video_info.height) + else: + print("video not support codecid:",track_info.video_info.codec_id) + elif (track_info.track_type == K_MP4_STREAM_AUDIO): + if (track_info.audio_info.codec_id == K_MP4_CODEC_ID_G711A or track_info.audio_info.codec_id == K_MP4_CODEC_ID_G711U): + self.audio_track = True + self.audio_info = track_info.audio_info + print(" codec_id: ", self.audio_info.codec_id) + print(" track_id: ", self.audio_info.track_id) + print(" channels: ", self.audio_info.channels) + print(" sample_rate: ", self.audio_info.sample_rate) + print(" bit_per_sample: ", self.audio_info.bit_per_sample) + #self.audio_info.channels = 2 + else: + print("audio not support codecid:",track_info.audio_info.codec_id) + + self.debug_codec_info() + return 0 + + def start(self): + if (0 != self._init_media_buffer()): + raise ValueError("_init_media_buffer failed") + return -1 + + if (self.video_track): + self.vdec.start() + self.video_meida_source = media_device(VIDEO_DECODE_MOD_ID, VDEC_DEV_ID, self.vdec.get_vdec_channel()) + self.video_meida_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(self.video_meida_source, self.video_meida_sink) + + if (self.audio_track): + self.audio_out_stream = self.pyaudio.open(format=paInt16, + channels=self.audio_info.channels, + rate=self.audio_info.sample_rate, + output=True, + frames_per_buffer=self.audio_info.sample_rate//DIV) + + self.play_status = PLAY_START + #self._do_file_data() + _thread.start_new_thread(self._do_file_data,()) + + + def stop(self): + self.play_status = PLAY_STOP + if (self.video_track): + self.vdec.stop() + media.destroy_link(self.video_meida_source, self.video_meida_sink) + + ret = kd_mp4_destroy(self.mp4_handle.value) + if (ret < 0): + print("destroy mp4 failed.") + + if (self.audio_track): + self.audio_out_stream.stop_stream() + self.audio_out_stream.close() + + self._deinit_media_buffer() + + def pause(self): + self.play_status = PLAY_PAUSE + + def resume(self): + pself.play_status = PLAY_START + + def set_event_callback(self,callback): + self.callback = callback + + + def destroy_mp4(self): + ret = kd_mp4_destroy(self.mp4_handle.value) + if (ret < 0): + print("destroy mp4 failed.") + else: + print("destroy mp4 ok.") diff --git a/micropython_port/media/vdecoder.py b/micropython_port/media/vdecoder.py new file mode 100755 index 0000000..7d32d91 --- /dev/null +++ b/micropython_port/media/vdecoder.py @@ -0,0 +1,195 @@ +from mpp.vdec import * +from mpp.sys import * +from mpp.payload_struct import * +from mpp.vdec_struct import * +from media.media import * +import uctypes +import time + +MAX_WIDTH = 1088 +MAX_HEIGHT = 1920 +STREAM_BUF_SIZE = MAX_WIDTH*MAX_HEIGHT +FRAME_BUF_SIZE = MAX_WIDTH*MAX_HEIGHT*2 +INPUT_BUF_CNT = 4 +OUTPUT_BUF_CNT = 6 + +def _vdec_vb_buffer_init(): + config = k_vb_config() + config.max_pool_cnt = 2 + return media.buffer_config(config) + +class Decoder: + #vb init flag + _vb_init = False + + input_pool_id = [-1 for i in range(0,VDEC_MAX_CHN_NUMS)] + output_pool_id = [-1 for i in range(0,VDEC_MAX_CHN_NUMS)] + chns_enable = [0 for i in range(0,VDEC_MAX_CHN_NUMS)] + + @classmethod + def vb_create_pool(cls,chn): + if (not cls._vb_init): + _vdec_vb_buffer_init() + cls._vb_init = True + + pool_config = k_vb_pool_config() + pool_config.blk_cnt = INPUT_BUF_CNT + pool_config.blk_size = STREAM_BUF_SIZE + pool_config.mode = VB_REMAP_MODE_NOCACHE + cls.input_pool_id[chn] = kd_mpi_vb_create_pool(pool_config) + print("input_pool_id ",cls.input_pool_id[chn]) + + + pool_config.blk_cnt = OUTPUT_BUF_CNT + pool_config.blk_size = FRAME_BUF_SIZE + pool_config.mode = VB_REMAP_MODE_NOCACHE + cls.output_pool_id[chn] = kd_mpi_vb_create_pool(pool_config) + print("output_pool_id ", cls.output_pool_id[chn]) + + @classmethod + def vb_destory_pool(cls, chn): + print("destory_pool input ", cls.input_pool_id[chn]) + kd_mpi_vb_destory_pool(cls.input_pool_id[chn]) + print("destory_pool output ", cls.output_pool_id[chn]) + kd_mpi_vb_destory_pool(cls.output_pool_id[chn]) + + if (cls.find_use_chn_index() == -1): + cls._vb_init = False + + @classmethod + def get_free_chn_index(cls): + for i in cls.chns_enable: + if (i == 0): + return i + return -1 + + @classmethod + def find_use_chn_index(cls): + for i in cls.chns_enable: + if (i == 1): + return i + return -1 + + def __init__(self,type): + self.chn = -1 + self.type = type + + def create(self): + chn_index = Decoder.get_free_chn_index() + if (chn_index == -1): + raise ValueError("Decoder has no free chn") + else: + Decoder.chns_enable[chn_index] = 1 + + self.chn = chn_index + Decoder.vb_create_pool(chn_index) + return 0 + + def start(self): + attr = k_vdec_chn_attr() + attr.pic_width = MAX_WIDTH + attr.pic_height = MAX_HEIGHT + attr.frame_buf_cnt = OUTPUT_BUF_CNT + attr.frame_buf_size = FRAME_BUF_SIZE + attr.stream_buf_size = STREAM_BUF_SIZE + attr.type = self.type + attr.frame_buf_pool_id = Decoder.output_pool_id[self.chn] + + ret = kd_mpi_vdec_create_chn(self.chn, attr) + if (ret != 0): + raise ValueError("kd_mpi_vdec_create_chn failed,channel:",self.chn) + + ret = kd_mpi_vdec_start_chn(self.chn) + if (ret != 0): + raise ValueError("kd_mpi_vdec_start_chn failed,channel:",self.chn) + return 0 + + def stop(self): + stream_data = b'\x00\x00\x00\x01\x64' + stream = k_vdec_stream() + stream.end_of_stream = True + stream.pts = 0 + + poolid = Decoder.input_pool_id[self.chn] + blk_size = STREAM_BUF_SIZE + for i in range(10): + handle = kd_mpi_vb_get_block(poolid, blk_size, "") + if (handle == -1): + pass + else: + break + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle) + vir_data = kd_mpi_sys_mmap(phys_addr, blk_size) + + stream.len = len(stream_data) + uctypes.bytearray_at(vir_data, stream.len)[:] = stream_data + stream.phy_addr = phys_addr + + kd_mpi_sys_munmap(vir_data,blk_size) + + kd_mpi_vb_release_block(handle) + + ret = kd_mpi_vdec_send_stream(self.chn, stream, -1) + if (ret != 0): + raise ValueError("kd_mpi_vdec_send_stream failed,channel:",self.chn) + return -1 + + print("") + status = k_vdec_chn_status() + while(1): + ret = kd_mpi_vdec_query_status(self.chn, status) + if (status.end_of_stream == True): + #print("kd_mpi_vdec_query_status end") + break + else: + time.sleep(0.01) + + ret = kd_mpi_vdec_stop_chn(self.chn) + if (ret != 0): + raise ValueError("kd_mpi_vdec_stop_chn failed,channel:",self.chn) + ret = kd_mpi_vdec_destroy_chn(self.chn) + if (ret != 0): + raise ValueError("kd_mpi_vdec_destroy_chn failed,channel:",self.chn) + + return 0 + + def decode(self,stream_data): + stream = k_vdec_stream() + stream.end_of_stream = False + + poolid = Decoder.input_pool_id[self.chn] + blk_size = STREAM_BUF_SIZE + for i in range(10): + handle = kd_mpi_vb_get_block(poolid, blk_size, "") + if (handle == -1): + pass + else: + break + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle) + vir_data = kd_mpi_sys_mmap(phys_addr, blk_size) + + stream.len = len(stream_data) + uctypes.bytearray_at(vir_data, stream.len)[:] = stream_data + stream.phy_addr = phys_addr + + kd_mpi_sys_munmap(vir_data,blk_size) + + ret = kd_mpi_vdec_send_stream(self.chn, stream, -1) + if (ret != 0): + raise ValueError("kd_mpi_vdec_send_stream failed,channel:",self.chn) + return -1 + + kd_mpi_vb_release_block(handle) + + return 0 + + def destroy(self): + Decoder.chns_enable[self.chn] = 0 + Decoder.vb_destory_pool(self.chn) + + return 0 + + def get_vdec_channel(self): + return self.chn \ No newline at end of file diff --git a/micropython_port/micropython_overlay/extmod/vfs_posix_file.c b/micropython_port/micropython_overlay/extmod/vfs_posix_file.c new file mode 100644 index 0000000..72903b2 --- /dev/null +++ b/micropython_port/micropython_overlay/extmod/vfs_posix_file.c @@ -0,0 +1,339 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2013-2018 Damien P. George + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "py/mphal.h" +#include "py/mpthread.h" +#include "py/runtime.h" +#include "py/stream.h" +#include "extmod/vfs_posix.h" + +#if MICROPY_VFS_POSIX + +#include +#include + +#ifdef _WIN32 +#define fsync _commit +#else +#include +#endif + +typedef struct _mp_obj_vfs_posix_file_t { + mp_obj_base_t base; + int fd; +} mp_obj_vfs_posix_file_t; + +#if MICROPY_CPYTHON_COMPAT +STATIC void check_fd_is_open(const mp_obj_vfs_posix_file_t *o) { + if (o->fd < 0) { + mp_raise_ValueError(MP_ERROR_TEXT("I/O operation on closed file")); + } +} +#else +#define check_fd_is_open(o) +#endif + +STATIC void vfs_posix_file_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + (void)kind; + mp_obj_vfs_posix_file_t *self = MP_OBJ_TO_PTR(self_in); + mp_printf(print, "", mp_obj_get_type_str(self_in), self->fd); +} + +mp_obj_t mp_vfs_posix_file_open(const mp_obj_type_t *type, mp_obj_t file_in, mp_obj_t mode_in) { + mp_obj_vfs_posix_file_t *o = m_new_obj_with_finaliser(mp_obj_vfs_posix_file_t); + const char *mode_s = mp_obj_str_get_str(mode_in); + + int mode_rw = 0, mode_x = 0; + while (*mode_s) { + switch (*mode_s++) { + case 'r': + mode_rw = O_RDONLY; + break; + case 'w': + mode_rw = O_WRONLY; + mode_x = O_CREAT | O_TRUNC; + break; + case 'a': + mode_rw = O_WRONLY; + mode_x = O_CREAT | O_APPEND; + break; + case '+': + mode_rw = O_RDWR; + break; + case 'b': + type = &mp_type_vfs_posix_fileio; + break; + case 't': + type = &mp_type_vfs_posix_textio; + break; + } + } + + o->base.type = type; + + mp_obj_t fid = file_in; + + if (mp_obj_is_small_int(fid)) { + o->fd = MP_OBJ_SMALL_INT_VALUE(fid); + return MP_OBJ_FROM_PTR(o); + } + + const char *fname = mp_obj_str_get_str(fid); + int fd; + MP_HAL_RETRY_SYSCALL(fd, open(fname, mode_x | mode_rw, 0644), mp_raise_OSError(err)); + o->fd = fd; + return MP_OBJ_FROM_PTR(o); +} + +STATIC mp_obj_t vfs_posix_file_fileno(mp_obj_t self_in) { + mp_obj_vfs_posix_file_t *self = MP_OBJ_TO_PTR(self_in); + check_fd_is_open(self); + return MP_OBJ_NEW_SMALL_INT(self->fd); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(vfs_posix_file_fileno_obj, vfs_posix_file_fileno); + +STATIC mp_uint_t vfs_posix_file_read(mp_obj_t o_in, void *buf, mp_uint_t size, int *errcode) { + mp_obj_vfs_posix_file_t *o = MP_OBJ_TO_PTR(o_in); + check_fd_is_open(o); + ssize_t r; + MP_HAL_RETRY_SYSCALL(r, read(o->fd, buf, size), { + *errcode = err; + return MP_STREAM_ERROR; + }); + return (mp_uint_t)r; +} + +STATIC mp_uint_t vfs_posix_file_write(mp_obj_t o_in, const void *buf, mp_uint_t size, int *errcode) { + mp_obj_vfs_posix_file_t *o = MP_OBJ_TO_PTR(o_in); + check_fd_is_open(o); + #if 1 + if (o->fd <= STDERR_FILENO) { + mp_hal_stdout_tx_strn_cooked(buf, size); + return size; + } + #endif + ssize_t r; + MP_HAL_RETRY_SYSCALL(r, write(o->fd, buf, size), { + *errcode = err; + return MP_STREAM_ERROR; + }); + return (mp_uint_t)r; +} + +STATIC mp_uint_t vfs_posix_file_ioctl(mp_obj_t o_in, mp_uint_t request, uintptr_t arg, int *errcode) { + mp_obj_vfs_posix_file_t *o = MP_OBJ_TO_PTR(o_in); + + if (request != MP_STREAM_CLOSE) { + check_fd_is_open(o); + } + + switch (request) { + case MP_STREAM_FLUSH: { + int ret; + // fsync(stdin/stdout/stderr) may fail with EINVAL (or ENOTSUP on macos or EBADF + // on windows), because the OS doesn't buffer these except for instance when they + // are redirected from/to file, but don't propagate that error out. Because data + // is not buffered by us, and stdin/out/err.flush() should just be a no-op. + #if defined(__APPLE__) + #define VFS_POSIX_STREAM_STDIO_ERR_CATCH (err == EINVAL || err == ENOTSUP) + #elif defined(_MSC_VER) + #define VFS_POSIX_STREAM_STDIO_ERR_CATCH (err == EINVAL || err == EBADF) + #else + #define VFS_POSIX_STREAM_STDIO_ERR_CATCH (err == EINVAL) + #endif + MP_HAL_RETRY_SYSCALL(ret, fsync(o->fd), { + if (VFS_POSIX_STREAM_STDIO_ERR_CATCH + && (o->fd == STDIN_FILENO || o->fd == STDOUT_FILENO || o->fd == STDERR_FILENO)) { + return 0; + } + *errcode = err; + return MP_STREAM_ERROR; + }); + return 0; + } + case MP_STREAM_SEEK: { + struct mp_stream_seek_t *s = (struct mp_stream_seek_t *)arg; + MP_THREAD_GIL_EXIT(); + off_t off = lseek(o->fd, s->offset, s->whence); + MP_THREAD_GIL_ENTER(); + if (off == (off_t)-1) { + *errcode = errno; + return MP_STREAM_ERROR; + } + s->offset = off; + return 0; + } + case MP_STREAM_CLOSE: + if (o->fd >= 0) { + MP_THREAD_GIL_EXIT(); + close(o->fd); + MP_THREAD_GIL_ENTER(); + } + o->fd = -1; + return 0; + case MP_STREAM_GET_FILENO: + return o->fd; + #if MICROPY_PY_SELECT && !MICROPY_PY_SELECT_POSIX_OPTIMISATIONS + case MP_STREAM_POLL: { + #ifdef _WIN32 + mp_raise_NotImplementedError(MP_ERROR_TEXT("poll on file not available on win32")); + #else + mp_uint_t ret = 0; + uint8_t pollevents = 0; + if (arg & MP_STREAM_POLL_RD) { + pollevents |= POLLIN; + } + if (arg & MP_STREAM_POLL_WR) { + pollevents |= POLLOUT; + } + struct pollfd pfd = { .fd = o->fd, .events = pollevents }; + if (poll(&pfd, 1, 0) > 0) { + if (pfd.revents & POLLIN) { + ret |= MP_STREAM_POLL_RD; + } + if (pfd.revents & POLLOUT) { + ret |= MP_STREAM_POLL_WR; + } + if (pfd.revents & POLLERR) { + ret |= MP_STREAM_POLL_ERR; + } + if (pfd.revents & POLLHUP) { + ret |= MP_STREAM_POLL_HUP; + } + if (pfd.revents & POLLNVAL) { + ret |= MP_STREAM_POLL_NVAL; + } + } + return ret; + #endif + } + #endif + default: + *errcode = EINVAL; + return MP_STREAM_ERROR; + } +} + +STATIC const mp_rom_map_elem_t vfs_posix_rawfile_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_fileno), MP_ROM_PTR(&vfs_posix_file_fileno_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_stream_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_stream_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_readline), MP_ROM_PTR(&mp_stream_unbuffered_readline_obj) }, + { MP_ROM_QSTR(MP_QSTR_readlines), MP_ROM_PTR(&mp_stream_unbuffered_readlines_obj) }, + { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&mp_stream_write_obj) }, + { MP_ROM_QSTR(MP_QSTR_seek), MP_ROM_PTR(&mp_stream_seek_obj) }, + { MP_ROM_QSTR(MP_QSTR_tell), MP_ROM_PTR(&mp_stream_tell_obj) }, + { MP_ROM_QSTR(MP_QSTR_flush), MP_ROM_PTR(&mp_stream_flush_obj) }, + { MP_ROM_QSTR(MP_QSTR_close), MP_ROM_PTR(&mp_stream_close_obj) }, + { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&mp_stream_close_obj) }, + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&mp_identity_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&mp_stream___exit___obj) }, +}; + +STATIC MP_DEFINE_CONST_DICT(vfs_posix_rawfile_locals_dict, vfs_posix_rawfile_locals_dict_table); + +STATIC const mp_stream_p_t vfs_posix_fileio_stream_p = { + .read = vfs_posix_file_read, + .write = vfs_posix_file_write, + .ioctl = vfs_posix_file_ioctl, +}; + +MP_DEFINE_CONST_OBJ_TYPE( + mp_type_vfs_posix_fileio, + MP_QSTR_FileIO, + MP_TYPE_FLAG_ITER_IS_STREAM, + print, vfs_posix_file_print, + protocol, &vfs_posix_fileio_stream_p, + locals_dict, &vfs_posix_rawfile_locals_dict + ); + +STATIC const mp_stream_p_t vfs_posix_textio_stream_p = { + .read = vfs_posix_file_read, + .write = vfs_posix_file_write, + .ioctl = vfs_posix_file_ioctl, + .is_text = true, +}; + +#if MICROPY_PY_SYS_STDIO_BUFFER + +const mp_obj_vfs_posix_file_t mp_sys_stdin_buffer_obj = {{&mp_type_vfs_posix_fileio}, STDIN_FILENO}; +const mp_obj_vfs_posix_file_t mp_sys_stdout_buffer_obj = {{&mp_type_vfs_posix_fileio}, STDOUT_FILENO}; +const mp_obj_vfs_posix_file_t mp_sys_stderr_buffer_obj = {{&mp_type_vfs_posix_fileio}, STDERR_FILENO}; + +// Forward declarations. +const mp_obj_vfs_posix_file_t mp_sys_stdin_obj; +const mp_obj_vfs_posix_file_t mp_sys_stdout_obj; +const mp_obj_vfs_posix_file_t mp_sys_stderr_obj; + +STATIC void vfs_posix_textio_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) { + if (dest[0] != MP_OBJ_NULL) { + // These objects are read-only. + return; + } + + if (attr == MP_QSTR_buffer) { + // Implement the `buffer` attribute only on std{in,out,err} instances. + if (MP_OBJ_TO_PTR(self_in) == &mp_sys_stdin_obj) { + dest[0] = MP_OBJ_FROM_PTR(&mp_sys_stdin_buffer_obj); + return; + } + if (MP_OBJ_TO_PTR(self_in) == &mp_sys_stdout_obj) { + dest[0] = MP_OBJ_FROM_PTR(&mp_sys_stdout_buffer_obj); + return; + } + if (MP_OBJ_TO_PTR(self_in) == &mp_sys_stderr_obj) { + dest[0] = MP_OBJ_FROM_PTR(&mp_sys_stderr_buffer_obj); + return; + } + } + + // Any other attribute - forward to locals dict. + dest[1] = MP_OBJ_SENTINEL; +}; + +#define VFS_POSIX_TEXTIO_TYPE_ATTR attr, vfs_posix_textio_attr, + +#else + +#define VFS_POSIX_TEXTIO_TYPE_ATTR + +#endif // MICROPY_PY_SYS_STDIO_BUFFER + +MP_DEFINE_CONST_OBJ_TYPE( + mp_type_vfs_posix_textio, + MP_QSTR_TextIOWrapper, + MP_TYPE_FLAG_ITER_IS_STREAM, + print, vfs_posix_file_print, + protocol, &vfs_posix_textio_stream_p, + VFS_POSIX_TEXTIO_TYPE_ATTR + locals_dict, &vfs_posix_rawfile_locals_dict + ); + +const mp_obj_vfs_posix_file_t mp_sys_stdin_obj = {{&mp_type_vfs_posix_textio}, STDIN_FILENO}; +const mp_obj_vfs_posix_file_t mp_sys_stdout_obj = {{&mp_type_vfs_posix_textio}, STDOUT_FILENO}; +const mp_obj_vfs_posix_file_t mp_sys_stderr_obj = {{&mp_type_vfs_posix_textio}, STDERR_FILENO}; + +#endif // MICROPY_VFS_POSIX diff --git a/micropython_port/micropython_overlay/lib/micropython-lib/python-stdlib/gzip/gzip.py b/micropython_port/micropython_overlay/lib/micropython-lib/python-stdlib/gzip/gzip.py new file mode 100644 index 0000000..665dd81 --- /dev/null +++ b/micropython_port/micropython_overlay/lib/micropython-lib/python-stdlib/gzip/gzip.py @@ -0,0 +1,29 @@ +# MicroPython gzip module +# MIT license; Copyright (c) 2023 Jim Mussared + +_WBITS = const(15) + +import io, deflate + + +def GzipFile(fileobj): + return deflate.DeflateIO(fileobj, deflate.GZIP, _WBITS) + + +def open(filename, mode): + return deflate.DeflateIO(io.open(filename, mode), deflate.GZIP, _WBITS, True) + + +if hasattr(deflate.DeflateIO, "write"): + + def compress(data): + f = io.BytesIO() + with GzipFile(fileobj=f) as g: + g.write(data) + return f.getvalue() + + +def decompress(data): + f = io.BytesIO(data) + with GzipFile(fileobj=f) as g: + return g.read() diff --git a/micropython_port/micropython_overlay/py/gc.c b/micropython_port/micropython_overlay/py/gc.c new file mode 100644 index 0000000..c2402d6 --- /dev/null +++ b/micropython_port/micropython_overlay/py/gc.c @@ -0,0 +1,1303 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2013, 2014 Damien P. George + * Copyright (c) 2014 Paul Sokolovsky + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include +#include +#include + +#include "py/gc.h" +#include "py/runtime.h" + +#if MICROPY_DEBUG_VALGRIND +#include +#endif + +#if MICROPY_ENABLE_GC + +#if MICROPY_DEBUG_VERBOSE // print debugging info +#define DEBUG_PRINT (1) +#define DEBUG_printf DEBUG_printf +#else // don't print debugging info +#define DEBUG_PRINT (0) +#define DEBUG_printf(...) (void)0 +#endif + +// make this 1 to dump the heap each time it changes +#define EXTENSIVE_HEAP_PROFILING (0) + +// make this 1 to zero out swept memory to more eagerly +// detect untraced object still in use +#define CLEAR_ON_SWEEP (0) + +#define WORDS_PER_BLOCK ((MICROPY_BYTES_PER_GC_BLOCK) / MP_BYTES_PER_OBJ_WORD) +#define BYTES_PER_BLOCK (MICROPY_BYTES_PER_GC_BLOCK) + +// ATB = allocation table byte +// 0b00 = FREE -- free block +// 0b01 = HEAD -- head of a chain of blocks +// 0b10 = TAIL -- in the tail of a chain of blocks +// 0b11 = MARK -- marked head block + +#define AT_FREE (0) +#define AT_HEAD (1) +#define AT_TAIL (2) +#define AT_MARK (3) + +#define BLOCKS_PER_ATB (4) +#define ATB_MASK_0 (0x03) +#define ATB_MASK_1 (0x0c) +#define ATB_MASK_2 (0x30) +#define ATB_MASK_3 (0xc0) + +#define ATB_0_IS_FREE(a) (((a) & ATB_MASK_0) == 0) +#define ATB_1_IS_FREE(a) (((a) & ATB_MASK_1) == 0) +#define ATB_2_IS_FREE(a) (((a) & ATB_MASK_2) == 0) +#define ATB_3_IS_FREE(a) (((a) & ATB_MASK_3) == 0) + +#if MICROPY_GC_SPLIT_HEAP +#define NEXT_AREA(area) ((area)->next) +#else +#define NEXT_AREA(area) (NULL) +#endif + +#define BLOCK_SHIFT(block) (2 * ((block) & (BLOCKS_PER_ATB - 1))) +#define ATB_GET_KIND(area, block) (((area)->gc_alloc_table_start[(block) / BLOCKS_PER_ATB] >> BLOCK_SHIFT(block)) & 3) +#define ATB_ANY_TO_FREE(area, block) do { area->gc_alloc_table_start[(block) / BLOCKS_PER_ATB] &= (~(AT_MARK << BLOCK_SHIFT(block))); } while (0) +#define ATB_FREE_TO_HEAD(area, block) do { area->gc_alloc_table_start[(block) / BLOCKS_PER_ATB] |= (AT_HEAD << BLOCK_SHIFT(block)); } while (0) +#define ATB_FREE_TO_TAIL(area, block) do { area->gc_alloc_table_start[(block) / BLOCKS_PER_ATB] |= (AT_TAIL << BLOCK_SHIFT(block)); } while (0) +#define ATB_HEAD_TO_MARK(area, block) do { area->gc_alloc_table_start[(block) / BLOCKS_PER_ATB] |= (AT_MARK << BLOCK_SHIFT(block)); } while (0) +#define ATB_MARK_TO_HEAD(area, block) do { area->gc_alloc_table_start[(block) / BLOCKS_PER_ATB] &= (~(AT_TAIL << BLOCK_SHIFT(block))); } while (0) + +#define BLOCK_FROM_PTR(area, ptr) (((byte *)(ptr) - area->gc_pool_start) / BYTES_PER_BLOCK) +#define PTR_FROM_BLOCK(area, block) (((block) * BYTES_PER_BLOCK + (uintptr_t)area->gc_pool_start)) + +// After the ATB, there must be a byte filled with AT_FREE so that gc_mark_tree +// cannot erroneously conclude that a block extends past the end of the GC heap +// due to bit patterns in the FTB (or first block, if finalizers are disabled) +// being interpreted as AT_TAIL. +#define ALLOC_TABLE_GAP_BYTE (1) + +#if MICROPY_ENABLE_FINALISER +// FTB = finaliser table byte +// if set, then the corresponding block may have a finaliser + +#define BLOCKS_PER_FTB (8) + +#define FTB_GET(area, block) ((area->gc_finaliser_table_start[(block) / BLOCKS_PER_FTB] >> ((block) & 7)) & 1) +#define FTB_SET(area, block) do { area->gc_finaliser_table_start[(block) / BLOCKS_PER_FTB] |= (1 << ((block) & 7)); } while (0) +#define FTB_CLEAR(area, block) do { area->gc_finaliser_table_start[(block) / BLOCKS_PER_FTB] &= (~(1 << ((block) & 7))); } while (0) +#endif + +#if MICROPY_PY_THREAD && !MICROPY_PY_THREAD_GIL +#define GC_ENTER() mp_thread_mutex_lock(&MP_STATE_MEM(gc_mutex), 1) +#define GC_EXIT() mp_thread_mutex_unlock(&MP_STATE_MEM(gc_mutex)) +#else +#define GC_ENTER() +#define GC_EXIT() +#endif + +// TODO waste less memory; currently requires that all entries in alloc_table have a corresponding block in pool +STATIC void gc_setup_area(mp_state_mem_area_t *area, void *start, void *end) { + // calculate parameters for GC (T=total, A=alloc table, F=finaliser table, P=pool; all in bytes): + // T = A + F + P + // F = A * BLOCKS_PER_ATB / BLOCKS_PER_FTB + // P = A * BLOCKS_PER_ATB * BYTES_PER_BLOCK + // => T = A * (1 + BLOCKS_PER_ATB / BLOCKS_PER_FTB + BLOCKS_PER_ATB * BYTES_PER_BLOCK) + size_t total_byte_len = (byte *)end - (byte *)start; + #if MICROPY_ENABLE_FINALISER + area->gc_alloc_table_byte_len = (total_byte_len - ALLOC_TABLE_GAP_BYTE) + * MP_BITS_PER_BYTE + / ( + MP_BITS_PER_BYTE + + MP_BITS_PER_BYTE * BLOCKS_PER_ATB / BLOCKS_PER_FTB + + MP_BITS_PER_BYTE * BLOCKS_PER_ATB * BYTES_PER_BLOCK + ); + #else + area->gc_alloc_table_byte_len = (total_byte_len - ALLOC_TABLE_GAP_BYTE) / (1 + MP_BITS_PER_BYTE / 2 * BYTES_PER_BLOCK); + #endif + + area->gc_alloc_table_start = (byte *)start; + + #if MICROPY_ENABLE_FINALISER + size_t gc_finaliser_table_byte_len = (area->gc_alloc_table_byte_len * BLOCKS_PER_ATB + BLOCKS_PER_FTB - 1) / BLOCKS_PER_FTB; + area->gc_finaliser_table_start = area->gc_alloc_table_start + area->gc_alloc_table_byte_len + ALLOC_TABLE_GAP_BYTE; + #endif + + size_t gc_pool_block_len = area->gc_alloc_table_byte_len * BLOCKS_PER_ATB; + area->gc_pool_start = (byte *)end - gc_pool_block_len * BYTES_PER_BLOCK; + area->gc_pool_end = end; + + #if MICROPY_ENABLE_FINALISER + assert(area->gc_pool_start >= area->gc_finaliser_table_start + gc_finaliser_table_byte_len); + #endif + + #if MICROPY_ENABLE_FINALISER + // clear ATB's and FTB's + memset(area->gc_alloc_table_start, 0, gc_finaliser_table_byte_len + area->gc_alloc_table_byte_len + ALLOC_TABLE_GAP_BYTE); + #else + // clear ATB's + memset(area->gc_alloc_table_start, 0, area->gc_alloc_table_byte_len + ALLOC_TABLE_GAP_BYTE); + #endif + + area->gc_last_free_atb_index = 0; + area->gc_last_used_block = 0; + + #if MICROPY_GC_SPLIT_HEAP + area->next = NULL; + #endif + + DEBUG_printf("GC layout:\n"); + DEBUG_printf(" alloc table at %p, length " UINT_FMT " bytes, " + UINT_FMT " blocks\n", + area->gc_alloc_table_start, area->gc_alloc_table_byte_len, + area->gc_alloc_table_byte_len * BLOCKS_PER_ATB); + #if MICROPY_ENABLE_FINALISER + DEBUG_printf(" finaliser table at %p, length " UINT_FMT " bytes, " + UINT_FMT " blocks\n", area->gc_finaliser_table_start, + gc_finaliser_table_byte_len, + gc_finaliser_table_byte_len * BLOCKS_PER_FTB); + #endif + DEBUG_printf(" pool at %p, length " UINT_FMT " bytes, " + UINT_FMT " blocks\n", area->gc_pool_start, + gc_pool_block_len * BYTES_PER_BLOCK, gc_pool_block_len); +} + +void gc_init(void *start, void *end) { + // align end pointer on block boundary + end = (void *)((uintptr_t)end & (~(BYTES_PER_BLOCK - 1))); + DEBUG_printf("Initializing GC heap: %p..%p = " UINT_FMT " bytes\n", start, end, (byte *)end - (byte *)start); + + gc_setup_area(&MP_STATE_MEM(area), start, end); + + // set last free ATB index to start of heap + #if MICROPY_GC_SPLIT_HEAP + MP_STATE_MEM(gc_last_free_area) = &MP_STATE_MEM(area); + #endif + + // unlock the GC + MP_STATE_THREAD(gc_lock_depth) = 0; + + // allow auto collection + MP_STATE_MEM(gc_auto_collect_enabled) = 1; + + #if MICROPY_GC_ALLOC_THRESHOLD + // by default, maxuint for gc threshold, effectively turning gc-by-threshold off + MP_STATE_MEM(gc_alloc_threshold) = (size_t)-1; + MP_STATE_MEM(gc_alloc_amount) = 0; + #endif + + #if MICROPY_PY_THREAD && !MICROPY_PY_THREAD_GIL + mp_thread_mutex_init(&MP_STATE_MEM(gc_mutex)); + #endif +} + +#if MICROPY_GC_SPLIT_HEAP +void gc_add(void *start, void *end) { + // Place the area struct at the start of the area. + mp_state_mem_area_t *area = (mp_state_mem_area_t *)start; + start = (void *)((uintptr_t)start + sizeof(mp_state_mem_area_t)); + + end = (void *)((uintptr_t)end & (~(BYTES_PER_BLOCK - 1))); + DEBUG_printf("Adding GC heap: %p..%p = " UINT_FMT " bytes\n", start, end, (byte *)end - (byte *)start); + + // Init this area + gc_setup_area(area, start, end); + + // Find the last registered area in the linked list + mp_state_mem_area_t *prev_area = &MP_STATE_MEM(area); + while (prev_area->next != NULL) { + prev_area = prev_area->next; + } + + // Add this area to the linked list + prev_area->next = area; +} + +#if MICROPY_GC_SPLIT_HEAP_AUTO +// Try to automatically add a heap area large enough to fulfill 'failed_alloc'. +STATIC bool gc_try_add_heap(size_t failed_alloc) { + // 'needed' is the size of a heap large enough to hold failed_alloc, with + // the additional metadata overheads as calculated in gc_setup_area(). + // + // Rather than reproduce all of that logic here, we approximate that adding + // (13/512) is enough overhead for sufficiently large heap areas (the + // overhead converges to 3/128, but there's some fixed overhead and some + // rounding up of partial block sizes). + size_t gc_alloc_table_byte_len = failed_alloc / BYTES_PER_BLOCK / BLOCKS_PER_ATB; + #if MICROPY_ENABLE_FINALISER + size_t gc_finaliser_table_byte_len = failed_alloc / BYTES_PER_BLOCK / BLOCKS_PER_FTB; + #else + size_t gc_finaliser_table_byte_len = 0; + #endif + size_t needed = failed_alloc + sizeof(mp_state_mem_area_t) + gc_alloc_table_byte_len + gc_finaliser_table_byte_len + 7; + needed = (needed + 0xFFF) & (~0xFFFUL); + size_t to_alloc = MAX(1024 * 1024, needed); + + mp_state_mem_area_t *new_heap = MP_PLAT_ALLOC_HEAP(to_alloc); + + DEBUG_printf("MP_PLAT_ALLOC_HEAP " UINT_FMT " = %p\n", + to_alloc, new_heap); + + if (new_heap == NULL) { + // This should only fail: + // - In a threaded environment if another thread has + // allocated while this function ran. + // - If there is a bug in gc_get_max_new_split(). + return false; + } + + gc_add(new_heap, (void *)new_heap + to_alloc); + + return true; +} +#endif + +#endif + +void gc_lock(void) { + // This does not need to be atomic or have the GC mutex because: + // - each thread has its own gc_lock_depth so there are no races between threads; + // - a hard interrupt will only change gc_lock_depth during its execution, and + // upon return will restore the value of gc_lock_depth. + MP_STATE_THREAD(gc_lock_depth)++; +} + +void gc_unlock(void) { + // This does not need to be atomic, See comment above in gc_lock. + MP_STATE_THREAD(gc_lock_depth)--; +} + +bool gc_is_locked(void) { + return MP_STATE_THREAD(gc_lock_depth) != 0; +} + +#if MICROPY_GC_SPLIT_HEAP +// Returns the area to which this pointer belongs, or NULL if it isn't +// allocated on the GC-managed heap. +STATIC inline mp_state_mem_area_t *gc_get_ptr_area(const void *ptr) { + if (((uintptr_t)(ptr) & (BYTES_PER_BLOCK - 1)) != 0) { // must be aligned on a block + return NULL; + } + for (mp_state_mem_area_t *area = &MP_STATE_MEM(area); area != NULL; area = NEXT_AREA(area)) { + if (ptr >= (void *)area->gc_pool_start // must be above start of pool + && ptr < (void *)area->gc_pool_end) { // must be below end of pool + return area; + } + } + return NULL; +} +#endif + +// ptr should be of type void* +#define VERIFY_PTR(ptr) ( \ + ((uintptr_t)(ptr) & (BYTES_PER_BLOCK - 1)) == 0 /* must be aligned on a block */ \ + && ptr >= (void *)MP_STATE_MEM(area).gc_pool_start /* must be above start of pool */ \ + && ptr < (void *)MP_STATE_MEM(area).gc_pool_end /* must be below end of pool */ \ + ) + +#ifndef TRACE_MARK +#if DEBUG_PRINT +#define TRACE_MARK(block, ptr) DEBUG_printf("gc_mark(%p)\n", ptr) +#else +#define TRACE_MARK(block, ptr) +#endif +#endif + +// Take the given block as the topmost block on the stack. Check all it's +// children: mark the unmarked child blocks and put those newly marked +// blocks on the stack. When all children have been checked, pop off the +// topmost block on the stack and repeat with that one. +#if MICROPY_GC_SPLIT_HEAP +STATIC void gc_mark_subtree(mp_state_mem_area_t *area, size_t block) +#else +STATIC void gc_mark_subtree(size_t block) +#endif +{ + // Start with the block passed in the argument. + size_t sp = 0; + for (;;) { + #if !MICROPY_GC_SPLIT_HEAP + mp_state_mem_area_t *area = &MP_STATE_MEM(area); + #endif + + // work out number of consecutive blocks in the chain starting with this one + size_t n_blocks = 0; + do { + n_blocks += 1; + } while (ATB_GET_KIND(area, block + n_blocks) == AT_TAIL); + + // check that the consecutive blocks didn't overflow past the end of the area + assert(area->gc_pool_start + (block + n_blocks) * BYTES_PER_BLOCK <= area->gc_pool_end); + + // check this block's children + void **ptrs = (void **)PTR_FROM_BLOCK(area, block); + for (size_t i = n_blocks * BYTES_PER_BLOCK / sizeof(void *); i > 0; i--, ptrs++) { + MICROPY_GC_HOOK_LOOP(i); + void *ptr = *ptrs; + // If this is a heap pointer that hasn't been marked, mark it and push + // it's children to the stack. + #if MICROPY_GC_SPLIT_HEAP + mp_state_mem_area_t *ptr_area = gc_get_ptr_area(ptr); + if (!ptr_area) { + // Not a heap-allocated pointer (might even be random data). + continue; + } + #else + if (!VERIFY_PTR(ptr)) { + continue; + } + mp_state_mem_area_t *ptr_area = area; + #endif + size_t ptr_block = BLOCK_FROM_PTR(ptr_area, ptr); + if (ATB_GET_KIND(ptr_area, ptr_block) != AT_HEAD) { + // This block is already marked. + continue; + } + // An unmarked head. Mark it, and push it on gc stack. + TRACE_MARK(ptr_block, ptr); + ATB_HEAD_TO_MARK(ptr_area, ptr_block); + if (sp < MICROPY_ALLOC_GC_STACK_SIZE) { + MP_STATE_MEM(gc_block_stack)[sp] = ptr_block; + #if MICROPY_GC_SPLIT_HEAP + MP_STATE_MEM(gc_area_stack)[sp] = ptr_area; + #endif + sp += 1; + } else { + MP_STATE_MEM(gc_stack_overflow) = 1; + } + } + + // Are there any blocks on the stack? + if (sp == 0) { + break; // No, stack is empty, we're done. + } + + // pop the next block off the stack + sp -= 1; + block = MP_STATE_MEM(gc_block_stack)[sp]; + #if MICROPY_GC_SPLIT_HEAP + area = MP_STATE_MEM(gc_area_stack)[sp]; + #endif + } +} + +STATIC void gc_deal_with_stack_overflow(void) { + while (MP_STATE_MEM(gc_stack_overflow)) { + MP_STATE_MEM(gc_stack_overflow) = 0; + + // scan entire memory looking for blocks which have been marked but not their children + for (mp_state_mem_area_t *area = &MP_STATE_MEM(area); area != NULL; area = NEXT_AREA(area)) { + for (size_t block = 0; block < area->gc_alloc_table_byte_len * BLOCKS_PER_ATB; block++) { + MICROPY_GC_HOOK_LOOP(block); + // trace (again) if mark bit set + if (ATB_GET_KIND(area, block) == AT_MARK) { + #if MICROPY_GC_SPLIT_HEAP + gc_mark_subtree(area, block); + #else + gc_mark_subtree(block); + #endif + } + } + } + } +} + +STATIC void gc_sweep(void) { + #if MICROPY_PY_GC_COLLECT_RETVAL + MP_STATE_MEM(gc_collected) = 0; + #endif + // free unmarked heads and their tails + int free_tail = 0; + #if MICROPY_GC_SPLIT_HEAP_AUTO + mp_state_mem_area_t *prev_area = NULL; + #endif + for (mp_state_mem_area_t *area = &MP_STATE_MEM(area); area != NULL; area = NEXT_AREA(area)) { + size_t end_block = area->gc_alloc_table_byte_len * BLOCKS_PER_ATB; + if (area->gc_last_used_block < end_block) { + end_block = area->gc_last_used_block + 1; + } + + size_t last_used_block = 0; + + for (size_t block = 0; block < end_block; block++) { + MICROPY_GC_HOOK_LOOP(block); + switch (ATB_GET_KIND(area, block)) { + case AT_HEAD: + #if MICROPY_ENABLE_FINALISER + if (FTB_GET(area, block)) { + mp_obj_base_t *obj = (mp_obj_base_t *)PTR_FROM_BLOCK(area, block); + if (obj->type != NULL) { + // if the object has a type then see if it has a __del__ method + mp_obj_t dest[2]; + mp_load_method_maybe(MP_OBJ_FROM_PTR(obj), MP_QSTR___del__, dest); + if (dest[0] != MP_OBJ_NULL) { + // load_method returned a method, execute it in a protected environment + #if MICROPY_ENABLE_SCHEDULER + mp_sched_lock(); + #endif + mp_call_function_1_protected(dest[0], dest[1]); + #if MICROPY_ENABLE_SCHEDULER + mp_sched_unlock(); + #endif + } + } + // clear finaliser flag + FTB_CLEAR(area, block); + } + #endif + free_tail = 1; + DEBUG_printf("gc_sweep(%p)\n", (void *)PTR_FROM_BLOCK(area, block)); + #if MICROPY_PY_GC_COLLECT_RETVAL + MP_STATE_MEM(gc_collected)++; + #endif + // fall through to free the head + MP_FALLTHROUGH + + case AT_TAIL: + if (free_tail) { + ATB_ANY_TO_FREE(area, block); + #if CLEAR_ON_SWEEP + memset((void *)PTR_FROM_BLOCK(area, block), 0, BYTES_PER_BLOCK); + #endif + } else { + last_used_block = block; + } + break; + + case AT_MARK: + ATB_MARK_TO_HEAD(area, block); + free_tail = 0; + last_used_block = block; + break; + } + } + + area->gc_last_used_block = last_used_block; + + #if MICROPY_GC_SPLIT_HEAP_AUTO + // Free any empty area, aside from the first one + if (last_used_block == 0 && prev_area != NULL) { + DEBUG_printf("gc_sweep free empty area %p\n", area); + NEXT_AREA(prev_area) = NEXT_AREA(area); + MP_PLAT_FREE_HEAP(area); + area = prev_area; + } + prev_area = area; + #endif + } +} + +void gc_collect_start(void) { + GC_ENTER(); + MP_STATE_THREAD(gc_lock_depth)++; + #if MICROPY_GC_ALLOC_THRESHOLD + MP_STATE_MEM(gc_alloc_amount) = 0; + #endif + MP_STATE_MEM(gc_stack_overflow) = 0; + + // Trace root pointers. This relies on the root pointers being organised + // correctly in the mp_state_ctx structure. We scan nlr_top, dict_locals, + // dict_globals, then the root pointer section of mp_state_vm. + void **ptrs = (void **)(void *)&mp_state_ctx; + size_t root_start = offsetof(mp_state_ctx_t, thread.dict_locals); + size_t root_end = offsetof(mp_state_ctx_t, vm.qstr_last_chunk); + gc_collect_root(ptrs + root_start / sizeof(void *), (root_end - root_start) / sizeof(void *)); + + #if MICROPY_ENABLE_PYSTACK + // Trace root pointers from the Python stack. + ptrs = (void **)(void *)MP_STATE_THREAD(pystack_start); + gc_collect_root(ptrs, (MP_STATE_THREAD(pystack_cur) - MP_STATE_THREAD(pystack_start)) / sizeof(void *)); + #endif +} + +// Address sanitizer needs to know that the access to ptrs[i] must always be +// considered OK, even if it's a load from an address that would normally be +// prohibited (due to being undefined, in a red zone, etc). +#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)) +__attribute__((no_sanitize_address)) +#endif +static void *gc_get_ptr(void **ptrs, int i) { + #if MICROPY_DEBUG_VALGRIND + if (!VALGRIND_CHECK_MEM_IS_ADDRESSABLE(&ptrs[i], sizeof(*ptrs))) { + return NULL; + } + #endif + return ptrs[i]; +} + +void gc_collect_root(void **ptrs, size_t len) { + #if !MICROPY_GC_SPLIT_HEAP + mp_state_mem_area_t *area = &MP_STATE_MEM(area); + #endif + for (size_t i = 0; i < len; i++) { + MICROPY_GC_HOOK_LOOP(i); + void *ptr = gc_get_ptr(ptrs, i); + #if MICROPY_GC_SPLIT_HEAP + mp_state_mem_area_t *area = gc_get_ptr_area(ptr); + if (!area) { + continue; + } + #else + if (!VERIFY_PTR(ptr)) { + continue; + } + #endif + size_t block = BLOCK_FROM_PTR(area, ptr); + if (ATB_GET_KIND(area, block) == AT_HEAD) { + // An unmarked head: mark it, and mark all its children + ATB_HEAD_TO_MARK(area, block); + #if MICROPY_GC_SPLIT_HEAP + gc_mark_subtree(area, block); + #else + gc_mark_subtree(block); + #endif + } + } +} + +void gc_collect_end(void) { + gc_deal_with_stack_overflow(); + gc_sweep(); + #if MICROPY_GC_SPLIT_HEAP + MP_STATE_MEM(gc_last_free_area) = &MP_STATE_MEM(area); + #endif + for (mp_state_mem_area_t *area = &MP_STATE_MEM(area); area != NULL; area = NEXT_AREA(area)) { + area->gc_last_free_atb_index = 0; + } + MP_STATE_THREAD(gc_lock_depth)--; + GC_EXIT(); +} + +void gc_sweep_all(void) { + GC_ENTER(); + MP_STATE_THREAD(gc_lock_depth)++; + MP_STATE_MEM(gc_stack_overflow) = 0; + gc_collect_end(); +} + +void gc_info(gc_info_t *info) { + GC_ENTER(); + info->total = 0; + info->used = 0; + info->free = 0; + info->max_free = 0; + info->num_1block = 0; + info->num_2block = 0; + info->max_block = 0; + for (mp_state_mem_area_t *area = &MP_STATE_MEM(area); area != NULL; area = NEXT_AREA(area)) { + bool finish = false; + info->total += area->gc_pool_end - area->gc_pool_start; + for (size_t block = 0, len = 0, len_free = 0; !finish;) { + MICROPY_GC_HOOK_LOOP(block); + size_t kind = ATB_GET_KIND(area, block); + switch (kind) { + case AT_FREE: + info->free += 1; + len_free += 1; + len = 0; + break; + + case AT_HEAD: + info->used += 1; + len = 1; + break; + + case AT_TAIL: + info->used += 1; + len += 1; + break; + + case AT_MARK: + // shouldn't happen + break; + } + + block++; + finish = (block == area->gc_alloc_table_byte_len * BLOCKS_PER_ATB); + // Get next block type if possible + if (!finish) { + kind = ATB_GET_KIND(area, block); + } + + if (finish || kind == AT_FREE || kind == AT_HEAD) { + if (len == 1) { + info->num_1block += 1; + } else if (len == 2) { + info->num_2block += 1; + } + if (len > info->max_block) { + info->max_block = len; + } + if (finish || kind == AT_HEAD) { + if (len_free > info->max_free) { + info->max_free = len_free; + } + len_free = 0; + } + } + } + } + + info->used *= BYTES_PER_BLOCK; + info->free *= BYTES_PER_BLOCK; + + #if MICROPY_GC_SPLIT_HEAP_AUTO + info->max_new_split = 0; + #endif + + GC_EXIT(); +} + +void *gc_alloc(size_t n_bytes, unsigned int alloc_flags) { + bool has_finaliser = alloc_flags & GC_ALLOC_FLAG_HAS_FINALISER; + size_t n_blocks = ((n_bytes + BYTES_PER_BLOCK - 1) & (~(BYTES_PER_BLOCK - 1))) / BYTES_PER_BLOCK; + DEBUG_printf("gc_alloc(" UINT_FMT " bytes -> " UINT_FMT " blocks)\n", n_bytes, n_blocks); + + // check for 0 allocation + if (n_blocks == 0) { + return NULL; + } + + // check if GC is locked + if (MP_STATE_THREAD(gc_lock_depth) > 0) { + return NULL; + } + + GC_ENTER(); + + mp_state_mem_area_t *area; + size_t i; + size_t end_block; + size_t start_block; + size_t n_free; + int collected = !MP_STATE_MEM(gc_auto_collect_enabled); + #if MICROPY_GC_SPLIT_HEAP_AUTO + bool added = false; + #endif + + #if MICROPY_GC_ALLOC_THRESHOLD + if (!collected && MP_STATE_MEM(gc_alloc_amount) >= MP_STATE_MEM(gc_alloc_threshold)) { + GC_EXIT(); + gc_collect(); + collected = 1; + GC_ENTER(); + } + #endif + + for (;;) { + + #if MICROPY_GC_SPLIT_HEAP + area = MP_STATE_MEM(gc_last_free_area); + #else + area = &MP_STATE_MEM(area); + #endif + + // look for a run of n_blocks available blocks + for (; area != NULL; area = NEXT_AREA(area), i = 0) { + n_free = 0; + for (i = area->gc_last_free_atb_index; i < area->gc_alloc_table_byte_len; i++) { + MICROPY_GC_HOOK_LOOP(i); + byte a = area->gc_alloc_table_start[i]; + // *FORMAT-OFF* + if (ATB_0_IS_FREE(a)) { if (++n_free >= n_blocks) { i = i * BLOCKS_PER_ATB + 0; goto found; } } else { n_free = 0; } + if (ATB_1_IS_FREE(a)) { if (++n_free >= n_blocks) { i = i * BLOCKS_PER_ATB + 1; goto found; } } else { n_free = 0; } + if (ATB_2_IS_FREE(a)) { if (++n_free >= n_blocks) { i = i * BLOCKS_PER_ATB + 2; goto found; } } else { n_free = 0; } + if (ATB_3_IS_FREE(a)) { if (++n_free >= n_blocks) { i = i * BLOCKS_PER_ATB + 3; goto found; } } else { n_free = 0; } + // *FORMAT-ON* + } + + // No free blocks found on this heap. Mark this heap as + // filled, so we won't try to find free space here again until + // space is freed. + #if MICROPY_GC_SPLIT_HEAP + if (n_blocks == 1) { + area->gc_last_free_atb_index = (i + 1) / BLOCKS_PER_ATB; // or (size_t)-1 + } + #endif + } + + GC_EXIT(); + // nothing found! + if (collected) { + #if MICROPY_GC_SPLIT_HEAP_AUTO + if (!added && gc_try_add_heap(n_bytes)) { + added = true; + continue; + } + #endif + return NULL; + } + DEBUG_printf("gc_alloc(" UINT_FMT "): no free mem, triggering GC\n", n_bytes); + gc_collect(); + collected = 1; + GC_ENTER(); + } + + // found, ending at block i inclusive +found: + // get starting and end blocks, both inclusive + end_block = i; + start_block = i - n_free + 1; + + // Set last free ATB index to block after last block we found, for start of + // next scan. To reduce fragmentation, we only do this if we were looking + // for a single free block, which guarantees that there are no free blocks + // before this one. Also, whenever we free or shink a block we must check + // if this index needs adjusting (see gc_realloc and gc_free). + if (n_free == 1) { + #if MICROPY_GC_SPLIT_HEAP + MP_STATE_MEM(gc_last_free_area) = area; + #endif + area->gc_last_free_atb_index = (i + 1) / BLOCKS_PER_ATB; + } + + area->gc_last_used_block = MAX(area->gc_last_used_block, end_block); + + // mark first block as used head + ATB_FREE_TO_HEAD(area, start_block); + + // mark rest of blocks as used tail + // TODO for a run of many blocks can make this more efficient + for (size_t bl = start_block + 1; bl <= end_block; bl++) { + ATB_FREE_TO_TAIL(area, bl); + } + + // get pointer to first block + // we must create this pointer before unlocking the GC so a collection can find it + void *ret_ptr = (void *)(area->gc_pool_start + start_block * BYTES_PER_BLOCK); + DEBUG_printf("gc_alloc(%p)\n", ret_ptr); + + #if MICROPY_GC_ALLOC_THRESHOLD + MP_STATE_MEM(gc_alloc_amount) += n_blocks; + #endif + + GC_EXIT(); + + #if MICROPY_GC_CONSERVATIVE_CLEAR + // be conservative and zero out all the newly allocated blocks + memset((byte *)ret_ptr, 0, (end_block - start_block + 1) * BYTES_PER_BLOCK); + #else + // zero out the additional bytes of the newly allocated blocks + // This is needed because the blocks may have previously held pointers + // to the heap and will not be set to something else if the caller + // doesn't actually use the entire block. As such they will continue + // to point to the heap and may prevent other blocks from being reclaimed. + memset((byte *)ret_ptr + n_bytes, 0, (end_block - start_block + 1) * BYTES_PER_BLOCK - n_bytes); + #endif + + #if MICROPY_ENABLE_FINALISER + if (has_finaliser) { + // clear type pointer in case it is never set + ((mp_obj_base_t *)ret_ptr)->type = NULL; + // set mp_obj flag only if it has a finaliser + GC_ENTER(); + FTB_SET(area, start_block); + GC_EXIT(); + } + #else + (void)has_finaliser; + #endif + + #if EXTENSIVE_HEAP_PROFILING + gc_dump_alloc_table(&mp_plat_print); + #endif + + return ret_ptr; +} + +/* +void *gc_alloc(mp_uint_t n_bytes) { + return _gc_alloc(n_bytes, false); +} + +void *gc_alloc_with_finaliser(mp_uint_t n_bytes) { + return _gc_alloc(n_bytes, true); +} +*/ + +// force the freeing of a piece of memory +// TODO: freeing here does not call finaliser +void gc_free(void *ptr) { + if (MP_STATE_THREAD(gc_lock_depth) > 0) { + // Cannot free while the GC is locked. However free is an optimisation + // to reclaim the memory immediately, this means it will now be left + // until the next collection. + return; + } + + GC_ENTER(); + + DEBUG_printf("gc_free(%p)\n", ptr); + + if (ptr == NULL) { + // free(NULL) is a no-op + GC_EXIT(); + return; + } + + // get the GC block number corresponding to this pointer + mp_state_mem_area_t *area; + #if MICROPY_GC_SPLIT_HEAP + area = gc_get_ptr_area(ptr); + assert(area); + #else + assert(VERIFY_PTR(ptr)); + area = &MP_STATE_MEM(area); + #endif + + size_t block = BLOCK_FROM_PTR(area, ptr); + assert(ATB_GET_KIND(area, block) == AT_HEAD); + + #if MICROPY_ENABLE_FINALISER + FTB_CLEAR(area, block); + #endif + + #if MICROPY_GC_SPLIT_HEAP + if (MP_STATE_MEM(gc_last_free_area) != area) { + // We freed something but it isn't the current area. Reset the + // last free area to the start for a rescan. Note that this won't + // give much of a performance hit, since areas that are completely + // filled will likely be skipped (the gc_last_free_atb_index + // points to the last block). + // The reason why this is necessary is because it is not possible + // to see which area came first (like it is possible to adjust + // gc_last_free_atb_index based on whether the freed block is + // before the last free block). + MP_STATE_MEM(gc_last_free_area) = &MP_STATE_MEM(area); + } + #endif + + // set the last_free pointer to this block if it's earlier in the heap + if (block / BLOCKS_PER_ATB < area->gc_last_free_atb_index) { + area->gc_last_free_atb_index = block / BLOCKS_PER_ATB; + } + + // free head and all of its tail blocks + do { + ATB_ANY_TO_FREE(area, block); + block += 1; + } while (ATB_GET_KIND(area, block) == AT_TAIL); + + GC_EXIT(); + + #if EXTENSIVE_HEAP_PROFILING + gc_dump_alloc_table(&mp_plat_print); + #endif +} + +size_t gc_nbytes(const void *ptr) { + GC_ENTER(); + + mp_state_mem_area_t *area; + #if MICROPY_GC_SPLIT_HEAP + area = gc_get_ptr_area(ptr); + #else + if (VERIFY_PTR(ptr)) { + area = &MP_STATE_MEM(area); + } else { + area = NULL; + } + #endif + + if (area) { + size_t block = BLOCK_FROM_PTR(area, ptr); + if (ATB_GET_KIND(area, block) == AT_HEAD) { + // work out number of consecutive blocks in the chain starting with this on + size_t n_blocks = 0; + do { + n_blocks += 1; + } while (ATB_GET_KIND(area, block + n_blocks) == AT_TAIL); + GC_EXIT(); + return n_blocks * BYTES_PER_BLOCK; + } + } + + // invalid pointer + GC_EXIT(); + return 0; +} + +#if 0 +// old, simple realloc that didn't expand memory in place +void *gc_realloc(void *ptr, mp_uint_t n_bytes) { + mp_uint_t n_existing = gc_nbytes(ptr); + if (n_bytes <= n_existing) { + return ptr; + } else { + bool has_finaliser; + if (ptr == NULL) { + has_finaliser = false; + } else { + #if MICROPY_ENABLE_FINALISER + has_finaliser = FTB_GET(BLOCK_FROM_PTR((mp_uint_t)ptr)); + #else + has_finaliser = false; + #endif + } + void *ptr2 = gc_alloc(n_bytes, has_finaliser); + if (ptr2 == NULL) { + return ptr2; + } + memcpy(ptr2, ptr, n_existing); + gc_free(ptr); + return ptr2; + } +} + +#else // Alternative gc_realloc impl + +void *gc_realloc(void *ptr_in, size_t n_bytes, bool allow_move) { + // check for pure allocation + if (ptr_in == NULL) { + return gc_alloc(n_bytes, false); + } + + // check for pure free + if (n_bytes == 0) { + gc_free(ptr_in); + return NULL; + } + + if (MP_STATE_THREAD(gc_lock_depth) > 0) { + return NULL; + } + + void *ptr = ptr_in; + + GC_ENTER(); + + // get the GC block number corresponding to this pointer + mp_state_mem_area_t *area; + #if MICROPY_GC_SPLIT_HEAP + area = gc_get_ptr_area(ptr); + assert(area); + #else + assert(VERIFY_PTR(ptr)); + area = &MP_STATE_MEM(area); + #endif + size_t block = BLOCK_FROM_PTR(area, ptr); + assert(ATB_GET_KIND(area, block) == AT_HEAD); + + // compute number of new blocks that are requested + size_t new_blocks = (n_bytes + BYTES_PER_BLOCK - 1) / BYTES_PER_BLOCK; + + // Get the total number of consecutive blocks that are already allocated to + // this chunk of memory, and then count the number of free blocks following + // it. Stop if we reach the end of the heap, or if we find enough extra + // free blocks to satisfy the realloc. Note that we need to compute the + // total size of the existing memory chunk so we can correctly and + // efficiently shrink it (see below for shrinking code). + size_t n_free = 0; + size_t n_blocks = 1; // counting HEAD block + size_t max_block = area->gc_alloc_table_byte_len * BLOCKS_PER_ATB; + for (size_t bl = block + n_blocks; bl < max_block; bl++) { + byte block_type = ATB_GET_KIND(area, bl); + if (block_type == AT_TAIL) { + n_blocks++; + continue; + } + if (block_type == AT_FREE) { + n_free++; + if (n_blocks + n_free >= new_blocks) { + // stop as soon as we find enough blocks for n_bytes + break; + } + continue; + } + break; + } + + // return original ptr if it already has the requested number of blocks + if (new_blocks == n_blocks) { + GC_EXIT(); + return ptr_in; + } + + // check if we can shrink the allocated area + if (new_blocks < n_blocks) { + // free unneeded tail blocks + for (size_t bl = block + new_blocks, count = n_blocks - new_blocks; count > 0; bl++, count--) { + ATB_ANY_TO_FREE(area, bl); + } + + #if MICROPY_GC_SPLIT_HEAP + if (MP_STATE_MEM(gc_last_free_area) != area) { + // See comment in gc_free. + MP_STATE_MEM(gc_last_free_area) = &MP_STATE_MEM(area); + } + #endif + + // set the last_free pointer to end of this block if it's earlier in the heap + if ((block + new_blocks) / BLOCKS_PER_ATB < area->gc_last_free_atb_index) { + area->gc_last_free_atb_index = (block + new_blocks) / BLOCKS_PER_ATB; + } + + GC_EXIT(); + + #if EXTENSIVE_HEAP_PROFILING + gc_dump_alloc_table(&mp_plat_print); + #endif + + return ptr_in; + } + + // check if we can expand in place + if (new_blocks <= n_blocks + n_free) { + // mark few more blocks as used tail + size_t end_block = block + new_blocks; + for (size_t bl = block + n_blocks; bl < end_block; bl++) { + assert(ATB_GET_KIND(area, bl) == AT_FREE); + ATB_FREE_TO_TAIL(area, bl); + } + + area->gc_last_used_block = MAX(area->gc_last_used_block, end_block); + + GC_EXIT(); + + #if MICROPY_GC_CONSERVATIVE_CLEAR + // be conservative and zero out all the newly allocated blocks + memset((byte *)ptr_in + n_blocks * BYTES_PER_BLOCK, 0, (new_blocks - n_blocks) * BYTES_PER_BLOCK); + #else + // zero out the additional bytes of the newly allocated blocks (see comment above in gc_alloc) + memset((byte *)ptr_in + n_bytes, 0, new_blocks * BYTES_PER_BLOCK - n_bytes); + #endif + + #if EXTENSIVE_HEAP_PROFILING + gc_dump_alloc_table(&mp_plat_print); + #endif + + return ptr_in; + } + + #if MICROPY_ENABLE_FINALISER + bool ftb_state = FTB_GET(area, block); + #else + bool ftb_state = false; + #endif + + GC_EXIT(); + + if (!allow_move) { + // not allowed to move memory block so return failure + return NULL; + } + + // can't resize inplace; try to find a new contiguous chain + void *ptr_out = gc_alloc(n_bytes, ftb_state); + + // check that the alloc succeeded + if (ptr_out == NULL) { + return NULL; + } + + DEBUG_printf("gc_realloc(%p -> %p)\n", ptr_in, ptr_out); + memcpy(ptr_out, ptr_in, n_blocks * BYTES_PER_BLOCK); + gc_free(ptr_in); + return ptr_out; +} +#endif // Alternative gc_realloc impl + +void gc_dump_info(const mp_print_t *print) { + gc_info_t info; + gc_info(&info); + mp_printf(print, "GC: total: %u, used: %u, free: %u", + (uint)info.total, (uint)info.used, (uint)info.free); + #if MICROPY_GC_SPLIT_HEAP_AUTO + mp_printf(print, ", max new split: %u", (uint)info.max_new_split); + #endif + mp_printf(print, "\n No. of 1-blocks: %u, 2-blocks: %u, max blk sz: %u, max free sz: %u\n", + (uint)info.num_1block, (uint)info.num_2block, (uint)info.max_block, (uint)info.max_free); +} + +void gc_dump_alloc_table(const mp_print_t *print) { + GC_ENTER(); + static const size_t DUMP_BYTES_PER_LINE = 64; + for (mp_state_mem_area_t *area = &MP_STATE_MEM(area); area != NULL; area = NEXT_AREA(area)) { + #if !EXTENSIVE_HEAP_PROFILING + // When comparing heap output we don't want to print the starting + // pointer of the heap because it changes from run to run. + mp_printf(print, "GC memory layout; from %p:", area->gc_pool_start); + #endif + for (size_t bl = 0; bl < area->gc_alloc_table_byte_len * BLOCKS_PER_ATB; bl++) { + if (bl % DUMP_BYTES_PER_LINE == 0) { + // a new line of blocks + { + // check if this line contains only free blocks + size_t bl2 = bl; + while (bl2 < area->gc_alloc_table_byte_len * BLOCKS_PER_ATB && ATB_GET_KIND(area, bl2) == AT_FREE) { + bl2++; + } + if (bl2 - bl >= 2 * DUMP_BYTES_PER_LINE) { + // there are at least 2 lines containing only free blocks, so abbreviate their printing + mp_printf(print, "\n (%u lines all free)", (uint)(bl2 - bl) / DUMP_BYTES_PER_LINE); + bl = bl2 & (~(DUMP_BYTES_PER_LINE - 1)); + if (bl >= area->gc_alloc_table_byte_len * BLOCKS_PER_ATB) { + // got to end of heap + break; + } + } + } + // print header for new line of blocks + // (the cast to uint32_t is for 16-bit ports) + mp_printf(print, "\n%08x: ", (uint)(bl * BYTES_PER_BLOCK)); + } + int c = ' '; + switch (ATB_GET_KIND(area, bl)) { + case AT_FREE: + c = '.'; + break; + /* this prints out if the object is reachable from BSS or STACK (for unix only) + case AT_HEAD: { + c = 'h'; + void **ptrs = (void**)(void*)&mp_state_ctx; + mp_uint_t len = offsetof(mp_state_ctx_t, vm.stack_top) / sizeof(mp_uint_t); + for (mp_uint_t i = 0; i < len; i++) { + mp_uint_t ptr = (mp_uint_t)ptrs[i]; + if (gc_get_ptr_area(ptr) && BLOCK_FROM_PTR(ptr) == bl) { + c = 'B'; + break; + } + } + if (c == 'h') { + ptrs = (void**)&c; + len = ((mp_uint_t)MP_STATE_THREAD(stack_top) - (mp_uint_t)&c) / sizeof(mp_uint_t); + for (mp_uint_t i = 0; i < len; i++) { + mp_uint_t ptr = (mp_uint_t)ptrs[i]; + if (gc_get_ptr_area(ptr) && BLOCK_FROM_PTR(ptr) == bl) { + c = 'S'; + break; + } + } + } + break; + } + */ + /* this prints the uPy object type of the head block */ + case AT_HEAD: { + void **ptr = (void **)(area->gc_pool_start + bl * BYTES_PER_BLOCK); + if (*ptr == &mp_type_tuple) { + c = 'T'; + } else if (*ptr == &mp_type_list) { + c = 'L'; + } else if (*ptr == &mp_type_dict) { + c = 'D'; + } else if (*ptr == &mp_type_str || *ptr == &mp_type_bytes) { + c = 'S'; + } + #if MICROPY_PY_BUILTINS_BYTEARRAY + else if (*ptr == &mp_type_bytearray) { + c = 'A'; + } + #endif + #if MICROPY_PY_ARRAY + else if (*ptr == &mp_type_array) { + c = 'A'; + } + #endif + #if MICROPY_PY_BUILTINS_FLOAT + else if (*ptr == &mp_type_float) { + c = 'F'; + } + #endif + else if (*ptr == &mp_type_fun_bc) { + c = 'B'; + } else if (*ptr == &mp_type_module) { + c = 'M'; + } else { + c = 'h'; + #if 0 + // This code prints "Q" for qstr-pool data, and "q" for qstr-str + // data. It can be useful to see how qstrs are being allocated, + // but is disabled by default because it is very slow. + for (qstr_pool_t *pool = MP_STATE_VM(last_pool); c == 'h' && pool != NULL; pool = pool->prev) { + if ((qstr_pool_t *)ptr == pool) { + c = 'Q'; + break; + } + for (const byte **q = pool->qstrs, **q_top = pool->qstrs + pool->len; q < q_top; q++) { + if ((const byte *)ptr == *q) { + c = 'q'; + break; + } + } + } + #endif + } + break; + } + case AT_TAIL: + c = '='; + break; + case AT_MARK: + c = 'm'; + break; + } + mp_printf(print, "%c", c); + } + mp_print_str(print, "\n"); + } + GC_EXIT(); +} + +#if 0 +// For testing the GC functions +void gc_test(void) { + mp_uint_t len = 500; + mp_uint_t *heap = malloc(len); + gc_init(heap, heap + len / sizeof(mp_uint_t)); + void *ptrs[100]; + { + mp_uint_t **p = gc_alloc(16, false); + p[0] = gc_alloc(64, false); + p[1] = gc_alloc(1, false); + p[2] = gc_alloc(1, false); + p[3] = gc_alloc(1, false); + mp_uint_t ***p2 = gc_alloc(16, false); + p2[0] = p; + p2[1] = p; + ptrs[0] = p2; + } + for (int i = 0; i < 25; i += 2) { + mp_uint_t *p = gc_alloc(i, false); + printf("p=%p\n", p); + if (i & 3) { + // ptrs[i] = p; + } + } + + printf("Before GC:\n"); + gc_dump_alloc_table(&mp_plat_print); + printf("Starting GC...\n"); + gc_collect_start(); + gc_collect_root(ptrs, sizeof(ptrs) / sizeof(void *)); + gc_collect_end(); + printf("After GC:\n"); + gc_dump_alloc_table(&mp_plat_print); +} +#endif + +#endif // MICROPY_ENABLE_GC diff --git a/micropython_port/micropython_overlay/py/stream.c b/micropython_port/micropython_overlay/py/stream.c new file mode 100644 index 0000000..0449669 --- /dev/null +++ b/micropython_port/micropython_overlay/py/stream.c @@ -0,0 +1,570 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2014 Damien P. George + * Copyright (c) 2014-2016 Paul Sokolovsky + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include +#include + +#include "py/objstr.h" +#include "py/stream.h" +#include "py/runtime.h" + +// This file defines generic Python stream read/write methods which +// dispatch to the underlying stream interface of an object. + +// TODO: should be in mpconfig.h +#define DEFAULT_BUFFER_SIZE 4096 + +STATIC mp_obj_t stream_readall(mp_obj_t self_in); + +// Returns error condition in *errcode, if non-zero, return value is number of bytes written +// before error condition occurred. If *errcode == 0, returns total bytes written (which will +// be equal to input size). +mp_uint_t mp_stream_rw(mp_obj_t stream, void *buf_, mp_uint_t size, int *errcode, byte flags) { + byte *buf = buf_; + typedef mp_uint_t (*io_func_t)(mp_obj_t obj, void *buf, mp_uint_t size, int *errcode); + io_func_t io_func; + const mp_stream_p_t *stream_p = mp_get_stream(stream); + if (flags & MP_STREAM_RW_WRITE) { + io_func = (io_func_t)stream_p->write; + } else { + io_func = stream_p->read; + } + + *errcode = 0; + mp_uint_t done = 0; + while (size > 0) { + mp_uint_t out_sz = io_func(stream, buf, size, errcode); + // For read, out_sz == 0 means EOF. For write, it's unspecified + // what it means, but we don't make any progress, so returning + // is still the best option. + if (out_sz == 0) { + return done; + } + if (out_sz == MP_STREAM_ERROR) { + // If we read something before getting EAGAIN, don't leak it + if (mp_is_nonblocking_error(*errcode) && done != 0) { + *errcode = 0; + } + return done; + } + if (flags & MP_STREAM_RW_ONCE) { + return out_sz; + } + + buf += out_sz; + size -= out_sz; + done += out_sz; + } + return done; +} + +const mp_stream_p_t *mp_get_stream_raise(mp_obj_t self_in, int flags) { + const mp_obj_type_t *type = mp_obj_get_type(self_in); + if (MP_OBJ_TYPE_HAS_SLOT(type, protocol)) { + const mp_stream_p_t *stream_p = MP_OBJ_TYPE_GET_SLOT(type, protocol); + if (!((flags & MP_STREAM_OP_READ) && stream_p->read == NULL) + && !((flags & MP_STREAM_OP_WRITE) && stream_p->write == NULL) + && !((flags & MP_STREAM_OP_IOCTL) && stream_p->ioctl == NULL)) { + return stream_p; + } + } + // CPython: io.UnsupportedOperation, OSError subclass + mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("stream operation not supported")); +} + +STATIC mp_obj_t stream_read_generic(size_t n_args, const mp_obj_t *args, byte flags) { + // What to do if sz < -1? Python docs don't specify this case. + // CPython does a readall, but here we silently let negatives through, + // and they will cause a MemoryError. + mp_int_t sz; + if (n_args == 1 || ((sz = mp_obj_get_int(args[1])) == -1)) { + return stream_readall(args[0]); + } + + const mp_stream_p_t *stream_p = mp_get_stream(args[0]); + + #if MICROPY_PY_BUILTINS_STR_UNICODE + if (stream_p->is_text) { + // We need to read sz number of unicode characters. Because we don't have any + // buffering, and because the stream API can only read bytes, we must read here + // in units of bytes and must never over read. If we want sz chars, then reading + // sz bytes will never over-read, so we follow this approach, in a loop to keep + // reading until we have exactly enough chars. This will be 1 read for text + // with ASCII-only chars, and about 2 reads for text with a couple of non-ASCII + // chars. For text with lots of non-ASCII chars, it'll be pretty inefficient + // in time and memory. + + vstr_t vstr; + vstr_init(&vstr, sz); + mp_uint_t more_bytes = sz; + mp_uint_t last_buf_offset = 0; + while (more_bytes > 0) { + char *p = vstr_add_len(&vstr, more_bytes); + int error; + mp_uint_t out_sz = mp_stream_read_exactly(args[0], p, more_bytes, &error); + if (error != 0) { + vstr_cut_tail_bytes(&vstr, more_bytes); + if (mp_is_nonblocking_error(error)) { + // With non-blocking streams, we read as much as we can. + // If we read nothing, return None, just like read(). + // Otherwise, return data read so far. + // TODO what if we have read only half a non-ASCII char? + if (vstr.len == 0) { + vstr_clear(&vstr); + return mp_const_none; + } + break; + } + mp_raise_OSError(error); + } + + if (out_sz < more_bytes) { + // Finish reading. + // TODO what if we have read only half a non-ASCII char? + vstr_cut_tail_bytes(&vstr, more_bytes - out_sz); + if (out_sz == 0) { + break; + } + } + + // count chars from bytes just read + for (mp_uint_t off = last_buf_offset;;) { + byte b = vstr.buf[off]; + int n; + if (!UTF8_IS_NONASCII(b)) { + // 1-byte ASCII char + n = 1; + } else if ((b & 0xe0) == 0xc0) { + // 2-byte char + n = 2; + } else if ((b & 0xf0) == 0xe0) { + // 3-byte char + n = 3; + } else if ((b & 0xf8) == 0xf0) { + // 4-byte char + n = 4; + } else { + // TODO + n = 5; + } + if (off + n <= vstr.len) { + // got a whole char in n bytes + off += n; + sz -= 1; + last_buf_offset = off; + if (off >= vstr.len) { + more_bytes = sz; + break; + } + } else { + // didn't get a whole char, so work out how many extra bytes are needed for + // this partial char, plus bytes for additional chars that we want + more_bytes = (off + n - vstr.len) + (sz - 1); + break; + } + } + } + + return mp_obj_new_str_from_vstr(&vstr); + } + #endif + + vstr_t vstr; + vstr_init_len(&vstr, sz); + int error; + mp_uint_t out_sz = mp_stream_rw(args[0], vstr.buf, sz, &error, flags); + if (error != 0) { + vstr_clear(&vstr); + if (mp_is_nonblocking_error(error)) { + // https://docs.python.org/3.4/library/io.html#io.RawIOBase.read + // "If the object is in non-blocking mode and no bytes are available, + // None is returned." + // This is actually very weird, as naive truth check will treat + // this as EOF. + return mp_const_none; + } + mp_raise_OSError(error); + } else { + vstr.len = out_sz; + if (stream_p->is_text) { + return mp_obj_new_str_from_vstr(&vstr); + } else { + return mp_obj_new_bytes_from_vstr(&vstr); + } + } +} + +STATIC mp_obj_t stream_read(size_t n_args, const mp_obj_t *args) { + return stream_read_generic(n_args, args, MP_STREAM_RW_READ); +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream_read_obj, 1, 2, stream_read); + +STATIC mp_obj_t stream_read1(size_t n_args, const mp_obj_t *args) { + return stream_read_generic(n_args, args, MP_STREAM_RW_READ | MP_STREAM_RW_ONCE); +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream_read1_obj, 1, 2, stream_read1); + +mp_obj_t mp_stream_write(mp_obj_t self_in, const void *buf, size_t len, byte flags) { + int error; + mp_uint_t out_sz = mp_stream_rw(self_in, (void *)buf, len, &error, flags); + if (error != 0) { + if (mp_is_nonblocking_error(error)) { + // http://docs.python.org/3/library/io.html#io.RawIOBase.write + // "None is returned if the raw stream is set not to block and + // no single byte could be readily written to it." + return mp_const_none; + } + mp_raise_OSError(error); + } else { + return MP_OBJ_NEW_SMALL_INT(out_sz); + } +} + +// This is used to adapt a stream object to an mp_print_t interface +void mp_stream_write_adaptor(void *self, const char *buf, size_t len) { + mp_stream_write(MP_OBJ_FROM_PTR(self), buf, len, MP_STREAM_RW_WRITE); +} + +STATIC mp_obj_t stream_write_method(size_t n_args, const mp_obj_t *args) { + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(args[1], &bufinfo, MP_BUFFER_READ); + size_t max_len = (size_t)-1; + size_t off = 0; + if (n_args == 3) { + max_len = mp_obj_get_int_truncated(args[2]); + } else if (n_args == 4) { + off = mp_obj_get_int_truncated(args[2]); + max_len = mp_obj_get_int_truncated(args[3]); + if (off > bufinfo.len) { + off = bufinfo.len; + } + } + bufinfo.len -= off; + return mp_stream_write(args[0], (byte *)bufinfo.buf + off, MIN(bufinfo.len, max_len), MP_STREAM_RW_WRITE); +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream_write_obj, 2, 4, stream_write_method); + +STATIC mp_obj_t stream_write1_method(mp_obj_t self_in, mp_obj_t arg) { + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(arg, &bufinfo, MP_BUFFER_READ); + return mp_stream_write(self_in, bufinfo.buf, bufinfo.len, MP_STREAM_RW_WRITE | MP_STREAM_RW_ONCE); +} +MP_DEFINE_CONST_FUN_OBJ_2(mp_stream_write1_obj, stream_write1_method); + +STATIC mp_obj_t stream_readinto(size_t n_args, const mp_obj_t *args) { + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(args[1], &bufinfo, MP_BUFFER_WRITE); + + // CPython extension: if 2nd arg is provided, that's max len to read, + // instead of full buffer. Similar to + // https://docs.python.org/3/library/socket.html#socket.socket.recv_into + mp_uint_t len = bufinfo.len; + if (n_args > 2) { + len = mp_obj_get_int(args[2]); + if (len > bufinfo.len) { + len = bufinfo.len; + } + } + + int error; + mp_uint_t out_sz = mp_stream_read_exactly(args[0], bufinfo.buf, len, &error); + if (error != 0) { + if (mp_is_nonblocking_error(error)) { + return mp_const_none; + } + mp_raise_OSError(error); + } else { + return MP_OBJ_NEW_SMALL_INT(out_sz); + } +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream_readinto_obj, 2, 3, stream_readinto); + +STATIC mp_obj_t stream_readall(mp_obj_t self_in) { + const mp_stream_p_t *stream_p = mp_get_stream(self_in); + + mp_uint_t total_size = 0; + vstr_t vstr; + vstr_init(&vstr, DEFAULT_BUFFER_SIZE); + char *p = vstr.buf; + mp_uint_t current_read = DEFAULT_BUFFER_SIZE; + while (true) { + int error; + mp_uint_t out_sz = stream_p->read(self_in, p, current_read, &error); + if (out_sz == MP_STREAM_ERROR) { + if (mp_is_nonblocking_error(error)) { + // With non-blocking streams, we read as much as we can. + // If we read nothing, return None, just like read(). + // Otherwise, return data read so far. + if (total_size == 0) { + return mp_const_none; + } + break; + } + mp_raise_OSError(error); + } + if (out_sz == 0) { + break; + } + total_size += out_sz; + if (out_sz < current_read) { + current_read -= out_sz; + p += out_sz; + } else { + p = vstr_extend(&vstr, DEFAULT_BUFFER_SIZE); + current_read = DEFAULT_BUFFER_SIZE; + } + } + + vstr.len = total_size; + if (stream_p->is_text) { + return mp_obj_new_str_from_vstr(&vstr); + } else { + return mp_obj_new_bytes_from_vstr(&vstr); + } +} + +// Unbuffered, inefficient implementation of readline() for raw I/O files. +STATIC mp_obj_t stream_unbuffered_readline(size_t n_args, const mp_obj_t *args) { + const mp_stream_p_t *stream_p = mp_get_stream(args[0]); + + mp_int_t max_size = -1; + if (n_args > 1) { + max_size = MP_OBJ_SMALL_INT_VALUE(args[1]); + } + + vstr_t vstr; + if (max_size != -1) { + vstr_init(&vstr, max_size); + } else { + vstr_init(&vstr, 16); + } + + while (max_size == -1 || max_size-- != 0) { + char *p = vstr_add_len(&vstr, 1); + int error; + mp_uint_t out_sz = stream_p->read(args[0], p, 1, &error); + if (out_sz == MP_STREAM_ERROR) { + if (mp_is_nonblocking_error(error)) { + if (vstr.len == 1) { + // We just incremented it, but otherwise we read nothing + // and immediately got EAGAIN. This case is not well + // specified in + // https://docs.python.org/3/library/io.html#io.IOBase.readline + // unlike similar case for read(). But we follow the latter's + // behavior - return None. + vstr_clear(&vstr); + return mp_const_none; + } else { + goto done; + } + } + mp_raise_OSError(error); + } + if (out_sz == 0) { + done: + // Back out previously added byte + // Consider, what's better - read a char and get OutOfMemory (so read + // char is lost), or allocate first as we do. + vstr_cut_tail_bytes(&vstr, 1); + break; + } + if (*p == '\n') { + break; + } + } + + if (stream_p->is_text) { + return mp_obj_new_str_from_vstr(&vstr); + } else { + return mp_obj_new_bytes_from_vstr(&vstr); + } +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream_unbuffered_readline_obj, 1, 2, stream_unbuffered_readline); + +// TODO take an optional extra argument (what does it do exactly?) +STATIC mp_obj_t stream_unbuffered_readlines(mp_obj_t self) { + mp_obj_t lines = mp_obj_new_list(0, NULL); + for (;;) { + mp_obj_t line = stream_unbuffered_readline(1, &self); + if (!mp_obj_is_true(line)) { + break; + } + mp_obj_list_append(lines, line); + } + return lines; +} +MP_DEFINE_CONST_FUN_OBJ_1(mp_stream_unbuffered_readlines_obj, stream_unbuffered_readlines); + +mp_obj_t mp_stream_unbuffered_iter(mp_obj_t self) { + mp_obj_t l_in = stream_unbuffered_readline(1, &self); + if (mp_obj_is_true(l_in)) { + return l_in; + } + return MP_OBJ_STOP_ITERATION; +} + +mp_obj_t mp_stream_close(mp_obj_t stream) { + const mp_stream_p_t *stream_p = mp_get_stream(stream); + int error; + mp_uint_t res = stream_p->ioctl(stream, MP_STREAM_CLOSE, 0, &error); + if (res == MP_STREAM_ERROR) { + mp_raise_OSError(error); + } + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_1(mp_stream_close_obj, mp_stream_close); + +STATIC mp_obj_t mp_stream___exit__(size_t n_args, const mp_obj_t *args) { + (void)n_args; + return mp_stream_close(args[0]); +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream___exit___obj, 4, 4, mp_stream___exit__); + +STATIC mp_obj_t stream_seek(size_t n_args, const mp_obj_t *args) { + struct mp_stream_seek_t seek_s; + // TODO: Could be uint64 + seek_s.offset = mp_obj_get_int(args[1]); + seek_s.whence = SEEK_SET; + if (n_args == 3) { + seek_s.whence = mp_obj_get_int(args[2]); + } + + // In POSIX, it's error to seek before end of stream, we enforce it here. + if (seek_s.whence == SEEK_SET && seek_s.offset < 0) { + mp_raise_OSError(MP_EINVAL); + } + + const mp_stream_p_t *stream_p = mp_get_stream(args[0]); + int error; + mp_uint_t res = stream_p->ioctl(args[0], MP_STREAM_SEEK, (mp_uint_t)(uintptr_t)&seek_s, &error); + if (res == MP_STREAM_ERROR) { + mp_raise_OSError(error); + } + + // TODO: Could be uint64 + return mp_obj_new_int_from_uint(seek_s.offset); +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream_seek_obj, 2, 3, stream_seek); + +STATIC mp_obj_t stream_tell(mp_obj_t self) { + mp_obj_t offset = MP_OBJ_NEW_SMALL_INT(0); + mp_obj_t whence = MP_OBJ_NEW_SMALL_INT(SEEK_CUR); + const mp_obj_t args[3] = {self, offset, whence}; + return stream_seek(3, args); +} +MP_DEFINE_CONST_FUN_OBJ_1(mp_stream_tell_obj, stream_tell); + +STATIC mp_obj_t stream_flush(mp_obj_t self) { + const mp_stream_p_t *stream_p = mp_get_stream(self); + int error; + mp_uint_t res = stream_p->ioctl(self, MP_STREAM_FLUSH, 0, &error); + if (res == MP_STREAM_ERROR) { + mp_raise_OSError(error); + } + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_1(mp_stream_flush_obj, stream_flush); + +STATIC mp_obj_t stream_ioctl(size_t n_args, const mp_obj_t *args) { + mp_buffer_info_t bufinfo; + uintptr_t val = 0; + if (n_args > 2) { + if (mp_get_buffer(args[2], &bufinfo, MP_BUFFER_WRITE)) { + val = (uintptr_t)bufinfo.buf; + } else { + val = mp_obj_get_int_truncated(args[2]); + } + } + + const mp_stream_p_t *stream_p = mp_get_stream(args[0]); + int error; + mp_uint_t res = stream_p->ioctl(args[0], mp_obj_get_int(args[1]), val, &error); + if (res == MP_STREAM_ERROR) { + mp_raise_OSError(error); + } + + return mp_obj_new_int(res); +} +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_stream_ioctl_obj, 2, 3, stream_ioctl); + +#if MICROPY_STREAMS_POSIX_API +/* + * POSIX-like functions + * + * These functions have POSIX-compatible signature (except for "void *stream" + * first argument instead of "int fd"). They are useful to port existing + * POSIX-compatible software to work with MicroPython streams. + */ + +#include + +ssize_t mp_stream_posix_write(void *stream, const void *buf, size_t len) { + mp_obj_base_t *o = stream; + const mp_stream_p_t *stream_p = MP_OBJ_TYPE_GET_SLOT(o->type, protocol); + mp_uint_t out_sz = stream_p->write(MP_OBJ_FROM_PTR(stream), buf, len, &errno); + if (out_sz == MP_STREAM_ERROR) { + return -1; + } else { + return out_sz; + } +} + +ssize_t mp_stream_posix_read(void *stream, void *buf, size_t len) { + mp_obj_base_t *o = stream; + const mp_stream_p_t *stream_p = MP_OBJ_TYPE_GET_SLOT(o->type, protocol); + mp_uint_t out_sz = stream_p->read(MP_OBJ_FROM_PTR(stream), buf, len, &errno); + if (out_sz == MP_STREAM_ERROR) { + return -1; + } else { + return out_sz; + } +} + +off_t mp_stream_posix_lseek(void *stream, off_t offset, int whence) { + const mp_obj_base_t *o = stream; + const mp_stream_p_t *stream_p = MP_OBJ_TYPE_GET_SLOT(o->type, protocol); + struct mp_stream_seek_t seek_s; + seek_s.offset = offset; + seek_s.whence = whence; + mp_uint_t res = stream_p->ioctl(MP_OBJ_FROM_PTR(stream), MP_STREAM_SEEK, (mp_uint_t)(uintptr_t)&seek_s, &errno); + if (res == MP_STREAM_ERROR) { + return -1; + } + return seek_s.offset; +} + +int mp_stream_posix_fsync(void *stream) { + mp_obj_base_t *o = stream; + const mp_stream_p_t *stream_p = MP_OBJ_TYPE_GET_SLOT(o->type, protocol); + mp_uint_t res = stream_p->ioctl(MP_OBJ_FROM_PTR(stream), MP_STREAM_FLUSH, 0, &errno); + if (res == MP_STREAM_ERROR) { + return -1; + } + return res; +} + +#endif diff --git a/micropython_port/mpconfigport.h b/micropython_port/mpconfigport.h index 0c49a19..9fca5c6 100644 --- a/micropython_port/mpconfigport.h +++ b/micropython_port/mpconfigport.h @@ -31,6 +31,7 @@ // For size_t and ssize_t #include +#include #include "mpconfigboard.h" #ifndef MICROPY_CONFIG_ROM_LEVEL @@ -62,6 +63,8 @@ typedef long long mp_off_t; #define MICROPY_USE_READLINE (1) // Always enable GC. #define MICROPY_ENABLE_GC (1) +#define MICROPY_GC_SPLIT_HEAP (1) +#define MICROPY_GC_SPLIT_HEAP_AUTO (1) #define MICROPY_GCREGS_SETJMP (1) // Enable the VFS, and enable the posix "filesystem". #define MICROPY_ENABLE_FINALISER (1) @@ -69,25 +72,15 @@ typedef long long mp_off_t; #define MICROPY_READER_VFS (1) #define MICROPY_HELPER_LEXER_UNIX (1) #define MICROPY_VFS_POSIX (1) +#define MICROPY_PY_OS_STATVFS (0) #define MICROPY_READER_POSIX (1) -#ifndef MICROPY_TRACKED_ALLOC #define MICROPY_TRACKED_ALLOC (0) -#endif -// VFS stat functions should return time values relative to 1970/1/1 -#define MICROPY_EPOCH_IS_1970 (1) // Assume that select() call, interrupted with a signal, and erroring // with EINTR, updates remaining timeout value. #define MICROPY_SELECT_REMAINING_TIME (1) // Disable stackless by default. -#ifndef MICROPY_STACKLESS #define MICROPY_STACKLESS (0) #define MICROPY_STACKLESS_STRICT (0) -#endif -// If settrace is enabled then we need code saving. -#if MICROPY_PY_SYS_SETTRACE -#define MICROPY_PERSISTENT_CODE_SAVE (1) -#define MICROPY_COMP_CONST (0) -#endif #define MICROPY_ALLOC_PATH_MAX (PATH_MAX) #define MICROPY_PY_HASHLIB_MD5 (1) @@ -114,29 +107,6 @@ extern const struct _mp_print_t mp_stderr_print; #define MICROPY_DEBUG_PRINTER (&mp_stderr_print) #define MICROPY_ERROR_PRINTER (&mp_stderr_print) -// For the native emitter configure how to mark a region as executable. -void mp_unix_alloc_exec(size_t min_size, void **ptr, size_t *size); -void mp_unix_free_exec(void *ptr, size_t size); -void mp_unix_mark_exec(void); -#define MP_PLAT_ALLOC_EXEC(min_size, ptr, size) mp_unix_alloc_exec(min_size, ptr, size) -#define MP_PLAT_FREE_EXEC(ptr, size) mp_unix_free_exec(ptr, size) -#ifndef MICROPY_FORCE_PLAT_ALLOC_EXEC -// Use MP_PLAT_ALLOC_EXEC for any executable memory allocation, including for FFI -// (overriding libffi own implementation) -#define MICROPY_FORCE_PLAT_ALLOC_EXEC (0) -#endif - -// If enabled, configure how to seed random on init. -#ifdef MICROPY_PY_RANDOM_SEED_INIT_FUNC -#include -void mp_hal_get_random(size_t n, void *buf); -static inline unsigned long mp_random_seed_init(void) { - unsigned long r; - mp_hal_get_random(sizeof(r), &r); - return r; -} -#endif - // From "man readdir": "Under glibc, programs can check for the availability // of the fields [in struct dirent] not defined in POSIX.1 by testing whether // the macros [...], _DIRENT_HAVE_D_TYPE are defined." @@ -243,7 +213,6 @@ static inline unsigned long mp_random_seed_init(void) { // Enable the unix-specific "time" module. #define MICROPY_PY_TIME (1) #define MICROPY_PY_TIME_TIME_TIME_NS (1) -#define MICROPY_PY_TIME_CUSTOM_SLEEP (1) #define MICROPY_PY_TIME_INCLUDEFILE "core/modtime.c" #if MICROPY_PY_SSL diff --git a/micropython_port/mpp/func_def.h b/micropython_port/mpp/func_def.h index da6a786..0e2d53e 100644 --- a/micropython_port/mpp/func_def.h +++ b/micropython_port/mpp/func_def.h @@ -109,7 +109,7 @@ STATIC mp_obj_t _##x(mp_obj_t obj0, mp_obj_t obj1) { \ STATIC MP_DEFINE_CONST_FUN_OBJ_2(x##_obj, _##x); #define DEF_INT_FUNC_INT_STRUCTPTR_STRUCTPTR(x, struct0_type, struct1_type) \ -STATIC mp_obj_t _##x(mp_obj_t obj0, mp_obj_t obj1, mp_obj_t obj2) { \ +STATIC mp_obj_t _##x(mp_obj_t obj0, mp_obj_t obj1, mp_obj_t obj2) { \ mp_buffer_info_t bufinfo[2]; \ mp_get_buffer_raise(obj1, &bufinfo[0], MP_BUFFER_READ); \ mp_get_buffer_raise(obj2, &bufinfo[1], MP_BUFFER_READ); \ @@ -121,7 +121,7 @@ STATIC mp_obj_t _##x(mp_obj_t obj0, mp_obj_t obj1, mp_obj_t obj2) { mp_raise_msg_varg(&mp_type_TypeError, \ MP_ERROR_TEXT("struct 1 expect size: %u, actual size: %u"), \ sizeof(struct1_type), bufinfo[1].len); \ - size_t ret = x(mp_obj_get_int(obj0), (struct0_type*)(bufinfo[0].buf), \ + size_t ret = x(mp_obj_get_int(obj0), (struct0_type*)(bufinfo[0].buf), \ (struct1_type*)(bufinfo[1].buf)); \ return mp_obj_new_int(ret); \ } \ diff --git a/micropython_port/mpp/modmpp.c b/micropython_port/mpp/modmpp.c index 8fc6238..d6a9af4 100644 --- a/micropython_port/mpp/modmpp.c +++ b/micropython_port/mpp/modmpp.c @@ -38,6 +38,7 @@ extern const mp_obj_module_t mp_module_adec_api; extern const mp_obj_module_t mp_module_venc_api; extern const mp_obj_module_t mp_module_vdec_api; extern const mp_obj_module_t mp_module_mp4_format_api; +extern const mp_obj_module_t mp_module_pm_api; STATIC const mp_rom_map_elem_t mpp_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_mpp) }, @@ -53,6 +54,7 @@ STATIC const mp_rom_map_elem_t mpp_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_venc_api), MP_ROM_PTR(&mp_module_venc_api) }, { MP_ROM_QSTR(MP_QSTR_vdec_api), MP_ROM_PTR(&mp_module_vdec_api) }, { MP_ROM_QSTR(MP_QSTR_mp4_format_api), MP_ROM_PTR(&mp_module_mp4_format_api) }, + { MP_ROM_QSTR(MP_QSTR_pm_api), MP_ROM_PTR(&mp_module_pm_api) }, }; STATIC MP_DEFINE_CONST_DICT(mpp_module_globals, mpp_module_globals_table); diff --git a/micropython_port/mpp/mpp/adec_struct.py b/micropython_port/mpp/mpp/adec_struct.py index 0268ad2..64f0a4e 100644 --- a/micropython_port/mpp/mpp/adec_struct.py +++ b/micropython_port/mpp/mpp/adec_struct.py @@ -3,6 +3,8 @@ K_ADEC_MODE_PACK = const(0) K_ADEC_MODE_STREAM = const(1) +ADEC_MAX_DEV_NUMS = const(1) +ADEC_MAX_CHN_NUMS = const(8) def k_adec_chn_attr(**kwargs): layout = uctypes.NATIVE diff --git a/micropython_port/mpp/mpp/aenc_struct.py b/micropython_port/mpp/mpp/aenc_struct.py index db92039..d3a3b54 100644 --- a/micropython_port/mpp/mpp/aenc_struct.py +++ b/micropython_port/mpp/mpp/aenc_struct.py @@ -1,6 +1,8 @@ import uctypes from mpp import aenc_def +AENC_MAX_DEV_NUMS = const(1) +AENC_MAX_CHN_NUMS = const(8) def k_aenc_chn_attr(**kwargs): layout = uctypes.NATIVE buf = bytearray(uctypes.sizeof(aenc_def.k_aenc_chn_attr_desc, layout)) diff --git a/micropython_port/mpp/mpp/audio_def.py b/micropython_port/mpp/mpp/audio_def.py index b830b00..b3f4cd3 100644 --- a/micropython_port/mpp/mpp/audio_def.py +++ b/micropython_port/mpp/mpp/audio_def.py @@ -15,10 +15,11 @@ "sample_rate": 4 | uctypes.UINT32, "bit_width": 8 | uctypes.UINT32, "snd_mode": 12 | uctypes.UINT32, - "i2s_mode": 16 | uctypes.UINT32, - "frame_num": 20 | uctypes.UINT32, - "point_num_per_frame": 24 | uctypes.UINT32, - "i2s_type": 28 | uctypes.UINT32, + "mono_channel":16 | uctypes.UINT32, + "i2s_mode": 20 | uctypes.UINT32, + "frame_num": 24 | uctypes.UINT32, + "point_num_per_frame": 28 | uctypes.UINT32, + "i2s_type": 32 | uctypes.UINT32, } kd_audio_attr_desc = { diff --git a/micropython_port/mpp/mpp/audio_struct.py b/micropython_port/mpp/mpp/audio_struct.py index 667f9a1..c9ba57e 100644 --- a/micropython_port/mpp/mpp/audio_struct.py +++ b/micropython_port/mpp/mpp/audio_struct.py @@ -9,6 +9,9 @@ KD_AUDIO_SOUND_MODE_MONO = const(1) KD_AUDIO_SOUND_MODE_STEREO = const(2) +KD_I2S_IN_MONO_RIGHT_CHANNEL= const(0) +KD_I2S_IN_MONO_LEFT_CHANNEL = const(1) + KD_AUDIO_INPUT_TYPE_I2S = const(0) KD_AUDIO_INPUT_TYPE_PDM = const(1) KD_AUDIO_OUTPUT_TYPE_I2S = const(2) diff --git a/micropython_port/mpp/mpp/common_struct.py b/micropython_port/mpp/mpp/common_struct.py index 8149ed8..97ee2b0 100644 --- a/micropython_port/mpp/mpp/common_struct.py +++ b/micropython_port/mpp/mpp/common_struct.py @@ -17,6 +17,15 @@ def k_u32_ptr(value=0): def k_u8_ptr(value=0): return _k_ptr_base(uctypes.UINT8, value) +def k_s64_ptr(value=0): + return _k_ptr_base(uctypes.INT64, value) + +def k_s32_ptr(value=0): + return _k_ptr_base(uctypes.INT32, value) + +def k_s8_ptr(value=0): + return _k_ptr_base(uctypes.INT8, value) + def k_bool_ptr(value=0): return _k_ptr_base(uctypes.UINT32, value) diff --git a/micropython_port/mpp/mpp/pm.py b/micropython_port/mpp/mpp/pm.py new file mode 100644 index 0000000..e308587 --- /dev/null +++ b/micropython_port/mpp/mpp/pm.py @@ -0,0 +1,72 @@ +from mpp import pm_struct +from mpp import common_struct +from umpp import pm_api +from mpp.pm_struct import PM_GOVERNOR_MANUAL +from mpp.pm_struct import PM_GOVERNOR_PERFORMANCE +from mpp.pm_struct import PM_GOVERNOR_ENERGYSAVING +from mpp.pm_struct import PM_GOVERNOR_AUTO + +class pm_domain: + def __init__(self, domain): + self.__domain = domain + self.__profiles = [] + + def get_freq(self): + if len(self.__profiles) == 0: + self.list_profiles() + index = self.get_profile() + return self.__profiles[index][0] + + def list_profiles(self): + count = common_struct.k_u32_ptr() + prifiles = pm_struct.k_pm_profile() + ret = pm_api.kd_mpi_pm_get_profiles(self.__domain, count, prifiles) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_get_profiles ret: %d" % ret) + buf = bytearray(pm_struct.k_pm_profile_size * count.value) + prifiles = pm_struct.k_pm_profile(buf) + ret = pm_api.kd_mpi_pm_get_profiles(self.__domain, count, prifiles) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_get_profiles ret: %d" % ret) + self.__profiles.clear() + for i in range(count.value): + prifiles = pm_struct.k_pm_profile(buf, i) + self.__profiles.append([prifiles.freq, prifiles.volt]) + return self.__profiles + + def get_governor(self): + index = common_struct.k_s32_ptr() + ret = pm_api.kd_mpi_pm_get_governor(self.__domain, index) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_get_governor ret: %d" % ret) + return index.value + + def set_governor(self, index): + ret = pm_api.kd_mpi_pm_set_governor(self.__domain, index) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_set_governor ret: %d" % ret) + + def get_profile(self): + index = common_struct.k_s32_ptr() + ret = pm_api.kd_mpi_pm_get_profile(self.__domain, index) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_get_profile ret: %d" % ret) + return index.value + + def set_profile(self, index): + ret = pm_api.kd_mpi_pm_set_profile(self.__domain, index) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_set_profile ret: %d" % ret) + + def set_profile_lock(self, index): + ret = pm_api.kd_mpi_pm_set_profile_lock(self.__domain, index) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_set_profile_lock ret: %d" % ret) + + def set_profile_unlock(self, index): + ret = pm_api.kd_mpi_pm_set_profile_unlock(self.__domain, index) + if ret != 0: + raise RuntimeError("call kd_mpi_pm_set_profile_unlock ret: %d" % ret) + +cpu = pm_domain(pm_struct.PM_DOMAIN_CPU) +kpu = pm_domain(pm_struct.PM_DOMAIN_KPU) diff --git a/micropython_port/mpp/mpp/pm_def.py b/micropython_port/mpp/mpp/pm_def.py new file mode 100644 index 0000000..21cadcc --- /dev/null +++ b/micropython_port/mpp/mpp/pm_def.py @@ -0,0 +1,6 @@ +import uctypes + +k_pm_profile_desc = { + "freq": 0 | uctypes.INT32, + "volt": 4 | uctypes.INT32, +} diff --git a/micropython_port/mpp/mpp/pm_struct.py b/micropython_port/mpp/mpp/pm_struct.py new file mode 100644 index 0000000..a52a39a --- /dev/null +++ b/micropython_port/mpp/mpp/pm_struct.py @@ -0,0 +1,22 @@ +import uctypes +from mpp import pm_def + +PM_DOMAIN_CPU = const(0) +PM_DOMAIN_KPU = const(1) +PM_DOMAIN_DPU = const(2) +PM_DOMAIN_VPU = const(3) +PM_DOMAIN_DISPLAY = const(4) +PM_DOMAIN_MEDIA = const(5) + +PM_GOVERNOR_MANUAL = const(0) +PM_GOVERNOR_PERFORMANCE = const(1) +PM_GOVERNOR_ENERGYSAVING = const(2) +PM_GOVERNOR_AUTO = const(3) + +k_pm_profile_size = uctypes.sizeof(pm_def.k_pm_profile_desc) + +def k_pm_profile(buf=None, idx=0): + layout= uctypes.NATIVE + addr = 0 if buf == None else uctypes.addressof(buf) + idx * k_pm_profile_size + s = uctypes.struct(addr, pm_def.k_pm_profile_desc, layout) + return s diff --git a/micropython_port/mpp/mpp/vdec_def.py b/micropython_port/mpp/mpp/vdec_def.py index 8a7c470..e45b20e 100644 --- a/micropython_port/mpp/mpp/vdec_def.py +++ b/micropython_port/mpp/mpp/vdec_def.py @@ -33,16 +33,16 @@ def k_vdec_supplement_info_parse(s, kwargs): s.end_of_stream = kwargs.get("end_of_stream", 0) k_vdec_stream_desc = { - "type": 0 | uctypes.UINT32, - "is_valid_frame": 8 | uctypes.UINT64, - "end_of_stream": 16 | uctypes.UINT32, + "end_of_stream": 0 | uctypes.UINT32, + "pts": 8 | uctypes.UINT64, + "len": 16 | uctypes.UINT32, "phy_addr": 24 | uctypes.UINT64, } def k_vdec_stream_parse(s, kwargs): - s.type = kwargs.get("type", 0) - s.is_valid_frame = kwargs.get("is_valid_frame", 0) s.end_of_stream = kwargs.get("end_of_stream", 0) + s.pts = kwargs.get("pts", 0) + s.len = kwargs.get("len", 0) s.phy_addr = kwargs.get("phy_addr", 0) k_vdec_dec_err_desc = { @@ -73,7 +73,7 @@ def k_vdec_chn_status_parse(s, kwargs): s.is_started = kwargs.get("is_started", 0) s.recv_stream_frames = kwargs.get("recv_stream_frames", 0) s.dec_stream_frames = kwargs.get("dec_stream_frames", 0) - s.dec_err = kwargs.get("dec_err", 0) + #s.dec_err = kwargs.get("dec_err", 0) s.width = kwargs.get("width", 0) s.height = kwargs.get("height", 0) s.latest_frame_pts = kwargs.get("latest_frame_pts", 0) diff --git a/micropython_port/mpp/mpp/vdec_struct.py b/micropython_port/mpp/mpp/vdec_struct.py index fbe340a..fe17876 100644 --- a/micropython_port/mpp/mpp/vdec_struct.py +++ b/micropython_port/mpp/mpp/vdec_struct.py @@ -15,7 +15,7 @@ def k_vdec_chn_attr(**kwargs): layout = uctypes.NATIVE buf = bytearray(uctypes.sizeof(vdec_def.k_vdec_chn_attr_desc, layout)) s = uctypes.struct(uctypes.addressof(buf), vdec_def.k_vdec_chn_attr_desc, layout) - vdec_def.rse(s, kwargs) + vdec_def.k_vdec_chn_attr_parse(s, kwargs) return s def k_vdec_supplement_info(**kwargs): diff --git a/micropython_port/mpp/mpp/video_struct.py b/micropython_port/mpp/mpp/video_struct.py old mode 100644 new mode 100755 index fbf9535..cf2c882 --- a/micropython_port/mpp/mpp/video_struct.py +++ b/micropython_port/mpp/mpp/video_struct.py @@ -45,6 +45,7 @@ PIXEL_FORMAT_VY1UY0_PACKAGE_422 = const(41) PIXEL_FORMAT_YUV_400 = const(42) PIXEL_FORMAT_UV_420 = const(43) +PIXEL_FORMAT_RGB_888_PLANAR = const(44) PIXEL_FORMAT_BGR_888_PLANAR = const(44) PIXEL_FORMAT_HSV_888_PACKAGE = const(45) PIXEL_FORMAT_HSV_888_PLANAR = const(46) diff --git a/micropython_port/mpp/pm_api.c b/micropython_port/mpp/pm_api.c new file mode 100644 index 0000000..a0ece83 --- /dev/null +++ b/micropython_port/mpp/pm_api.c @@ -0,0 +1,50 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include "py/runtime.h" +#include "py/obj.h" +#include "mpi_pm_api.h" + +#define FUNC_IMPL +#define FUNC_FILE "pm_func_def.h" +#include "func_def.h" + +STATIC const mp_rom_map_elem_t pm_api_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_pm_api) }, +#define FUNC_ADD +#define FUNC_FILE "pm_func_def.h" +#include "func_def.h" +}; +STATIC MP_DEFINE_CONST_DICT(pm_api_locals_dict, pm_api_locals_dict_table); + +const mp_obj_module_t mp_module_pm_api = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t *)&pm_api_locals_dict, +}; diff --git a/micropython_port/mpp/pm_func_def.h b/micropython_port/mpp/pm_func_def.h new file mode 100644 index 0000000..0a2ca9e --- /dev/null +++ b/micropython_port/mpp/pm_func_def.h @@ -0,0 +1,41 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +DEF_INT_FUNC_INT_INT(kd_mpi_pm_set_reg) +DEF_INT_FUNC_INT_STRUCTPTR(kd_mpi_pm_get_reg, uint32_t) +DEF_INT_FUNC_INT_STRUCTPTR_STRUCTPTR(kd_mpi_pm_get_profiles, uint32_t, k_pm_profile) +DEF_INT_FUNC_INT(kd_mpi_pm_get_stat) +DEF_INT_FUNC_INT_INT(kd_mpi_pm_set_governor) +DEF_INT_FUNC_INT_STRUCTPTR(kd_mpi_pm_get_governor, k_pm_governor) +DEF_INT_FUNC_INT_INT(kd_mpi_pm_set_profile) +DEF_INT_FUNC_INT_STRUCTPTR(kd_mpi_pm_get_profile, int32_t) +DEF_INT_FUNC_INT_INT(kd_mpi_pm_set_profile_lock) +DEF_INT_FUNC_INT_INT(kd_mpi_pm_set_profile_unlock) +DEF_INT_FUNC_INT_INT_INT(kd_mpi_pm_set_thermal_protect) +DEF_INT_FUNC_INT_STRUCTPTR_STRUCTPTR(kd_mpi_pm_get_thermal_protect, int32_t, int32_t) +DEF_INT_FUNC_INT(kd_mpi_pm_set_thermal_shutdown) +DEF_INT_FUNC_STRUCTPTR(kd_mpi_pm_get_thermal_shutdown, int32_t) +DEF_INT_FUNC_INT_INT(kd_mpi_pm_set_clock) +DEF_INT_FUNC_INT_INT(kd_mpi_pm_set_power) diff --git a/micropython_port/omv/alloc/fb_alloc.c b/micropython_port/omv/alloc/fb_alloc.c index 390a1db..7797cdc 100644 --- a/micropython_port/omv/alloc/fb_alloc.c +++ b/micropython_port/omv/alloc/fb_alloc.c @@ -96,7 +96,7 @@ void *fb_alloc(uint32_t size, int hints) { return NULL; align = hints & FB_ALLOC_CACHE_ALIGN ? FB_ALLOC_ALIGNMENT : 8; - size = size < 8 ? 8 : size; + size = (size + 7) & (~7UL); if (fb_alloc_mgt.alloc_buffer >= OMV_FB_ALLOC_BUFFER_COUNT) fb_alloc_buffer_fail(); @@ -135,6 +135,7 @@ void *fb_alloc_all(uint32_t *size, int hints) { align = hints & FB_ALLOC_CACHE_ALIGN ? FB_ALLOC_ALIGNMENT : 8; avail = fb_avail(); + avail &= (~7UL); if (avail < 8 || fb_alloc_mgt.alloc_buffer >= OMV_FB_ALLOC_BUFFER_COUNT) return NULL; @@ -185,3 +186,29 @@ void fb_free_all() { fb_free(); } } + +mp_obj_t fb_stat(int cmd) +{ + vstr_t vstr; + + vstr_init(&vstr, 256); + vstr_printf(&vstr, "fb stat:\n" + "total_buffer: %d, total_bytes: %d\n" + "alloc_buffer: %d, alloc_buffer_peak: %d\n" + "alloc_bytes: %d, alloc_bytes_peak: %d" + , OMV_FB_ALLOC_SIZE, OMV_FB_ALLOC_BUFFER_COUNT, + fb_alloc_mgt.alloc_buffer, fb_alloc_mgt.alloc_buffer_peak, + fb_alloc_mgt.alloc_bytes, fb_alloc_mgt.alloc_bytes_peak + ); + + if (cmd == 1) { + fb_alloc_mgt.alloc_buffer_peak = fb_alloc_mgt.alloc_buffer; + fb_alloc_mgt.alloc_bytes_peak = fb_alloc_mgt.alloc_bytes; + } else if (cmd == 2) { + fb_free_all(); + fb_alloc_mgt.alloc_buffer_peak = 0; + fb_alloc_mgt.alloc_bytes_peak = 0; + } + + return mp_obj_new_str_from_vstr(&vstr); +} diff --git a/micropython_port/omv/alloc/fb_alloc.h b/micropython_port/omv/alloc/fb_alloc.h index 07870cc..27b8d61 100644 --- a/micropython_port/omv/alloc/fb_alloc.h +++ b/micropython_port/omv/alloc/fb_alloc.h @@ -52,6 +52,7 @@ #ifndef __FB_ALLOC_H__ #define __FB_ALLOC_H__ #include +#include "py/obj.h" #define FB_ALLOC_NO_HINT 0 #define FB_ALLOC_PREFER_SPEED 1 #define FB_ALLOC_PREFER_SIZE 2 @@ -69,4 +70,5 @@ void *fb_alloc_all(uint32_t *size, int hints); // returns pointer and sets size void *fb_alloc0_all(uint32_t *size, int hints); // returns pointer and sets size void fb_free(); void fb_free_all(); +mp_obj_t fb_stat(int cmd); #endif /* __FF_ALLOC_H__ */ diff --git a/micropython_port/omv/alloc/umm_malloc.c b/micropython_port/omv/alloc/umm_malloc.c index 27fd070..5d8e843 100644 --- a/micropython_port/omv/alloc/umm_malloc.c +++ b/micropython_port/omv/alloc/umm_malloc.c @@ -71,7 +71,7 @@ unsigned short int umm_numblocks = 0; #define UMM_DATA(b) (UMM_BLOCK(b).body.data) NORETURN void umm_alloc_fail() { - mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("Out of fast frame buffer stack memory")); + mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("umm_alloc_fail")); } static unsigned short int umm_blocks(size_t size) { diff --git a/micropython_port/omv/boards/canmv/imlib_config.h b/micropython_port/omv/boards/canmv/imlib_config.h index aafde8f..dc277b7 100644 --- a/micropython_port/omv/boards/canmv/imlib_config.h +++ b/micropython_port/omv/boards/canmv/imlib_config.h @@ -12,111 +12,111 @@ #define __IMLIB_CONFIG_H__ // Enable Image I/O -// #define IMLIB_ENABLE_IMAGE_IO +#define IMLIB_ENABLE_IMAGE_IO // Enable Image File I/O -// #define IMLIB_ENABLE_IMAGE_FILE_IO +#define IMLIB_ENABLE_IMAGE_FILE_IO // Enable LAB LUT -// #define IMLIB_ENABLE_LAB_LUT +#define IMLIB_ENABLE_LAB_LUT // Enable YUV LUT -//#define IMLIB_ENABLE_YUV_LUT +#define IMLIB_ENABLE_YUV_LUT // Enable mean pooling -// #define IMLIB_ENABLE_MEAN_POOLING +#define IMLIB_ENABLE_MEAN_POOLING // Enable midpoint pooling -// #define IMLIB_ENABLE_MIDPOINT_POOLING +#define IMLIB_ENABLE_MIDPOINT_POOLING // Enable ISP ops -// #define IMLIB_ENABLE_ISP_OPS +#define IMLIB_ENABLE_ISP_OPS // Enable binary ops -// #define IMLIB_ENABLE_BINARY_OPS +#define IMLIB_ENABLE_BINARY_OPS // Enable math ops -// #define IMLIB_ENABLE_MATH_OPS +#define IMLIB_ENABLE_MATH_OPS // Enable flood_fill() -// #define IMLIB_ENABLE_FLOOD_FILL +#define IMLIB_ENABLE_FLOOD_FILL // Enable mean() -// #define IMLIB_ENABLE_MEAN +#define IMLIB_ENABLE_MEAN // Enable median() -// #define IMLIB_ENABLE_MEDIAN +#define IMLIB_ENABLE_MEDIAN // Enable mode() -// #define IMLIB_ENABLE_MODE +#define IMLIB_ENABLE_MODE // Enable midpoint() -// #define IMLIB_ENABLE_MIDPOINT +#define IMLIB_ENABLE_MIDPOINT // Enable morph() -// #define IMLIB_ENABLE_MORPH +#define IMLIB_ENABLE_MORPH // Enable Gaussian -// #define IMLIB_ENABLE_GAUSSIAN +#define IMLIB_ENABLE_GAUSSIAN // Enable Laplacian -// #define IMLIB_ENABLE_LAPLACIAN +#define IMLIB_ENABLE_LAPLACIAN // Enable bilateral() -// #define IMLIB_ENABLE_BILATERAL +#define IMLIB_ENABLE_BILATERAL // Enable cartoon() -// #define IMLIB_ENABLE_CARTOON +#define IMLIB_ENABLE_CARTOON // Enable linpolar() -// #define IMLIB_ENABLE_LINPOLAR +#define IMLIB_ENABLE_LINPOLAR // Enable logpolar() -// #define IMLIB_ENABLE_LOGPOLAR +#define IMLIB_ENABLE_LOGPOLAR // Enable lens_corr() -// #define IMLIB_ENABLE_LENS_CORR +#define IMLIB_ENABLE_LENS_CORR // Enable rotation_corr() -// #define IMLIB_ENABLE_ROTATION_CORR +#define IMLIB_ENABLE_ROTATION_CORR // Enable phasecorrelate() #if defined(IMLIB_ENABLE_ROTATION_CORR) -// #define IMLIB_ENABLE_FIND_DISPLACEMENT +#define IMLIB_ENABLE_FIND_DISPLACEMENT #endif // Enable get_similarity() -// #define IMLIB_ENABLE_GET_SIMILARITY +#define IMLIB_ENABLE_GET_SIMILARITY // Enable find_lines() -// #define IMLIB_ENABLE_FIND_LINES +#define IMLIB_ENABLE_FIND_LINES // Enable find_line_segments() -// #define IMLIB_ENABLE_FIND_LINE_SEGMENTS +#define IMLIB_ENABLE_FIND_LINE_SEGMENTS // Enable find_circles() -// #define IMLIB_ENABLE_FIND_CIRCLES +#define IMLIB_ENABLE_FIND_CIRCLES // Enable find_rects() -// #define IMLIB_ENABLE_FIND_RECTS +#define IMLIB_ENABLE_FIND_RECTS // Enable find_qrcodes() (14 KB) -// #define IMLIB_ENABLE_QRCODES +#define IMLIB_ENABLE_QRCODES // Enable find_apriltags() (64 KB) -// #define IMLIB_ENABLE_APRILTAGS +#define IMLIB_ENABLE_APRILTAGS // Enable fine find_apriltags() - (8-way connectivity versus 4-way connectivity) -// #define IMLIB_ENABLE_FINE_APRILTAGS +#define IMLIB_ENABLE_FINE_APRILTAGSssss // Enable high res find_apriltags() - uses more RAM -// #define IMLIB_ENABLE_HIGH_RES_APRILTAGS +#define IMLIB_ENABLE_HIGH_RES_APRILTAGS // Enable find_datamatrices() (26 KB) -// #define IMLIB_ENABLE_DATAMATRICES +#define IMLIB_ENABLE_DATAMATRICES // Enable find_barcodes() (42 KB) -// #define IMLIB_ENABLE_BARCODES +#define IMLIB_ENABLE_BARCODES // Enable CMSIS NN // #if !defined(CUBEAI) @@ -124,39 +124,39 @@ // #endif // Enable Tensor Flow -#if !defined(CUBEAI) +// #if !defined(CUBEAI) // #define IMLIB_ENABLE_TF -#endif +// #endif // Enable FAST (20+ KBs). -// #define IMLIB_ENABLE_FAST +#define IMLIB_ENABLE_FAST // Enable find_template() -// #define IMLIB_FIND_TEMPLATE +#define IMLIB_FIND_TEMPLATE // Enable find_lbp() -// #define IMLIB_ENABLE_FIND_LBP +#define IMLIB_ENABLE_FIND_LBP // Enable find_keypoints() -// #define IMLIB_ENABLE_FIND_KEYPOINTS +#define IMLIB_ENABLE_FIND_KEYPOINTS // Enable load, save and match descriptor -// #define IMLIB_ENABLE_DESCRIPTOR +#define IMLIB_ENABLE_DESCRIPTOR // Enable find_hog() -// #define IMLIB_ENABLE_HOG +#define IMLIB_ENABLE_HOG // Enable selective_search() -// #define IMLIB_ENABLE_SELECTIVE_SEARCH +#define IMLIB_ENABLE_SELECTIVE_SEARCH // Enable STM32 DMA2D // #define IMLIB_ENABLE_DMA2D // Enable PNG encoder/decoder -// #define IMLIB_ENABLE_PNG_ENCODER -// #define IMLIB_ENABLE_PNG_DECODER +#define IMLIB_ENABLE_PNG_ENCODER +#define IMLIB_ENABLE_PNG_DECODER // Stereo Imaging -// #define IMLIB_ENABLE_STEREO_DISPARITY +#define IMLIB_ENABLE_STEREO_DISPARITY #endif //__IMLIB_CONFIG_H__ diff --git a/micropython_port/omv/boards/canmv/omv_boardconfig.h b/micropython_port/omv/boards/canmv/omv_boardconfig.h index c97b019..633bad0 100644 --- a/micropython_port/omv/boards/canmv/omv_boardconfig.h +++ b/micropython_port/omv/boards/canmv/omv_boardconfig.h @@ -25,7 +25,6 @@ // FB Heap Block Size #define OMV_UMM_BLOCK_SIZE 256 -#define OMV_FB_SIZE (8 * 1024 * 1024) // FB memory: header + VGA/GS image #define OMV_FB_ALLOC_SIZE (8 * 1024 * 1024) // minimum fb alloc size #define OMV_FB_ALLOC_BUFFER_COUNT (256) diff --git a/micropython_port/omv/common/ff_wrapper.c b/micropython_port/omv/common/ff_wrapper.c index 7d970c3..e5f3761 100644 --- a/micropython_port/omv/common/ff_wrapper.c +++ b/micropython_port/omv/common/ff_wrapper.c @@ -10,339 +10,181 @@ #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) #include +#include +#include +// #include #include "py/runtime.h" -#include "extmod/vfs.h" -#include "extmod/vfs_fat.h" - #include "omv_common.h" #include "fb_alloc.h" #include "ff_wrapper.h" + #define FF_MIN(x, y) (((x) < (y))?(x):(y)) -NORETURN static void ff_fail(FIL *fp, FRESULT res) { - if (fp) { - f_close(fp); - } - mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) ffs_strerror(res)); +size_t f_tell(FIL *fp) +{ + return ftell(*fp); } -NORETURN static void ff_read_fail(FIL *fp) { - if (fp) { - f_close(fp); - } - mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Failed to read requested bytes!")); +void f_close(FIL *fp) +{ + fclose(*fp); +} + +size_t f_size(FIL *fp) +{ + size_t cur = ftell(*fp); + fseek(*fp, 0, SEEK_END); + size_t size = ftell(*fp); + fseek(*fp, cur, SEEK_SET); + return size; } -NORETURN static void ff_write_fail(FIL *fp) { - if (fp) { - f_close(fp); +int f_eof(FIL *fp) +{ + return feof(*fp); +} + +const char *ffs_strerror(FRESULT res) +{ + return strerror(res); +} + +NORETURN static void ff_fail(FIL *fp, FRESULT res) { + if (fp && *fp) { + fclose(*fp); } - mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Failed to write requested bytes!")); + mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) ffs_strerror(res)); } NORETURN static void ff_expect_fail(FIL *fp) { - if (fp) { - f_close(fp); + if (fp && *fp) { + fclose(*fp); } mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Unexpected value read!")); } NORETURN void ff_unsupported_format(FIL *fp) { - if (fp) { - f_close(fp); + if (fp && *fp) { + fclose(*fp); } mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Unsupported format!")); } NORETURN void ff_file_corrupted(FIL *fp) { - if (fp) { - f_close(fp); + if (fp && *fp) { + fclose(*fp); } mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("File corrupted!")); } NORETURN void ff_not_equal(FIL *fp) { - if (fp) { - f_close(fp); + if (fp && *fp) { + fclose(*fp); } mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Images not equal!")); } NORETURN void ff_no_intersection(FIL *fp) { - if (fp) { - f_close(fp); + if (fp && *fp) { + fclose(*fp); } mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("No intersection!")); } void file_read_open(FIL *fp, const char *path) { - FRESULT res = f_open_helper(fp, path, FA_READ | FA_OPEN_EXISTING); + FRESULT res = f_open_helper(fp, path, "rb"); if (res != FR_OK) { ff_fail(fp, res); } } void file_write_open(FIL *fp, const char *path) { - FRESULT res = f_open_helper(fp, path, FA_WRITE | FA_CREATE_ALWAYS); + FRESULT res = f_open_helper(fp, path, "wb"); if (res != FR_OK) { ff_fail(fp, res); } } void file_read_write_open_existing(FIL *fp, const char *path) { - FRESULT res = f_open_helper(fp, path, FA_READ | FA_WRITE | FA_OPEN_EXISTING); + FRESULT res = f_open_helper(fp, path, "rb+"); if (res != FR_OK) { ff_fail(fp, res); } } void file_read_write_open_always(FIL *fp, const char *path) { - FRESULT res = f_open_helper(fp, path, FA_READ | FA_WRITE | FA_OPEN_ALWAYS); + FRESULT res = f_open_helper(fp, path, "wb+"); if (res != FR_OK) { ff_fail(fp, res); } } void file_close(FIL *fp) { - FRESULT res = f_close(fp); + FRESULT res = fclose(*fp); if (res != FR_OK) { ff_fail(fp, res); } } void file_seek(FIL *fp, UINT offset) { - FRESULT res = f_lseek(fp, offset); + FRESULT res = fseek(*fp, offset, SEEK_SET); if (res != FR_OK) { ff_fail(fp, res); } } void file_truncate(FIL *fp) { - FRESULT res = f_truncate(fp); - if (res != FR_OK) { - ff_fail(fp, res); - } + ftruncate(fileno(*fp), ftell(*fp)); } void file_sync(FIL *fp) { - FRESULT res = f_sync(fp); + FRESULT res = fflush(*fp); if (res != FR_OK) { ff_fail(fp, res); } } -// These wrapper functions are used for backward compatibility with -// OpenMV code using vanilla FatFS. Note: Extracted from cc3200 ftp.c - -STATIC FATFS *lookup_path(const TCHAR **path) { - mp_vfs_mount_t *fs = mp_vfs_lookup_path(*path, path); - if (fs == MP_VFS_NONE || fs == MP_VFS_ROOT) { - return NULL; - } - // here we assume that the mounted device is FATFS - return &((fs_user_mount_t *) MP_OBJ_TO_PTR(fs->obj))->fatfs; -} - -FRESULT f_open_helper(FIL *fp, const TCHAR *path, BYTE mode) { - FATFS *fs = lookup_path(&path); - if (fs == NULL) { - return FR_NO_PATH; - } - return f_open(fs, fp, path, mode); -} - -FRESULT f_opendir_helper(FF_DIR *dp, const TCHAR *path) { - FATFS *fs = lookup_path(&path); - if (fs == NULL) { - return FR_NO_PATH; - } - return f_opendir(fs, dp, path); -} - -FRESULT f_stat_helper(const TCHAR *path, FILINFO *fno) { - FATFS *fs = lookup_path(&path); - if (fs == NULL) { - return FR_NO_PATH; - } - return f_stat(fs, path, fno); -} - -FRESULT f_mkdir_helper(const TCHAR *path) { - FATFS *fs = lookup_path(&path); - if (fs == NULL) { - return FR_NO_PATH; - } - return f_mkdir(fs, path); +FRESULT f_read(FIL* fp, void* buff, UINT btr, UINT* br) +{ + if (1 != fread(buff, btr, 1, *fp)) + return errno; + *br = btr; + return 0; } -FRESULT f_unlink_helper(const TCHAR *path) { - FATFS *fs = lookup_path(&path); - if (fs == NULL) { - return FR_NO_PATH; - } - return f_unlink(fs, path); +FRESULT f_write(FIL* fp, const void* buff, UINT btw, UINT* bw) +{ + if (1 != fwrite(buff, btw, 1, *fp)) + return errno; + *bw = btw; + return 0; } -FRESULT f_rename_helper(const TCHAR *path_old, const TCHAR *path_new) { - FATFS *fs_old = lookup_path(&path_old); - if (fs_old == NULL) { - return FR_NO_PATH; - } - FATFS *fs_new = lookup_path(&path_new); - if (fs_new == NULL) { - return FR_NO_PATH; - } - if (fs_old != fs_new) { - return FR_NO_PATH; - } - return f_rename(fs_new, path_old, path_new); -} - -FRESULT f_touch_helper(const TCHAR *path) { - FIL fp; - FATFS *fs = lookup_path(&path); - if (fs == NULL) { - return FR_NO_PATH; - } - - if (f_stat(fs, path, NULL) != FR_OK) { - f_open(fs, &fp, path, FA_WRITE | FA_CREATE_ALWAYS); - f_close(&fp); - } - - return FR_OK; -} -// When a sector boundary is encountered while writing a file and there are -// more than 512 bytes left to write FatFs will detect that it can bypass -// its internal write buffer and pass the data buffer passed to it directly -// to the disk write function. However, the disk write function needs the -// buffer to be aligned to a 4-byte boundary. FatFs doesn't know this and -// will pass an unaligned buffer if we don't fix the issue. To fix this problem -// we use a temporary buffer to fix the alignment and to speed everything up. - -// We use this temporary buffer for both reads and writes. The buffer allows us -// to do multi-block reads and writes which signifcantly speed things up. - -static uint32_t file_buffer_offset = 0; -static uint8_t *file_buffer_pointer = 0; -static uint32_t file_buffer_size = 0; -static uint32_t file_buffer_index = 0; - -void file_buffer_init0() { - file_buffer_offset = 0; - file_buffer_pointer = 0; - file_buffer_size = 0; - file_buffer_index = 0; -} - -OMV_ATTR_ALWAYS_INLINE static void file_fill(FIL *fp) { - if (file_buffer_index == file_buffer_size) { - file_buffer_pointer -= file_buffer_offset; - file_buffer_size += file_buffer_offset; - file_buffer_offset = 0; - file_buffer_index = 0; - uint32_t file_remaining = f_size(fp) - f_tell(fp); - uint32_t can_do = FF_MIN(file_buffer_size, file_remaining); - UINT bytes; - FRESULT res = f_read(fp, file_buffer_pointer, can_do, &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != can_do) { - ff_read_fail(fp); - } - } -} - -OMV_ATTR_ALWAYS_INLINE static void file_flush(FIL *fp) { - if (file_buffer_index == file_buffer_size) { - UINT bytes; - FRESULT res = f_write(fp, file_buffer_pointer, file_buffer_index, &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != file_buffer_index) { - ff_write_fail(fp); - } - file_buffer_pointer -= file_buffer_offset; - file_buffer_size += file_buffer_offset; - file_buffer_offset = 0; - file_buffer_index = 0; - } +FRESULT f_open_helper(FIL *fp, const char *path, char *mode) { + *fp = fopen(path, mode); + return *fp == NULL ? errno : 0; } uint32_t file_tell_w_buf(FIL *fp) { - if (fp->flag & FA_READ) { - return f_tell(fp) - file_buffer_size + file_buffer_index; - } else { - return f_tell(fp) + file_buffer_index; - } + return ftell(*fp); } uint32_t file_size_w_buf(FIL *fp) { - if (fp->flag & FA_READ) { - return f_size(fp); - } else { - return f_size(fp) + file_buffer_index; - } + size_t cur = ftell(*fp); + fseek(*fp, 0, SEEK_END); + size_t size = ftell(*fp); + fseek(*fp, cur, SEEK_SET); + return size; } void file_buffer_on(FIL *fp) { - file_buffer_offset = f_tell(fp) % 4; - file_buffer_pointer = fb_alloc_all(&file_buffer_size, FB_ALLOC_PREFER_SIZE) + file_buffer_offset; - if (!file_buffer_size) { - mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("No memory!")); - } - file_buffer_size -= file_buffer_offset; - file_buffer_index = 0; - if (fp->flag & FA_READ) { - uint32_t file_remaining = f_size(fp) - f_tell(fp); - uint32_t can_do = FF_MIN(file_buffer_size, file_remaining); - UINT bytes; - FRESULT res = f_read(fp, file_buffer_pointer, can_do, &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != can_do) { - ff_read_fail(fp); - } - } } void file_buffer_off(FIL *fp) { - if ((fp->flag & FA_WRITE) && file_buffer_index) { - UINT bytes; - FRESULT res = f_write(fp, file_buffer_pointer, file_buffer_index, &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != file_buffer_index) { - ff_write_fail(fp); - } - } - file_buffer_pointer = 0; - fb_free(); } void read_byte(FIL *fp, uint8_t *value) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // via massive reads. So much so that the time wasted by - // all these operations does not cost us. - for (size_t i = 0; i < sizeof(*value); i++) { - file_fill(fp); - ((uint8_t *) value)[i] = file_buffer_pointer[file_buffer_index++]; - } - } else { - UINT bytes; - FRESULT res = f_read(fp, value, sizeof(*value), &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != sizeof(*value)) { - ff_read_fail(fp); - } - } + read_data(fp, value, 1); } void read_byte_expect(FIL *fp, uint8_t value) { @@ -359,24 +201,7 @@ void read_byte_ignore(FIL *fp) { } void read_word(FIL *fp, uint16_t *value) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // via massive reads. So much so that the time wasted by - // all these operations does not cost us. - for (size_t i = 0; i < sizeof(*value); i++) { - file_fill(fp); - ((uint8_t *) value)[i] = file_buffer_pointer[file_buffer_index++]; - } - } else { - UINT bytes; - FRESULT res = f_read(fp, value, sizeof(*value), &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != sizeof(*value)) { - ff_read_fail(fp); - } - } + read_data(fp, value, 2); } void read_word_expect(FIL *fp, uint16_t value) { @@ -393,24 +218,7 @@ void read_word_ignore(FIL *fp) { } void read_long(FIL *fp, uint32_t *value) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // via massive reads. So much so that the time wasted by - // all these operations does not cost us. - for (size_t i = 0; i < sizeof(*value); i++) { - file_fill(fp); - ((uint8_t *) value)[i] = file_buffer_pointer[file_buffer_index++]; - } - } else { - UINT bytes; - FRESULT res = f_read(fp, value, sizeof(*value), &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != sizeof(*value)) { - ff_read_fail(fp); - } - } + read_data(fp, value, 4); } void read_long_expect(FIL *fp, uint32_t value) { @@ -427,117 +235,24 @@ void read_long_ignore(FIL *fp) { } void read_data(FIL *fp, void *data, UINT size) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // via massive reads. So much so that the time wasted by - // all these operations does not cost us. - while (size) { - file_fill(fp); - uint32_t file_buffer_space_left = file_buffer_size - file_buffer_index; - uint32_t can_do = FF_MIN(size, file_buffer_space_left); - memcpy(data, file_buffer_pointer + file_buffer_index, can_do); - file_buffer_index += can_do; - data += can_do; - size -= can_do; - } - } else { - UINT bytes; - FRESULT res = f_read(fp, data, size, &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != size) { - ff_read_fail(fp); - } - } + if (1 != fread(data, size, 1, *fp)) + ff_fail(fp, errno); } void write_byte(FIL *fp, uint8_t value) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // before a write to the SD card. So much so that the time wasted by - // all these operations does not cost us. - for (size_t i = 0; i < sizeof(value); i++) { - file_buffer_pointer[file_buffer_index++] = ((uint8_t *) &value)[i]; - file_flush(fp); - } - } else { - UINT bytes; - FRESULT res = f_write(fp, &value, sizeof(value), &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != sizeof(value)) { - ff_write_fail(fp); - } - } + write_data(fp, &value, sizeof(value)); } void write_word(FIL *fp, uint16_t value) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // before a write to the SD card. So much so that the time wasted by - // all these operations does not cost us. - for (size_t i = 0; i < sizeof(value); i++) { - file_buffer_pointer[file_buffer_index++] = ((uint8_t *) &value)[i]; - file_flush(fp); - } - } else { - UINT bytes; - FRESULT res = f_write(fp, &value, sizeof(value), &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != sizeof(value)) { - ff_write_fail(fp); - } - } + write_data(fp, &value, sizeof(value)); } void write_long(FIL *fp, uint32_t value) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // before a write to the SD card. So much so that the time wasted by - // all these operations does not cost us. - for (size_t i = 0; i < sizeof(value); i++) { - file_buffer_pointer[file_buffer_index++] = ((uint8_t *) &value)[i]; - file_flush(fp); - } - } else { - UINT bytes; - FRESULT res = f_write(fp, &value, sizeof(value), &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != sizeof(value)) { - ff_write_fail(fp); - } - } + write_data(fp, &value, sizeof(value)); } void write_data(FIL *fp, const void *data, UINT size) { - if (file_buffer_pointer) { - // We get a massive speed boost by buffering up as much data as possible - // before a write to the SD card. So much so that the time wasted by - // all these operations does not cost us. - while (size) { - uint32_t file_buffer_space_left = file_buffer_size - file_buffer_index; - uint32_t can_do = FF_MIN(size, file_buffer_space_left); - memcpy(file_buffer_pointer + file_buffer_index, data, can_do); - file_buffer_index += can_do; - data += can_do; - size -= can_do; - file_flush(fp); - } - } else { - UINT bytes; - FRESULT res = f_write(fp, data, size, &bytes); - if (res != FR_OK) { - ff_fail(fp, res); - } - if (bytes != size) { - ff_write_fail(fp); - } - } + if (1 != fwrite(data, size, 1, *fp)) + ff_fail(fp, errno); } #endif //IMLIB_ENABLE_IMAGE_FILE_IO diff --git a/micropython_port/omv/common/ff_wrapper.h b/micropython_port/omv/common/ff_wrapper.h index e949315..01a8db4 100644 --- a/micropython_port/omv/common/ff_wrapper.h +++ b/micropython_port/omv/common/ff_wrapper.h @@ -11,25 +11,20 @@ #include #include -#define FIL FILE +#define FIL FILE* #define FRESULT int -#define TCHAR char -#define BYTE char -#define FILINFO void -#define UINT uint64_t -#define FF_DIR void +#define UINT size_t #define FR_OK 0 extern const char *ffs_strerror(FRESULT res); -//OOFATFS wrappers -FRESULT f_open_helper(FIL *fp, const TCHAR *path, BYTE mode); -FRESULT f_opendir_helper(FF_DIR *dp, const TCHAR *path); -FRESULT f_stat_helper(const TCHAR *path, FILINFO *fno); -FRESULT f_mkdir_helper(const TCHAR *path); -FRESULT f_unlink_helper(const TCHAR *path); -FRESULT f_rename_helper(const TCHAR *path_old, const TCHAR *path_new); -FRESULT f_touch_helper(const TCHAR *path); +size_t f_tell(FIL *fp); +void f_close(FIL *fp); +size_t f_size(FIL *fp); +int f_eof(FIL *fp); +FRESULT f_read(FIL* fp, void* buff, UINT btr, UINT* br); +FRESULT f_write(FIL* fp, const void* buff, UINT btw, UINT* bw); +FRESULT f_open_helper(FIL *fp, const char *path, char *mode); void ff_unsupported_format(FIL *fp); void ff_file_corrupted(FIL *fp); diff --git a/micropython_port/omv/ide_dbg.c b/micropython_port/omv/ide_dbg.c index 731f7c4..8faff3b 100644 --- a/micropython_port/omv/ide_dbg.c +++ b/micropython_port/omv/ide_dbg.c @@ -7,8 +7,14 @@ * */ #include "builtin.h" +#include "k_connector_comm.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" #include "mpconfig.h" #include "boards/k230_evb/mpconfigboard.h" +#include "mpi_connector_api.h" +#include "mpi_vb_api.h" +#include "mpi_vo_api.h" #include "mpstate.h" #include "obj.h" #include "objstr.h" @@ -42,10 +48,14 @@ int usb_cdc_fd; void mp_hal_stdout_tx_strn(const char *str, size_t len); +#if IDE_DEBUG_PRINT #define pr(fmt,...) fprintf(stderr,fmt "\n",##__VA_ARGS__) +#else +#define pr(fmt,...) +#endif static pthread_t ide_dbg_task_p; -static unsigned char usb_cdc_read_buf[1024]; +static unsigned char usb_cdc_read_buf[4096]; static struct ide_dbg_svfil_t ide_dbg_sv_file; static mp_obj_exception_t ide_exception; //IDE interrupt static mp_obj_str_t ide_exception_str; @@ -54,7 +64,7 @@ static mp_obj_tuple_t* ide_exception_str_tuple = NULL; static mp_obj_t mp_const_ide_interrupt = (mp_obj_t)(&ide_exception); #endif static sem_t stdin_sem; -static char stdin_ring_buffer[256]; +static char stdin_ring_buffer[4096]; static unsigned stdin_write_ptr = 0; static unsigned stdin_read_ptr = 0; @@ -71,11 +81,13 @@ int usb_tx(const void* buffer, size_t size) { } void print_raw(const uint8_t* data, size_t size) { + #if IDE_DEBUG_PRINT fprintf(stderr, "raw: \""); for (size_t i = 0; i < size; i++) { fprintf(stderr, "\\x%02X", ((unsigned char*)data)[i]); } fprintf(stderr, "\"\n"); + #endif } static uint32_t ide_script_running = 0; @@ -108,11 +120,13 @@ static void read_until(int fd, void* buffer, size_t size) { } static void print_sha256(const uint8_t sha256[32]) { + #if IDE_DEBUG_PRINT fprintf(stderr, "SHA256: "); for (unsigned i = 0; i < 32; i++) { fprintf(stderr, "%02x", sha256[i]); } fprintf(stderr, "\n"); + #endif } void mpy_start_script(char* filepath); @@ -144,12 +158,12 @@ void ide_dbg_on_script_end(void) { static void interrupt_repl(void) { stdin_ring_buffer[stdin_write_ptr++] = CHAR_CTRL_D; - stdin_write_ptr %= 256; + stdin_write_ptr %= sizeof(stdin_ring_buffer); sem_post(&stdin_sem); } static void interrupt_ide(void) { - fprintf(stderr, "[usb] exit IDE mode\n"); + pr("[usb] exit IDE mode"); ide_attached = false; // exit script mode if (script_string) { @@ -162,6 +176,83 @@ static void interrupt_ide(void) { static volatile bool enable_pic = true; static bool flag_wait_exit = false; +static enum { + FB_FROM_NONE, + FB_FROM_USER_SET, + FB_FROM_VO_WRITEBACK +} fb_from = FB_FROM_NONE; +static volatile void* fb_data = NULL; +static uint32_t fb_size = 0, fb_width = 0, fb_height = 0; +static pthread_mutex_t fb_mutex; +// FIXME: reuse buf +void ide_set_fb(const void* data, uint32_t size, uint32_t width, uint32_t height) { + pthread_mutex_lock(&fb_mutex); + if (fb_data) { + // not sended + pthread_mutex_unlock(&fb_mutex); + return; + } + fb_data = malloc(size); + memcpy((void*)fb_data, data, size); + fb_size = size; + fb_width = width; + fb_height = height; + pthread_mutex_unlock(&fb_mutex); +} +#define ENABLE_VO_WRITEBACK 0 +// for VO writeback +#if ENABLE_VO_WRITEBACK +static volatile char vo_wbc_enabled = 0; +static void* wbc_jpeg_buffer = NULL; +static size_t wbc_jpeg_buffer_size = 0; +static uint32_t wbc_jpeg_size = 0; +static volatile k_connector_type connector_type = 0; +#endif +int ide_dbg_vo_init(k_connector_type _connector_type) { + #if ENABLE_VO_WRITEBACK + connector_type = _connector_type; + #endif + return 0; +} + +int ide_dbg_vo_wbc_init(void) { + #if ENABLE_VO_WRITEBACK + k_connector_info vo_info; + kd_mpi_get_connector_info(connector_type, &vo_info); + pr("[omv] %s(%d), %ux%u", __func__, connector_type, vo_info.resolution.hdisplay, vo_info.resolution.vdisplay); + k_vo_wbc_attr attr = { + .target_size = { + .width = vo_info.resolution.hdisplay, + .height = vo_info.resolution.vdisplay + } + }; + if (kd_mpi_vo_set_wbc_attr(&attr)) { + pr("[omv] kd_mpi_vo_set_wbc_attr error"); + vo_wbc_enabled = -1; + return -1; + } + if (kd_mpi_vo_enable_wbc()) { + pr("[omv] kd_mpi_vo_enable_wbc error"); + vo_wbc_enabled = -1; + return -1; + } + vo_wbc_enabled = 1; + pr("[omv] VO writeback enabled"); + #endif + return 0; +} + +int ide_dbg_vo_deinit(void) { + pr("[omv] %s", __func__); + #if ENABLE_VO_WRITEBACK + if (vo_wbc_enabled > 0) { + kd_mpi_vo_disable_wbc(); + vo_wbc_enabled = 0; + } + #endif + return 0; +} + static ide_dbg_status_t ide_dbg_update(ide_dbg_state_t* state, const uint8_t* data, size_t length) { #if TEST_PIC static unsigned pic_idx = 0; @@ -258,10 +349,11 @@ static ide_dbg_status_t ide_dbg_update(ide_dbg_state_t* state, const uint8_t* da // raise IDE interrupt if (ide_script_running) { // FIXME + MP_THREAD_GIL_ENTER(); mp_obj_exception_clear_traceback(mp_const_ide_interrupt); mp_sched_exception(mp_const_ide_interrupt); + MP_THREAD_GIL_EXIT(); } - ide_script_running = 0; #endif break; } @@ -364,7 +456,7 @@ static ide_dbg_status_t ide_dbg_update(ide_dbg_state_t* state, const uint8_t* da ide_dbg_sv_file.errcode = USBDBG_SVFILE_ERR_OPEN_ERR; break; } - ide_dbg_sv_file.chunk_buffer = malloc(state->data_length); + ide_dbg_sv_file.chunk_buffer = malloc(ide_dbg_sv_file.info.chunk_size); ide_dbg_sv_file.errcode = USBDBG_SVFILE_ERR_NONE; break; } @@ -399,7 +491,6 @@ static ide_dbg_status_t ide_dbg_update(ide_dbg_state_t* state, const uint8_t* da break; } case USBDBG_FRAME_SIZE: { - // TODO // DO NOT PRINT #if PRINT_ALL pr("cmd: USBDBG_FRAME_SIZE"); @@ -421,12 +512,60 @@ static ide_dbg_status_t ide_dbg_update(ide_dbg_state_t* state, const uint8_t* da 0, // height 0, // size }; + + pthread_mutex_lock(&fb_mutex); + if (fb_data) { + pr("[omv] use user set fb"); + resp[0] = fb_width; + resp[1] = fb_height; + resp[2] = fb_size; + fb_from = FB_FROM_USER_SET; + } + pthread_mutex_unlock(&fb_mutex); + if (resp[2] != 0) { + goto skip; + } + #if ENABLE_VO_WRITEBACK + // try vo writeback + if (vo_wbc_enabled > 0) { + pr("[omv] try using writeback"); + k_video_frame_info frame_info; + unsigned error = kd_mpi_wbc_dump_frame(&frame_info, 100); + if (error) { + pr("[omv] kd_mpi_wbc_dump_frame error: %u", error); + goto skip; + } + frame_info.v_frame.width = 1920; + frame_info.v_frame.height = 1080; + frame_info.v_frame.pixel_format = PIXEL_FORMAT_YUV_SEMIPLANAR_420; + pr("[omv] kd_mpi_wbc_dump_frame success w(%u)h(%u)phy(%08lx)", + frame_info.v_frame.width, frame_info.v_frame.height, frame_info.v_frame.phys_addr[0]); + // JPEG compressing + int hd_jpeg_encode(k_video_frame_info* frame, void** buffer, size_t size, int timeout, void*(*realloc)(void*, unsigned long)); + int ssize = hd_jpeg_encode(&frame_info, &wbc_jpeg_buffer, wbc_jpeg_buffer_size, 1000, realloc); + if (ssize <= 0) { + // error + goto skip; + } + kd_mpi_wbc_dump_release(&frame_info); + resp[0] = frame_info.v_frame.width; + resp[1] = frame_info.v_frame.height; + resp[2] = ssize; + wbc_jpeg_size = ssize; + wbc_jpeg_buffer_size = wbc_jpeg_buffer_size > ssize ? wbc_jpeg_buffer_size : ssize; + fb_from = FB_FROM_VO_WRITEBACK; + } #endif + skip: + #endif + if (resp[2]) { + pr("cmd: USBDBG_FRAME_SIZE %u %u %u", resp[0], resp[1], resp[2]); + } usb_tx(&resp, sizeof(resp)); break; } case USBDBG_FRAME_DUMP: { - // TODO + // pr("cmd: USBDBG_FRAME_DUMP"); // DO NOT PRINT #if PRINT_ALL pr("cmd: USBDBG_FRAME_DUMP"); @@ -447,6 +586,34 @@ static ide_dbg_status_t ide_dbg_update(ide_dbg_state_t* state, const uint8_t* da } pic_idx += 1; pic_idx %= num_jpeg; + #else + if (fb_from == FB_FROM_USER_SET) { + pthread_mutex_lock(&fb_mutex); + size_t x = 0; + for (; x < fb_size; x += 1024) { + usb_tx((uint8_t*)fb_data + x, 1024); + } + if (x < fb_size) { + usb_tx((uint8_t*)fb_data + x, fb_size - x); + } + free((void*)fb_data); + fb_data = NULL; + pthread_mutex_unlock(&fb_mutex); + } + #if ENABLE_VO_WRITEBACK + else if (fb_from == FB_FROM_VO_WRITEBACK) { + size_t x = 0; + for (; x < wbc_jpeg_size; x += 1024) { + usb_tx(wbc_jpeg_buffer + x, 1024); + } + if (x < wbc_jpeg_size) { + usb_tx(wbc_jpeg_buffer + x, wbc_jpeg_size - x); + } + } + #endif + else { + // ??? + } #endif break; } @@ -518,13 +685,13 @@ static void* ide_dbg_task(void* args) { return NULL; } if (FD_ISSET(STDIN_FILENO, &rfds)) { - fprintf(stderr, "exit, press enter\n"); + pr("exit, press enter"); kill(getpid(), SIGINT); return NULL; } if (FD_ISSET(usb_cdc_fd, &efds)) { // RTS - fprintf(stderr, "[usb] RTS\n"); + pr("[usb] RTS"); if (ide_dbg_attach()) { if (flag_wait_exit) { interrupt_ide(); @@ -539,7 +706,7 @@ static void* ide_dbg_task(void* args) { } ssize_t size = read(usb_cdc_fd, usb_cdc_read_buf, sizeof(usb_cdc_read_buf)); if (size == 0) { - fprintf(stderr, "[usb] read timeout\n"); + pr("[usb] read timeout"); continue; } else if (size < 0) { // TODO: error, but ??? @@ -552,13 +719,13 @@ static void* ide_dbg_task(void* args) { const char* IDE_TOKEN = "\x30\x8D\x04\x00\x00\x00"; // CanMV IDE const char* IDE_TOKEN2 = "\x30\x80\x0C\x00\x00\x00"; // OpenMV IDE const char* IDE_TOKEN3 = "\x30\x87\x04\x00\x00\x00"; - if ((size == 6 || usb_cdc_read_buf[0] == 0x30) && ( + if ((size == 6) && ( (strncmp((const char*)usb_cdc_read_buf, IDE_TOKEN, size) == 0) || (strncmp((const char*)usb_cdc_read_buf, IDE_TOKEN2, size) == 0) || (strncmp((const char*)usb_cdc_read_buf, IDE_TOKEN3, size) == 0) )) { // switch to ide mode - fprintf(stderr, "[usb] switch to IDE mode\n"); + pr("[usb] switch to IDE mode"); if (!ide_dbg_attach()) { interrupt_repl(); } @@ -580,7 +747,7 @@ static void* ide_dbg_task(void* args) { continue; } // normal REPL - fprintf(stderr, "[usb] read %lu bytes ", size); + pr("[usb] read %lu bytes ", size); print_raw(usb_cdc_read_buf, size); if ((size == 1) && (usb_cdc_read_buf[0] == CHAR_CTRL_C) && repl_script_running) { // terminate script running, FIXME: multithread raise @@ -609,7 +776,7 @@ static void* ide_dbg_task(void* args) { } void sighandler(int sig) { - fprintf(stderr, "get signal %d\n", sig); + pr("get signal %d", sig); exit(0); } @@ -622,6 +789,7 @@ void ide_dbg_init(void) { } sem_init(&script_sem, 0, 0); sem_init(&stdin_sem, 0, 0); + pthread_mutex_init(&fb_mutex, NULL); ide_exception_str.data = (const byte*)"IDE interrupt"; ide_exception_str.len = 13; ide_exception_str.base.type = &mp_type_str; diff --git a/micropython_port/omv/imlib/apriltag.c b/micropython_port/omv/imlib/apriltag.c index f8cd414..55e0496 100644 --- a/micropython_port/omv/imlib/apriltag.c +++ b/micropython_port/omv/imlib/apriltag.c @@ -82,8 +82,8 @@ either expressed or implied, of the Regents of The University of Michigan. #define log2(x) fast_log2(x) #undef log2f #define log2f(x) fast_log2(x) -#define sin(x) arm_sin_f32(x) -#define cos(x) arm_cos_f32(x) +#define sin(x) sinf(x) +#define cos(x) cosf(x) #define fmin(a, b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a < _b ? _a : _b; }) #define fminf(a, b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a < _b ? _a : _b; }) #define fmax(a, b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a > _b ? _a : _b; }) @@ -9658,10 +9658,6 @@ int quad_segment_maxima(apriltag_detector_t *td, zarray_t *cluster, struct line_ fb_free(); // maxima_errs_copy } - fb_free(); // maxima_errs - fb_free(); // maxima - fb_free(); // errs - int best_indices[4]; float best_error = HUGE_VALF; @@ -9718,6 +9714,10 @@ int quad_segment_maxima(apriltag_detector_t *td, zarray_t *cluster, struct line_ } } + fb_free(); // maxima_errs + fb_free(); // maxima + fb_free(); // errs + if (best_error == HUGE_VALF) return 0; diff --git a/micropython_port/omv/imlib/draw.c b/micropython_port/omv/imlib/draw.c index b4dc473..a941d44 100644 --- a/micropython_port/omv/imlib/draw.c +++ b/micropython_port/omv/imlib/draw.c @@ -58,23 +58,18 @@ void imlib_set_pixel(image_t *img, int x, int y, int p) { if ((0 <= x) && (x < img->w) && (0 <= y) && (y < img->h)) { switch (img->pixfmt) { case PIXFORMAT_BINARY: { - p = COLOR_RGB888_TO_Y((uint8_t)(p >> 16), (uint8_t)(p >> 8), (uint8_t)p); - p = p > (((COLOR_Y_MAX - COLOR_Y_MIN) / 2) + COLOR_Y_MIN); IMAGE_PUT_BINARY_PIXEL(img, x, y, p); break; } case PIXFORMAT_GRAYSCALE: { - p = COLOR_RGB888_TO_Y((uint8_t)(p >> 16), (uint8_t)(p >> 8), (uint8_t)p); IMAGE_PUT_GRAYSCALE_PIXEL(img, x, y, p); break; } case PIXFORMAT_RGB565: { - p = ((p & 0x00f80000) >> 8) | ((p & 0x0000fc00) >> 5) | ((p & 0x000000f8) >> 3); IMAGE_PUT_RGB565_PIXEL(img, x, y, p); break; } case PIXFORMAT_RGB888: { - p &= 0x00ffffff; IMAGE_PUT_RGB888_PIXEL(img, x, y, p); break; } @@ -82,6 +77,16 @@ void imlib_set_pixel(image_t *img, int x, int y, int p) { IMAGE_PUT_ARGB8888_PIXEL(img, x, y, p); break; } + case PIXFORMAT_YUV420: { + // fprintf(stderr, "[omv] draw pix x(%d),y(%d),off(%u),p(%08x)\n", x, y, img->w * y + x, p); + uint8_t py = p >> 16U; + uint8_t pu = p >> 8U; + uint8_t pv = p; + img->data[img->w * y + x] = py; + img->data[img->w * img->h + img->w * (y / 2) + (x & 0xfffe)] = pu; + img->data[img->w * img->h + img->w * (y / 2) + (x | 0b1)] = pv; + break; + } default: { break; } diff --git a/micropython_port/omv/imlib/framebuffer.c b/micropython_port/omv/imlib/framebuffer.c index cbbf5f8..1ff2aff 100644 --- a/micropython_port/omv/imlib/framebuffer.c +++ b/micropython_port/omv/imlib/framebuffer.c @@ -14,17 +14,34 @@ #include "omv_boardconfig.h" void framebuffer_update_jpeg_buffer() -{} +{ + fprintf(stderr, "[omv] %s\n", __func__); +} int fb_encode_for_ide_new_size(image_t *img) { + // fprintf(stderr, "[omv] %s %lu\n", __func__, img->phy_addr); return 0; } uint32_t framebuffer_get_buffer_size() { + // fprintf(stderr, "[omv] %s\n", __func__); return 0; } +void ide_set_fb(const void* data, uint32_t size, uint32_t width, uint32_t height); + void fb_encode_for_ide(uint8_t *ptr, image_t *img) -{} +{ + // fprintf(stderr, "[omv] %s %p %u %p\n", __func__, ptr, img->size, img->data); + ide_set_fb(img->data, img->size, img->w, img->h); + #if 0 + FILE* f = fopen("/sdcard/img0.bin", "w"); + fwrite(ptr, 1, img->size, f); + fclose(f); + fopen("/sdcard/img1.bin", "w"); + fwrite(img->data, 1, img->size, f); + fclose(f); + #endif +} diff --git a/micropython_port/omv/imlib/imlib.c b/micropython_port/omv/imlib/imlib.c index 41f33e9..344b402 100644 --- a/micropython_port/omv/imlib/imlib.c +++ b/micropython_port/omv/imlib/imlib.c @@ -597,6 +597,7 @@ void imlib_image_operation(image_t *img, const char *path, image_t *other, int s if (path) { #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) uint32_t size = fb_avail() / 2; + size = IM_MIN(size, (1024 * 1024 * 2U)); void *alloc = fb_alloc(size, FB_ALLOC_NO_HINT); // We have to do this before the read. // This code reads a window of an image in at a time and then executes // the line operation on each line in that window before moving to the diff --git a/micropython_port/omv/imlib/imlib.h b/micropython_port/omv/imlib/imlib.h index 51efa9d..11dd746 100644 --- a/micropython_port/omv/imlib/imlib.h +++ b/micropython_port/omv/imlib/imlib.h @@ -442,7 +442,7 @@ typedef enum { PIXFORMAT_YUV = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV422 << 16) | (SUBFORMAT_ID_YUV422 << 8) | PIXFORMAT_BPP_YUV422 ), PIXFORMAT_YUV422 = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV422 << 16) | (SUBFORMAT_ID_YUV422 << 8) | PIXFORMAT_BPP_YUV422 ), PIXFORMAT_YVU422 = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV422 << 16) | (SUBFORMAT_ID_YVU422 << 8) | PIXFORMAT_BPP_YUV422 ), - PIXFORMAT_YUV420 = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV420 << 16) | (SUBFORMAT_ID_YUV420 << 8) | PIXFORMAT_BPP_YUV420 ), + PIXFORMAT_YUV420 = (PIXFORMAT_FLAGS_CY | PIXFORMAT_FLAGS_M | (PIXFORMAT_ID_YUV420 << 16) | (SUBFORMAT_ID_YUV420 << 8) | PIXFORMAT_BPP_YUV420 ), PIXFORMAT_YVU420 = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV420 << 16) | (SUBFORMAT_ID_YVU420 << 8) | PIXFORMAT_BPP_YUV420 ), PIXFORMAT_JPEG = (PIXFORMAT_FLAGS_CJ | (PIXFORMAT_ID_JPEG << 16) | (0 << 8) | 0 ), PIXFORMAT_PNG = (PIXFORMAT_FLAGS_CJ | (PIXFORMAT_ID_PNG << 16) | (0 << 8) | 0 ), @@ -692,9 +692,9 @@ bool image_get_mask_pixel(image_t *ptr, int x, int y); __typeof__ (x) _x = (x); \ __typeof__ (y) _y = (y); \ uint32_t offset = ((_image->w * _y) + _x) * 3; \ - (((uint8_t *) _image->data)[offset] << 16) | \ + (((uint8_t *) _image->data)[offset + 0] << 0) | \ (((uint8_t *) _image->data)[offset + 1] << 8) | \ - (((uint8_t *) _image->data)[offset + 2] << 0) \ + (((uint8_t *) _image->data)[offset + 2] << 16) \ }) #define IMAGE_PUT_RGB888_PIXEL(image, x, y, v) \ @@ -704,9 +704,9 @@ bool image_get_mask_pixel(image_t *ptr, int x, int y); __typeof__ (y) _y = (y); \ __typeof__ (v) _v = (v); \ uint32_t offset = ((_image->w * _y) + _x) * 3; \ - ((uint8_t *) _image->data)[offset] = _v >> 16; \ + ((uint8_t *) _image->data)[offset + 0] = _v >> 0; \ ((uint8_t *) _image->data)[offset + 1] = _v >> 8; \ - ((uint8_t *) _image->data)[offset + 2] = _v; \ + ((uint8_t *) _image->data)[offset + 2] = _v >> 16; \ }) #define IMAGE_GET_ARGB8888_PIXEL(image, x, y) \ diff --git a/micropython_port/omv/imlib/jpeg.c b/micropython_port/omv/imlib/jpeg.c index 885e28c..eb545b3 100644 --- a/micropython_port/omv/imlib/jpeg.c +++ b/micropython_port/omv/imlib/jpeg.c @@ -10,11 +10,21 @@ * Ported from public domain JPEG writer by Jon Olick - http://jonolick.com * DCT implementation is based on Arai, Agui, and Nakajima's algorithm for scaled DCT. */ +#include +#include #include +#include +#include #include "ff_wrapper.h" #include "imlib.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "mpi_sys_api.h" +#include "mpi_vb_api.h" +#include "mpi_venc_api.h" #include "omv_boardconfig.h" +#include "k_venc_comm.h" #define TIME_JPEG (0) #if (TIME_JPEG == 1) @@ -1936,6 +1946,119 @@ static void jpeg_write_headers(jpeg_buf_t *jpeg_buf, int w, int h, int bpp, jpeg jpeg_put_bytes(jpeg_buf, (uint8_t [3]) {0x00, 0x3F, 0x0}, 3); } +volatile char jpeg_encoder_created = 0; +static pthread_mutex_t hd_jpeg_mutex = PTHREAD_MUTEX_INITIALIZER; + +/** + * Hardware JPEG compressing + * @retval -1: error, 0: overflow, >0: JPEG size + */ +int hd_jpeg_encode(k_video_frame_info* frame, void** buffer, size_t size, int timeout, void*(*realloc)(void*, unsigned long)) { + int ret = -1; + int error = 0; + if (jpeg_encoder_created < 0) { + // create channel failed, do not try again + return -1; + } + pthread_mutex_lock(&hd_jpeg_mutex); + static bool first_frame = true; + if (jpeg_encoder_created == 0) { + // create channel + k_venc_chn_attr attr; + memset(&attr, 0, sizeof(attr)); + attr.venc_attr.pic_width = 1920; + attr.venc_attr.pic_height = 1920; + attr.venc_attr.stream_buf_size = (1920 * 1920 / 2 + 0xfff) & ~0xfff; + attr.venc_attr.stream_buf_cnt = 8; + attr.venc_attr.type = K_PT_JPEG; + attr.rc_attr.rc_mode = K_VENC_RC_MODE_MJPEG_FIXQP; + attr.rc_attr.mjpeg_fixqp.src_frame_rate = 30; + attr.rc_attr.mjpeg_fixqp.dst_frame_rate = 30; + attr.rc_attr.mjpeg_fixqp.q_factor = 45; + error = kd_mpi_venc_create_chn(VENC_MAX_CHN_NUMS - 1, &attr); + if (error) { + fprintf(stderr, "[omv] kd_mpi_venc_create_chn error %u\n", error); + jpeg_encoder_created = -1; + goto skip; + } + // fprintf(stderr, "[omv] kd_mpi_venc_create_chn success\n"); + error = kd_mpi_venc_start_chn(VENC_MAX_CHN_NUMS - 1); + if (error) { + fprintf(stderr, "[omv] kd_mpi_venc_start_chn error %u\n", error); + kd_mpi_venc_destroy_chn(VENC_MAX_CHN_NUMS - 1); + jpeg_encoder_created = -1; + goto skip; + } + jpeg_encoder_created = 1; + first_frame = true; + } + send_again: + error = kd_mpi_venc_send_frame(VENC_MAX_CHN_NUMS - 1, frame, timeout); + if (error) { + fprintf(stderr, "[omv] kd_mpi_venc_start_chn error %u\n", error); + goto skip; + } + k_venc_chn_status status; + k_venc_stream output; + error = kd_mpi_venc_query_status(VENC_MAX_CHN_NUMS - 1, &status); + if (error) { + fprintf(stderr, "[omv] kd_mpi_venc_query_status error %u\n", error); + goto skip; + } + // fprintf(stderr, "[omv] kd_mpi_venc_query_status success\n"); + if (status.cur_packs > 0) { + output.pack_cnt = status.cur_packs; + } else { + output.pack_cnt = 1; + } + // fprintf(stderr, "[omv] pack_cnt: %u\n", output.pack_cnt); + // FIXME: skip first frame, venc workaround + if (first_frame) { + first_frame = false; + // send again + goto send_again; + } + output.pack = malloc(sizeof(k_venc_pack) * output.pack_cnt); + error = kd_mpi_venc_get_stream(VENC_MAX_CHN_NUMS - 1, &output, timeout); + if (error) { + fprintf(stderr, "[omv] kd_mpi_venc_get_stream error %u\n", error); + goto free_output; + } + uint32_t ptr = 0; + for (unsigned i = 0; i < output.pack_cnt; i++) { + ptr += output.pack[i].len; + } + if ((ptr > size) && (realloc != NULL)) { + *buffer = realloc(*buffer, ptr); + if (*buffer == NULL) { + ret = 0; + goto release_stream; + } else { + size = ptr; + } + } + uint8_t* jbuffer = *buffer; + ptr = 0; + for (unsigned i = 0; i < output.pack_cnt; i++) { + uint8_t* data = kd_mpi_sys_mmap(output.pack[i].phys_addr, output.pack[i].len); + if (data == NULL) { + goto release_stream; + } + memcpy(jbuffer + ptr, data, output.pack[i].len); + kd_mpi_sys_munmap(data, output.pack[i].len); + ptr += output.pack[i].len; + } + *buffer = jbuffer; + ret = ptr; + release_stream: + kd_mpi_venc_release_stream(VENC_MAX_CHN_NUMS - 1, &output); + free_output: + free(output.pack); + skip: + pthread_mutex_unlock(&hd_jpeg_mutex); + return ret; +} + bool jpeg_compress(image_t *src, image_t *dst, int quality, bool realloc) { #if (TIME_JPEG == 1) mp_uint_t start = mp_hal_ticks_ms(); @@ -1951,6 +2074,65 @@ bool jpeg_compress(image_t *src, image_t *dst, int quality, bool realloc) { return true; } + // hardware encoder + // fprintf(stderr, "[omv] JPEG src %08lx, %ux%u, alloc: %u\n", src->phy_addr, src->w, src->h, src->alloc_type); + if ((jpeg_encoder_created >= 0) && src->phy_addr && ((src->phy_addr & 0xfffU) == 0) && (src->alloc_type == ALLOC_VB)) { // align 4k, from vb' + k_video_frame_info frame = { + .mod_id = K_ID_VENC, + .pool_id = src->pool_id, + .v_frame.phys_addr[0] = src->phy_addr, + .v_frame.virt_addr[0] = src->data, + .v_frame.width = src->w, + .v_frame.height = src->h, + }; + // fprintf(stderr, "[omv] omv pixfmt: %u\n", src->pixfmt); + #define ALIGN_UP(x, align) (((x) + ((align) - 1)) & ~((align)-1)) + switch (src->pixfmt) { + case PIXFORMAT_YUV420: { + frame.v_frame.pixel_format = PIXEL_FORMAT_YUV_SEMIPLANAR_420; + frame.v_frame.phys_addr[1] = ALIGN_UP(src->phy_addr + src->w * src->h, 0x1000); + frame.v_frame.virt_addr[1] = ALIGN_UP((uint64_t)src->data + src->w * src->h, 0x1000); + break; + } + case PIXFORMAT_YUV422: { + frame.v_frame.pixel_format = PIXEL_FORMAT_YUV_SEMIPLANAR_422; + frame.v_frame.phys_addr[1] = ALIGN_UP(src->phy_addr + src->w * src->h, 0x1000); + frame.v_frame.virt_addr[1] = ALIGN_UP((uint64_t)src->data + src->w * src->h, 0x1000); + break; + } + case PIXFORMAT_BGRA8888: { + frame.v_frame.pixel_format = PIXEL_FORMAT_BGRA_8888; + break; + } + case PIXFORMAT_ARGB8888: { + frame.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + break; + } + default: { + frame.v_frame.pixel_format = PIXEL_FORMAT_BUTT; + break; + } + } + // fprintf(stderr, "[omv] pool id: %u, phys: %08lx\n", src->pool_id, src->phy_addr); + // fprintf(stderr, "[omv] system pixfmt: %u\n", frame.v_frame.pixel_format); + if (frame.v_frame.pixel_format == PIXEL_FORMAT_BUTT) { + // unsupported + goto skip; + } + int ssize = hd_jpeg_encode(&frame, (void**)&dst->data, dst->size, 1000, NULL); + if (ssize > 0) { + dst->size = ssize; + } else if (ssize == 0) { + // overflow + return true; + } else { + goto skip; + } + return false; + } + skip: + fprintf(stderr, "[omv] software JPEG\n"); + // JPEG buffer jpeg_buf_t jpeg_buf = { .idx = 0, diff --git a/micropython_port/omv/imlib/jpegd.c b/micropython_port/omv/imlib/jpegd.c index cec81b1..9136786 100644 --- a/micropython_port/omv/imlib/jpegd.c +++ b/micropython_port/omv/imlib/jpegd.c @@ -2299,6 +2299,7 @@ static void JPEGPixel2LE(uint16_t *pDest, int iY1, int iY2, int iCb, int iCr) { static void JPEGPutMCU11(JPEGIMAGE *pJPEG, int x, int y) { int iCr, iCb; + int xcount, ycount; signed int Y; int iCol; int iRow; @@ -2306,6 +2307,16 @@ static void JPEGPutMCU11(JPEGIMAGE *pJPEG, int x, int y) { uint8_t *pY, *pCr, *pCb; uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2]; + xcount = 8; + ycount = 8; + if (x + 8 > pJPEG->iWidth) { + xcount = pJPEG->iWidth & 7; + } + if (y + 8 > pJPEG->iHeight) { + ycount = pJPEG->iHeight & 7; + } + // todo fix JPEG_SCALE_HALF, JPEG_SCALE_EIGHTH, JPEG_SCALE_QUARTER + pY = (unsigned char *) &pJPEG->sMCUs[0 * DCTSIZE]; pCb = (unsigned char *) &pJPEG->sMCUs[1 * DCTSIZE]; pCr = (unsigned char *) &pJPEG->sMCUs[2 * DCTSIZE]; @@ -2359,15 +2370,17 @@ static void JPEGPutMCU11(JPEGIMAGE *pJPEG, int x, int y) { JPEGPixelLE(pOutput + 1 + iPitch, Y, iCb, iCr); return; } - for (iRow = 0; iRow < 8; iRow++) { + for (iRow = 0; iRow < ycount; iRow++) { // up to 8 rows to do - for (iCol = 0; iCol < 8; iCol++) { + for (iCol = 0; iCol < xcount; iCol++) { // up to 4x2 cols to do iCr = *pCr++; iCb = *pCb++; Y = (int) (*pY++) << 12; JPEGPixelLE(pOutput + iCol, Y, iCb, iCr); } // for col + pCr += (8 - xcount); + pCb += (8 - xcount); pOutput += iPitch; } // for row } /* JPEGPutMCU11() */ @@ -2379,6 +2392,7 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { unsigned char *pY, *pCr, *pCb; const int iPitch = pJPEG->iWidth; int bUseOdd1, bUseOdd2; // special case where 24bpp odd sized image can clobber first column + uint8_t last_odd_row, v_odd_use1, v_odd_use2; uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2]; pY = (unsigned char *) &pJPEG->sMCUs[0 * DCTSIZE]; @@ -2466,11 +2480,15 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { /* Convert YCC pixels into RGB pixels and store in output image */ iYCount = 4; iRowLimit = 16; // assume all rows possible to draw + last_odd_row = 0; + v_odd_use1 = 1; + v_odd_use2 = 1; if ((y + 15) >= pJPEG->iHeight) { iRowLimit = pJPEG->iHeight & 15; if (iRowLimit < 8) { - iYCount = iRowLimit >> 1; + iYCount = (iRowLimit + 1) >> 1; } + last_odd_row = iRowLimit & 1; } bUseOdd1 = bUseOdd2 = 1; // assume odd column can be used if ((x + 15) >= pJPEG->iWidth) { @@ -2492,6 +2510,12 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { iXCount1 = iXCount2 = 4; } for (iRow = 0; iRow < iYCount; iRow++) { + if (last_odd_row && iRowLimit < 8) { + v_odd_use1 = iRow + 1 == iYCount ? 0 : 1; + } + if (last_odd_row && iRowLimit > 8) { + v_odd_use2 = iRow * 2 + 9 == iRowLimit ? 0 : 1; + } // up to 4 rows to do for (iCol = 0; iCol < iXCount1; iCol++) { // up to 4 cols to do @@ -2509,10 +2533,12 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { if (bUseOdd1 || iCol != (iXCount1 - 1)) { // only render if it won't go off the right edge JPEGPixel2LE(pOutput + (iCol << 1), Y1, Y2, Cb, Cr); - JPEGPixel2LE(pOutput + iPitch + (iCol << 1), Y3, Y4, Cb, Cr); + if (v_odd_use1) + JPEGPixel2LE(pOutput + iPitch + (iCol << 1), Y3, Y4, Cb, Cr); } else { JPEGPixelLE(pOutput + (iCol << 1), Y1, Cb, Cr); - JPEGPixelLE(pOutput + iPitch + (iCol << 1), Y3, Cb, Cr); + if (v_odd_use1) + JPEGPixelLE(pOutput + iPitch + (iCol << 1), Y3, Cb, Cr); } // for top right block if (iCol < iXCount2) { @@ -2529,13 +2555,15 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { if (bUseOdd2 || iCol != (iXCount2 - 1)) { // only render if it won't go off the right edge JPEGPixel2LE(pOutput + 8 + (iCol << 1), Y1, Y2, Cb, Cr); - JPEGPixel2LE(pOutput + iPitch + 8 + (iCol << 1), Y3, Y4, Cb, Cr); + if (v_odd_use1) + JPEGPixel2LE(pOutput + iPitch + 8 + (iCol << 1), Y3, Y4, Cb, Cr); } else { JPEGPixelLE(pOutput + 8 + (iCol << 1), Y1, Cb, Cr); - JPEGPixelLE(pOutput + iPitch + 8 + (iCol << 1), Y3, Cb, Cr); + if (v_odd_use1) + JPEGPixelLE(pOutput + iPitch + 8 + (iCol << 1), Y3, Cb, Cr); } } - if (iRowLimit > 8) { + if (iRowLimit > 8 && iRowLimit > (iRow * 2 + 8)) { // for bottom left block Y1 = pY[iCol * 2 + DCTSIZE * 4]; Y2 = pY[iCol * 2 + 1 + DCTSIZE * 4]; @@ -2550,10 +2578,12 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { if (bUseOdd1 || iCol != (iXCount1 - 1)) { // only render if it won't go off the right edge JPEGPixel2LE(pOutput + iPitch * 8 + (iCol << 1), Y1, Y2, Cb, Cr); - JPEGPixel2LE(pOutput + iPitch * 9 + (iCol << 1), Y3, Y4, Cb, Cr); + if (v_odd_use2) + JPEGPixel2LE(pOutput + iPitch * 9 + (iCol << 1), Y3, Y4, Cb, Cr); } else { JPEGPixelLE(pOutput + iPitch * 8 + (iCol << 1), Y1, Cb, Cr); - JPEGPixelLE(pOutput + iPitch * 9 + (iCol << 1), Y3, Cb, Cr); + if (v_odd_use2) + JPEGPixelLE(pOutput + iPitch * 9 + (iCol << 1), Y3, Cb, Cr); } // for bottom right block if (iCol < iXCount2) { @@ -2570,10 +2600,12 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { if (bUseOdd2 || iCol != (iXCount2 - 1)) { // only render if it won't go off the right edge JPEGPixel2LE(pOutput + iPitch * 8 + 8 + (iCol << 1), Y1, Y2, Cb, Cr); - JPEGPixel2LE(pOutput + iPitch * 9 + 8 + (iCol << 1), Y3, Y4, Cb, Cr); + if (v_odd_use2) + JPEGPixel2LE(pOutput + iPitch * 9 + 8 + (iCol << 1), Y3, Y4, Cb, Cr); } else { JPEGPixelLE(pOutput + iPitch * 8 + 8 + (iCol << 1), Y1, Cb, Cr); - JPEGPixelLE(pOutput + iPitch * 9 + 8 + (iCol << 1), Y3, Cb, Cr); + if (v_odd_use2) + JPEGPixelLE(pOutput + iPitch * 9 + 8 + (iCol << 1), Y3, Cb, Cr); } } } // row limit > 8 @@ -2587,12 +2619,27 @@ static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y) { static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int y) { uint32_t Cr, Cb; + int xcount, ycount; + uint8_t last_odd_row, odd_use; signed int Y1, Y2; int iRow, iCol, iXCount, iYCount; uint8_t *pY, *pCr, *pCb; const int iPitch = pJPEG->iWidth; uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2]; + xcount = 8; + ycount = 16; + last_odd_row = 0; + odd_use = 1; + if (x + 8 > pJPEG->iWidth) { + xcount = pJPEG->iWidth & 7; + } + if (y + 16 > pJPEG->iHeight) { + ycount = pJPEG->iHeight & 15; + last_odd_row = ycount & 1; + } + // todo fix JPEG_SCALE_HALF, JPEG_SCALE_EIGHTH, JPEG_SCALE_QUARTER + pY = (uint8_t *) &pJPEG->sMCUs[0 * DCTSIZE]; pCb = (uint8_t *) &pJPEG->sMCUs[2 * DCTSIZE]; pCr = (uint8_t *) &pJPEG->sMCUs[3 * DCTSIZE]; @@ -2656,9 +2703,11 @@ static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int y) { return; } /* Convert YCC pixels into RGB pixels and store in output image */ - iYCount = 16; - iXCount = 8; + iYCount = ycount; + iXCount = xcount; for (iRow = 0; iRow < iYCount; iRow += 2) { + if (last_odd_row && iRow + 1 == iYCount) + odd_use = 0; // up to 16 rows to do for (iCol = 0; iCol < iXCount; iCol++) { // up to 8 cols to do @@ -2669,7 +2718,8 @@ static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int y) { Cb = pCb[iCol]; Cr = pCr[iCol]; JPEGPixelLE(pOutput + iCol, Y1, Cb, Cr); - JPEGPixelLE(pOutput + iPitch + iCol, Y2, Cb, Cr); + if (odd_use) + JPEGPixelLE(pOutput + iPitch + iCol, Y2, Cb, Cr); } pY += 16; // skip to next 2 lines of source pixels if (iRow == 6) { @@ -2684,6 +2734,7 @@ static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int y) { static void JPEGPutMCU21(JPEGIMAGE *pJPEG, int x, int y) { int iCr, iCb; + int xcount, ycount, xremain; signed int Y1, Y2; int iCol; int iRow; @@ -2691,6 +2742,19 @@ static void JPEGPutMCU21(JPEGIMAGE *pJPEG, int x, int y) { const int iPitch = pJPEG->iWidth; uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2]; + xremain = 16; + xcount = 4; + ycount = 8; + if (x + 16 > pJPEG->iWidth) { + xremain = pJPEG->iWidth & 15; + if (xremain < 8) + xcount = (xremain + 1) >> 1; + } + if (y + 8 > pJPEG->iHeight) { + ycount = pJPEG->iHeight & 7; + } + // todo fix JPEG_SCALE_HALF, JPEG_SCALE_EIGHTH, JPEG_SCALE_QUARTER + pY = (uint8_t *) &pJPEG->sMCUs[0 * DCTSIZE]; pCb = (uint8_t *) &pJPEG->sMCUs[2 * DCTSIZE]; pCr = (uint8_t *) &pJPEG->sMCUs[3 * DCTSIZE]; @@ -2757,25 +2821,33 @@ static void JPEGPutMCU21(JPEGIMAGE *pJPEG, int x, int y) { return; } /* Convert YCC pixels into RGB pixels and store in output image */ - for (iRow = 0; iRow < 8; iRow++) { + for (iRow = 0; iRow < ycount; iRow++) { // up to 8 rows to do - for (iCol = 0; iCol < 4; iCol++) { + for (iCol = 0; iCol < xcount; iCol++) { // up to 4x2 cols to do // left block iCr = *pCr++; iCb = *pCb++; Y1 = (signed int) (*pY++) << 12; Y2 = (signed int) (*pY++) << 12; - JPEGPixel2LE(pOutput + iCol * 2, Y1, Y2, iCb, iCr); + if (!((xremain < 8) && (xremain & 1) && (iCol * 2 + 1 == xremain))) + JPEGPixel2LE(pOutput + iCol * 2, Y1, Y2, iCb, iCr); + else + JPEGPixelLE(pOutput + iCol * 2, Y1, iCb, iCr); // right block - iCr = pCr[3]; - iCb = pCb[3]; - Y1 = (signed int) pY[126] << 12; - Y2 = (signed int) pY[127] << 12; - JPEGPixel2LE(pOutput + 8 + iCol * 2, Y1, Y2, iCb, iCr); + if (xremain > iCol * 2 + 8) { + iCr = pCr[3]; + iCb = pCb[3]; + Y1 = (signed int) pY[126] << 12; + Y2 = (signed int) pY[127] << 12; + if (!((xremain & 1) && (iCol * 2 + 9 == xremain))) + JPEGPixel2LE(pOutput + 8 + iCol * 2, Y1, Y2, iCb, iCr); + else + JPEGPixelLE(pOutput + 8 + iCol * 2, Y1, iCb, iCr); + } } // for col - pCb += 4; - pCr += 4; + pCb += (8 - xcount); + pCr += (8 - xcount); pOutput += iPitch; } // for row } diff --git a/micropython_port/omv/imlib/lodepng.h b/micropython_port/omv/imlib/lodepng.h index f459b73..04d639a 100644 --- a/micropython_port/omv/imlib/lodepng.h +++ b/micropython_port/omv/imlib/lodepng.h @@ -80,7 +80,7 @@ extern const char *LODEPNG_VERSION_STRING; you can define the functions lodepng_free, lodepng_malloc and lodepng_realloc in your source files with custom allocators.*/ #ifndef LODEPNG_NO_COMPILE_ALLOCATORS -//#define LODEPNG_COMPILE_ALLOCATORS +#define LODEPNG_COMPILE_ALLOCATORS #endif /*compile the C++ version (you can disable the C++ wrapper here even when compiling for C++)*/ diff --git a/micropython_port/omv/imlib/phasecorrelation.c b/micropython_port/omv/imlib/phasecorrelation.c index f8c3f2c..59f8631 100644 --- a/micropython_port/omv/imlib/phasecorrelation.c +++ b/micropython_port/omv/imlib/phasecorrelation.c @@ -11,6 +11,9 @@ #include "imlib.h" #include "fft.h" +#define isnanf __builtin_isnanf +#define isinff __builtin_isinff + void imlib_logpolar_int(image_t *dst, image_t *src, rectangle_t *roi, bool linear, bool reverse) { int w = roi->w; // == dst_w int h = roi->h; // == dst_h diff --git a/micropython_port/omv/imlib/png.c b/micropython_port/omv/imlib/png.c index 9eb24cf..e97b1ba 100644 --- a/micropython_port/omv/imlib/png.c +++ b/micropython_port/omv/imlib/png.c @@ -15,22 +15,9 @@ #include "ff_wrapper.h" #if defined(IMLIB_ENABLE_PNG_ENCODER) || defined(IMLIB_ENABLE_PNG_DECODER) #include "lodepng.h" -#include "umm_malloc.h" #define TIME_PNG (0) -void *lodepng_malloc(size_t size) { - return umm_malloc(size); -} - -void *lodepng_realloc(void *ptr, size_t new_size) { - return umm_realloc(ptr, new_size); -} - -void lodepng_free(void *ptr) { - return umm_free(ptr); -} - unsigned lodepng_convert_cb(unsigned char *out, const unsigned char *in, const LodePNGColorMode *mode_out, const LodePNGColorMode *mode_in, unsigned w, unsigned h) { unsigned error = 0; @@ -226,6 +213,7 @@ void png_decompress(image_t *dst, image_t *src) { unsigned error = lodepng_decode(&png_data, (unsigned *) &dst->w, (unsigned *) &dst->h, &state, src->data, src->size); lodepng_state_cleanup(&state); if (error) { + fb_free(); mp_raise_msg(&mp_type_RuntimeError, (mp_rom_error_text_t) lodepng_error_text(error)); } @@ -233,6 +221,7 @@ void png_decompress(image_t *dst, image_t *src) { if (new_img_size <= img_size) { memcpy(dst->data, png_data, new_img_size); } else { + fb_free(); mp_raise_msg_varg(&mp_type_RuntimeError, MP_ERROR_TEXT("Failed to compress image in place")); } diff --git a/micropython_port/omv/imlib/qrcode.c b/micropython_port/omv/imlib/qrcode.c index b2224bb..2d9d2d6 100644 --- a/micropython_port/omv/imlib/qrcode.c +++ b/micropython_port/omv/imlib/qrcode.c @@ -2490,7 +2490,7 @@ static void read_bit(const struct quirc_code *code, ds->data_bits++; } -static void read_data(const struct quirc_code *code, +static void _read_data(const struct quirc_code *code, struct quirc_data *data, struct datastream *ds) { @@ -2855,7 +2855,7 @@ quirc_decode_error_t quirc_decode(const struct quirc_code *code, if (err) { fb_free(); return err; } - read_data(code, data, ds); + _read_data(code, data, ds); err = codestream_ecc(data, ds); if (err) { fb_free(); return err; } diff --git a/micropython_port/omv/modules/py_clock.c b/micropython_port/omv/modules/py_clock.c new file mode 100644 index 0000000..b2d0d17 --- /dev/null +++ b/micropython_port/omv/modules/py_clock.c @@ -0,0 +1,87 @@ +/* + * This file is part of the OpenMV project. + * + * Copyright (c) 2013-2021 Ibrahim Abdelkader + * Copyright (c) 2013-2021 Kwabena W. Agyeman + * + * This work is licensed under the MIT license, see the file LICENSE for details. + * + * Clock Python module. + */ +#include "py/obj.h" +#include "py/mphal.h" +#include "py_clock.h" + +/* Clock Type */ +typedef struct _py_clock_obj_t { + mp_obj_base_t base; + uint32_t t_start; + uint32_t t_ticks; + uint32_t t_frame; +} py_clock_obj_t; + +mp_obj_t py_clock_tick(mp_obj_t clock_obj) { + py_clock_obj_t *clock = (py_clock_obj_t *) clock_obj; + clock->t_start = mp_hal_ticks_ms(); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_tick_obj, py_clock_tick); + +mp_obj_t py_clock_fps(mp_obj_t clock_obj) { + py_clock_obj_t *clock = (py_clock_obj_t *) clock_obj; + clock->t_frame++; + clock->t_ticks += (mp_hal_ticks_ms() - clock->t_start); + float fps = 1000.0f / (clock->t_ticks / (float) clock->t_frame); + return mp_obj_new_float(fps); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_fps_obj, py_clock_fps); + +mp_obj_t py_clock_avg(mp_obj_t clock_obj) { + py_clock_obj_t *clock = (py_clock_obj_t *) clock_obj; + clock->t_frame++; + clock->t_ticks += (mp_hal_ticks_ms() - clock->t_start); + return mp_obj_new_float(clock->t_ticks / (float) clock->t_frame); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_avg_obj, py_clock_avg); + +mp_obj_t py_clock_reset(mp_obj_t clock_obj) { + py_clock_obj_t *clock = (py_clock_obj_t *) clock_obj; + clock->t_start = 0; + clock->t_ticks = 0; + clock->t_frame = 0; + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_reset_obj, py_clock_reset); + +STATIC void py_clock_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + py_clock_obj_t *self = self_in; + mp_printf(print, "t_start:%d t_ticks:%d t_frame:%d\n", self->t_start, self->t_ticks, self->t_frame); +} + +mp_obj_t py_clock_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { + py_clock_obj_t *clock = NULL; + clock = m_new_obj(py_clock_obj_t); + clock->base.type = &py_clock_type; + clock->t_start = 0; + clock->t_ticks = 0; + clock->t_frame = 0; + return MP_OBJ_FROM_PTR(clock); +} + +STATIC const mp_rom_map_elem_t py_clock_locals_dict_table[] = { + { MP_OBJ_NEW_QSTR(MP_QSTR_tick), MP_ROM_PTR(&py_clock_tick_obj)}, + { MP_OBJ_NEW_QSTR(MP_QSTR_fps), MP_ROM_PTR(&py_clock_fps_obj)}, + { MP_OBJ_NEW_QSTR(MP_QSTR_avg), MP_ROM_PTR(&py_clock_avg_obj)}, + { MP_OBJ_NEW_QSTR(MP_QSTR_reset), MP_ROM_PTR(&py_clock_reset_obj)}, + { NULL, NULL }, +}; +STATIC MP_DEFINE_CONST_DICT(py_clock_locals_dict, py_clock_locals_dict_table); + +MP_DEFINE_CONST_OBJ_TYPE( + py_clock_type, + MP_QSTR_Clock, + MP_TYPE_FLAG_NONE, + print, py_clock_print, + make_new, py_clock_make_new, + locals_dict, &py_clock_locals_dict + ); diff --git a/micropython_port/omv/modules/py_clock.h b/micropython_port/omv/modules/py_clock.h new file mode 100644 index 0000000..6945dd9 --- /dev/null +++ b/micropython_port/omv/modules/py_clock.h @@ -0,0 +1,14 @@ +/* + * This file is part of the OpenMV project. + * + * Copyright (c) 2013-2021 Ibrahim Abdelkader + * Copyright (c) 2013-2021 Kwabena W. Agyeman + * + * This work is licensed under the MIT license, see the file LICENSE for details. + * + * Clock Python module. + */ +#ifndef __PY_CLOCK_H__ +#define __PY_CLOCK_H__ +extern const mp_obj_type_t py_clock_type; +#endif // __PY_CLOCK_H__ diff --git a/micropython_port/omv/modules/py_helper.c b/micropython_port/omv/modules/py_helper.c index fc4c69e..8310cf3 100644 --- a/micropython_port/omv/modules/py_helper.c +++ b/micropython_port/omv/modules/py_helper.c @@ -304,7 +304,29 @@ int py_helper_keyword_color(image_t *img, uint n_args, const mp_obj_t *args, uin } } - return default_val; + uint32_t p = default_val; + + switch (img->pixfmt) { + case PIXFORMAT_BINARY: + p = COLOR_RGB888_TO_Y((uint8_t)(p >> 16), (uint8_t)(p >> 8), (uint8_t)p); + p = p > (((COLOR_Y_MAX - COLOR_Y_MIN) / 2) + COLOR_Y_MIN); + break; + case PIXFORMAT_GRAYSCALE: + p = COLOR_RGB888_TO_Y((uint8_t)(p >> 16), (uint8_t)(p >> 8), (uint8_t)p); + break; + case PIXFORMAT_RGB565: + p = ((p & 0x00f80000) >> 8) | ((p & 0x0000fc00) >> 5) | ((p & 0x000000f8) >> 3); + break; + case PIXFORMAT_RGB888: + p &= 0x00ffffff; + break; + case PIXFORMAT_ARGB8888: + break; + default: + break; + } + + return p; } void py_helper_arg_to_thresholds(const mp_obj_t arg, list_t *thresholds) { @@ -457,7 +479,9 @@ bool py_helper_is_equal_to_framebuffer(image_t *img) { } void py_helper_update_framebuffer(image_t *img) { + // fprintf(stderr, "[omv] %s %u %p %u %d %d\n", __func__, img->pixfmt, img->data, img->size, img->w, img->h); } void py_helper_set_to_framebuffer(image_t *img) { + // fprintf(stderr, "[omv] %s %u %p %u %d %d\n", __func__, img->pixfmt, img->data, img->size, img->w, img->h); } diff --git a/micropython_port/omv/modules/py_image.c b/micropython_port/omv/modules/py_image.c index a3da97c..afb7cb5 100644 --- a/micropython_port/omv/modules/py_image.c +++ b/micropython_port/omv/modules/py_image.c @@ -681,17 +681,8 @@ static mp_int_t py_image_get_buffer(mp_obj_t self_in, mp_buffer_info_t *bufinfo, static mp_obj_t py_image_del(mp_obj_t img_obj) { image_t *image = py_image_cobj(img_obj); - uint8_t alloc_type = image->alloc_type; - if (alloc_type == ALLOC_MMZ) { - kd_mpi_sys_mmz_free(image->phy_addr, image->data); - } else if (alloc_type == ALLOC_VB) { - } else if (alloc_type == ALLOC_REF) { - } else if (alloc_type == ALLOC_HEAP) { - free(image->data); - } else if (alloc_type == ALLOC_MPGC) { - xfree(image->data); - } + py_image_free(image); return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_del_obj, py_image_del); @@ -735,6 +726,29 @@ static mp_obj_t py_image_to_numpy_ref(mp_obj_t img_obj) { shape[1] = 3; shape[2] = image->h; shape[3] = image->w; + } else if (pixfmt == PIXFORMAT_RGB888 || pixfmt == PIXFORMAT_BGR888) { + ndim = 3; + dtype = NDARRAY_UINT8; + shape[1] = image->h; + shape[2] = image->w; + shape[3] = 3; + } else if (pixfmt == PIXFORMAT_RGB565) { + ndim = 3; + dtype = NDARRAY_UINT8; + shape[1] = image->h; + shape[2] = image->w; + shape[3] = 2; + } else if (pixfmt == PIXFORMAT_ARGB8888 || pixfmt == PIXFORMAT_ABGR8888) { + ndim = 3; + dtype = NDARRAY_UINT8; + shape[1] = image->h; + shape[2] = image->w; + shape[3] = 4; + } else if (pixfmt == PIXFORMAT_GRAYSCALE) { + ndim = 2; + dtype = NDARRAY_UINT8; + shape[2] = image->h; + shape[3] = image->w; } else { mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("image format not support")); } @@ -988,10 +1002,41 @@ static mp_obj_t py_image_midpoint_pooled(size_t n_args, const mp_obj_t *args, mp STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_midpoint_pooled_obj, 3, py_image_midpoint_pooled); #endif // IMLIB_ENABLE_MIDPOINT_POOLING +/*static int rgb888_to_builtin(image_t *src, image_t *dst, mp_map_t *kw_args) +{ + memcpy(dst, src, sizeof(image_t)); + dst->alloc_type = ALLOC_REF; + if (src->pixfmt != PIXFORMAT_RGB888) + return 0; + dst->pixfmt = PIXFORMAT_RGB565; + dst->alloc_type = ALLOC_MPGC; + dst->data = xalloc(image_size(dst)); + + uint8_t *rgb888 = src->data; + uint16_t *rgb565 = (uint16_t *)dst->data; + + for (int i = 0; i < src->w * src->h; i++) { + *rgb565++ = COLOR_R8_G8_B8_TO_RGB565(rgb888[2], rgb888[1], rgb888[0]); + rgb888 += 3; + } + + return 0; +}*/ + static mp_obj_t py_image_to(pixformat_t pixfmt, const uint16_t *default_color_palette, bool copy_to_fb, mp_obj_t copy_default, bool quality_is_first_arg, bool encode_for_ide_default, size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { image_t *src_img = py_image_cobj(args[0]); + // image_t temp_img; + bool dst_is_rgb888 = false; + + if (pixfmt == PIXFORMAT_RGB888) { + dst_is_rgb888 = true; + pixfmt = PIXFORMAT_RGB565; + } + + //rgb888_to_builtin(src_img, &temp_img, kw_args); + //src_img = &temp_img; int quality_default = 90; if (quality_is_first_arg && (n_args > 1)) { @@ -1058,33 +1103,12 @@ static mp_obj_t py_image_to(pixformat_t pixfmt, const uint16_t *default_color_pa arg_y_scale = arg_x_scale; } - mp_obj_t copy_obj = py_helper_keyword_object(n_args, args, 11, kw_args, - MP_OBJ_NEW_QSTR(copy_to_fb ? MP_QSTR_copy_to_fb : MP_QSTR_copy), copy_default); - bool copy = false; - image_t *arg_other = copy_to_fb ? NULL : src_img; - int arg_q = py_helper_keyword_int(n_args, args, 12, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_quality), quality_default); if ((arg_q < 1) || (100 < arg_q)) { mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("1 <= quality <= 100!")); } - bool arg_e = py_helper_keyword_int(n_args, args, 13, kw_args, - MP_OBJ_NEW_QSTR(MP_QSTR_encode_for_ide), encode_for_ide_default); - - if (copy_obj) { - if (mp_obj_is_integer(copy_obj)) { - copy = mp_obj_get_int(copy_obj); - if (copy) { - arg_other = NULL; - } - } else { - arg_other = py_image_cobj(copy_obj); - } - } - - if (copy_to_fb && copy) { - framebuffer_update_jpeg_buffer(); - } + bool arg_e = py_helper_keyword_int(n_args, args, 13, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_encode_for_ide), encode_for_ide_default); image_t dst_img = { .w = fast_floorf(arg_roi.w * arg_x_scale), @@ -1209,57 +1233,57 @@ static mp_obj_t py_image_to(pixformat_t pixfmt, const uint16_t *default_color_pa || ((dst_img.pixfmt == PIXFORMAT_PNG) && png_compress(&temp, &dst_img_tmp))) { mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Compression Failed!")); } - } else if (arg_e) { - dst_img_tmp.data = fb_alloc(image_size(&dst_img_tmp), FB_ALLOC_NO_HINT); - memcpy(dst_img_tmp.data, src_img->data, dst_img_tmp.size); } else { dst_img_tmp.data = src_img->data; } - if (arg_e) { - dst_img.size = fb_encode_for_ide_new_size(&dst_img_tmp); - } else { - dst_img.size = dst_img_tmp.size; - } + dst_img.size = dst_img_tmp.size; } - uint32_t size = image_size(&dst_img); - - if (copy) { - if (copy_to_fb) { - py_helper_set_to_framebuffer(&dst_img); - } else { - dst_img.data = xalloc(size); - } - } else if (arg_other) { - bool fb = py_helper_is_equal_to_framebuffer(arg_other); - size_t buf_size = fb ? framebuffer_get_buffer_size() : image_size(arg_other); - PY_ASSERT_TRUE_MSG((size <= buf_size), - "The new image won't fit in the target frame buffer!"); - // DO NOT MODIFY arg_other YET (as it could point to src_img)! - dst_img.data = arg_other->data; - py_helper_update_framebuffer(&dst_img); - } else { - dst_img.data = xalloc(size); - } + if (dst_is_rgb888) + dst_img.pixfmt = PIXFORMAT_RGB888; + py_image_alloc(&dst_img, kw_args); + if (dst_is_rgb888) + dst_img.pixfmt = PIXFORMAT_RGB565; if (dst_img.is_compressed) { - if (arg_e) { - fb_encode_for_ide(dst_img.data, &dst_img_tmp); - } else if (dst_img.data != dst_img_tmp.data) { - memcpy(dst_img.data, dst_img_tmp.data, dst_img.size); - } + if (arg_e) + fb_encode_for_ide(NULL, &dst_img_tmp); + memcpy(dst_img.data, dst_img_tmp.data, dst_img.size); fb_alloc_free_till_mark(); } else { fb_alloc_mark(); - imlib_draw_image(&dst_img, src_img, 0, 0, arg_x_scale, arg_y_scale, &arg_roi, + nlr_buf_t nlr; + if (nlr_push(&nlr) == 0) { + imlib_draw_image(&dst_img, src_img, 0, 0, arg_x_scale, arg_y_scale, &arg_roi, arg_rgb_channel, arg_alpha, color_palette, alpha_palette, (hint & (~IMAGE_HINT_CENTER)) | IMAGE_HINT_BLACK_BACKGROUND, NULL, NULL); + nlr_pop(); + } else { + py_image_free(&dst_img); + fb_alloc_free_till_mark(); + nlr_jump(nlr.ret_val); + } fb_alloc_free_till_mark(); } - if (arg_other) { - memcpy(arg_other, &dst_img, sizeof(image_t)); + // if (temp_img.alloc_type == ALLOC_MPGC) + // xfree(temp_img.data); + + if (dst_is_rgb888) { + uint16_t *rgb565 = (uint16_t *)(dst_img.data + dst_img.w * dst_img.h * 2); + uint8_t *rgb888 = dst_img.data + dst_img.w * dst_img.h * 3; + + for (int i = 0; i < dst_img.w * dst_img.h; i++) { + rgb565--; + rgb888 -= 3; + uint16_t register tmp = *rgb565; + rgb888[2] = (tmp >> 8) & 0xF8; + rgb888[1] = (tmp >> 3) & 0xFC; + rgb888[0] = (tmp << 3) & 0xF8; + } + + dst_img.pixfmt = PIXFORMAT_RGB888; } return py_image_from_struct(&dst_img); @@ -1280,6 +1304,11 @@ static mp_obj_t py_image_to_rgb565(size_t n_args, const mp_obj_t *args, mp_map_t } STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_to_rgb565_obj, 1, py_image_to_rgb565); +static mp_obj_t py_image_to_rgb888(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { + return py_image_to(PIXFORMAT_RGB888, NULL, false, NULL, false, false, n_args, args, kw_args); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_to_rgb888_obj, 1, py_image_to_rgb888); + static mp_obj_t py_image_to_rainbow(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { return py_image_to(PIXFORMAT_RGB565, rainbow_table, false, NULL, false, false, n_args, args, kw_args); } @@ -6378,6 +6407,7 @@ static const mp_rom_map_elem_t locals_dict_table[] = { {MP_ROM_QSTR(MP_QSTR_to_bitmap), MP_ROM_PTR(&py_image_to_bitmap_obj)}, {MP_ROM_QSTR(MP_QSTR_to_grayscale), MP_ROM_PTR(&py_image_to_grayscale_obj)}, {MP_ROM_QSTR(MP_QSTR_to_rgb565), MP_ROM_PTR(&py_image_to_rgb565_obj)}, + {MP_ROM_QSTR(MP_QSTR_to_rgb888), MP_ROM_PTR(&py_image_to_rgb888_obj)}, {MP_ROM_QSTR(MP_QSTR_to_rainbow), MP_ROM_PTR(&py_image_to_rainbow_obj)}, {MP_ROM_QSTR(MP_QSTR_to_ironbow), MP_ROM_PTR(&py_image_to_ironbow_obj)}, {MP_ROM_QSTR(MP_QSTR_to_jpeg), MP_ROM_PTR(&py_image_to_jpeg_obj)}, @@ -6929,32 +6959,101 @@ mp_obj_t py_image_from_struct(image_t *img) { return o; } -mp_obj_t py_image_load_image(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { - // mode == false -> load behavior - // mode == true -> make behavior - bool mode = mp_obj_is_integer(args[0]); - const char *path = mode ? NULL : mp_obj_str_get_str(args[0]); - - mp_obj_t alloc_type_obj = py_helper_keyword_object(n_args, args, 0xff, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alloc), NULL); - mp_obj_t cache_obj = py_helper_keyword_object(n_args, args, 0xff, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_cache), NULL); - mp_obj_t data_obj = py_helper_keyword_object(n_args, args, 0xff, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_data), NULL); +void py_image_alloc(image_t *image, mp_map_t *kw_args) +{ + mp_map_elem_t *kw_arg_alloc_type = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alloc), MP_MAP_LOOKUP); + mp_map_elem_t *kw_arg_cache = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_cache), MP_MAP_LOOKUP); + mp_map_elem_t *kw_arg_data = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_data), MP_MAP_LOOKUP); uint8_t alloc_type = ALLOC_MMZ; bool cache = true; + mp_obj_t data_obj = NULL; mp_buffer_info_t bufinfo; - if (alloc_type_obj) { - alloc_type = mp_obj_get_int(alloc_type_obj); + if (kw_arg_alloc_type) { + alloc_type = mp_obj_get_int(kw_arg_alloc_type->value); if (alloc_type >= ALLOC_MAX) alloc_type = ALLOC_MMZ; } - if (cache_obj) - cache = mp_obj_is_true(cache_obj); + if (kw_arg_cache) + cache = mp_obj_is_true(kw_arg_cache->value); + + if (kw_arg_data) + data_obj = kw_arg_data->value; + + image->alloc_type = alloc_type; + image->cache = cache; + image->ref_obj = 0; + image->phy_addr = 0; + image->pool_id = 0; + + size_t size = image_size(image); + + if (data_obj) { + mp_get_buffer_raise(data_obj, &bufinfo, MP_BUFFER_READ); + if (size > bufinfo.len) + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Not enough data")); + } + + if (alloc_type == ALLOC_MMZ) { + int ret = 0; + if (cache) + ret = kd_mpi_sys_mmz_alloc_cached(&image->phy_addr, (void**)&image->data, "img", "anonymous", size); + else + ret = kd_mpi_sys_mmz_alloc(&image->phy_addr, (void**)&image->data, "img", "anonymous", size); + if (ret) + mp_raise_msg_varg(&mp_type_MemoryError, MP_ERROR_TEXT("image mmz alloc failed: %d"), ret); + } else if (alloc_type == ALLOC_VB) { + mp_map_elem_t *kw_arg_phyaddr = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_phyaddr), MP_MAP_LOOKUP); + mp_map_elem_t *kw_arg_virtaddr = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_virtaddr), MP_MAP_LOOKUP); + mp_map_elem_t *kw_arg_poolid = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_poolid), MP_MAP_LOOKUP); + if (!(kw_arg_phyaddr && kw_arg_virtaddr && mp_obj_is_int(kw_arg_phyaddr->value) && mp_obj_is_int(kw_arg_virtaddr->value))) + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("please set phyaddr and virtaddr")); + image->phy_addr = mp_obj_get_int(kw_arg_phyaddr->value); + image->data = mp_obj_get_int(kw_arg_virtaddr->value); + if (kw_arg_poolid) + image->pool_id = mp_obj_get_int(kw_arg_poolid->value); + } else if (alloc_type == ALLOC_REF) { + if (!data_obj) + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("please set reference object")); + image->ref_obj = data_obj; + image->data = bufinfo.buf; + } else if (alloc_type == ALLOC_HEAP) { + image->data = malloc(size); + if (image->data == NULL) + mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("image malloc failed")); + } else if (alloc_type == ALLOC_MPGC) { + image->data = xalloc(size); + } else { + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("image alloc type invalid")); + } - image_t image = {0}; + if (data_obj && alloc_type != ALLOC_REF) + memcpy(image->data, bufinfo.buf, size); +} - image.alloc_type = alloc_type; - image.cache = cache; +void py_image_free(image_t *image) +{ + uint8_t alloc_type = image->alloc_type; + + if (alloc_type == ALLOC_MMZ) { + kd_mpi_sys_mmz_free(image->phy_addr, image->data); + } else if (alloc_type == ALLOC_VB) { + } else if (alloc_type == ALLOC_REF) { + } else if (alloc_type == ALLOC_HEAP) { + free(image->data); + } else if (alloc_type == ALLOC_MPGC) { + xfree(image->data); + } +} + +mp_obj_t py_image_load_image(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { + // mode == false -> load behavior + // mode == true -> make behavior + bool mode = mp_obj_is_integer(args[0]); + const char *path = mode ? NULL : mp_obj_str_get_str(args[0]); + + image_t image = {}; if (mode) { PY_ASSERT_TRUE_MSG(n_args >= 3, "Expected width, height, and type"); @@ -6968,49 +7067,7 @@ mp_obj_t py_image_load_image(size_t n_args, const mp_obj_t *args, mp_map_t *kw_a image.pixfmt = mp_obj_get_int(args[2]); PY_ASSERT_TRUE_MSG(IMLIB_PIXFORMAT_IS_VALID(image.pixfmt), "Unsupported type"); - size_t size = image_size(&image); - - if (data_obj) { - mp_get_buffer_raise(data_obj, &bufinfo, MP_BUFFER_READ); - if (size > bufinfo.len) - mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Not enough data")); - } - - if (alloc_type == ALLOC_MMZ) { - int ret = 0; - if (cache) - ret = kd_mpi_sys_mmz_alloc_cached(&image.phy_addr, (void**)&image.data, "img", "anonymous", size); - else - ret = kd_mpi_sys_mmz_alloc(&image.phy_addr, (void**)&image.data, "img", "anonymous", size); - if (ret) - mp_raise_msg_varg(&mp_type_MemoryError, MP_ERROR_TEXT("image mmz alloc failed: %d"), ret); - } else if (alloc_type == ALLOC_VB) { - mp_map_elem_t *kw_arg_phyaddr = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_phyaddr), MP_MAP_LOOKUP); - mp_map_elem_t *kw_arg_virtaddr = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_virtaddr), MP_MAP_LOOKUP); - mp_map_elem_t *kw_arg_poolid = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_poolid), MP_MAP_LOOKUP); - if (!(kw_arg_phyaddr && kw_arg_virtaddr && mp_obj_is_int(kw_arg_phyaddr->value) && mp_obj_is_int(kw_arg_virtaddr->value))) - mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("please set phyaddr and virtaddr")); - image.phy_addr = mp_obj_get_int(kw_arg_phyaddr->value); - image.data = mp_obj_get_int(kw_arg_virtaddr->value); - if (kw_arg_poolid) - image.pool_id = mp_obj_get_int(kw_arg_poolid->value); - } else if (alloc_type == ALLOC_REF) { - if (!data_obj) - mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("please set reference object")); - image.ref_obj = data_obj; - image.data = bufinfo.buf; - } else if (alloc_type == ALLOC_HEAP) { - image.data = malloc(size); - if (image.data == NULL) - mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("image malloc failed")); - } else if (alloc_type == ALLOC_MPGC) { - image.data = xalloc(size); - } else { - mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("image alloc type invalid")); - } - - if (data_obj && alloc_type != ALLOC_REF) - memcpy(image.data, bufinfo.buf, size); + py_image_alloc(&image, kw_args); } else { #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) fb_alloc_mark(); @@ -7019,6 +7076,7 @@ mp_obj_t py_image_load_image(size_t n_args, const mp_obj_t *args, mp_map_t *kw_a imlib_read_geometry(&fp, &image, path, &rs); file_buffer_off(&fp); file_close(&fp); + py_image_alloc(&image, kw_args); imlib_load_image(&image, path); fb_alloc_free_till_mark(); #else @@ -7062,6 +7120,17 @@ mp_obj_t py_image_load_cascade(size_t n_args, const mp_obj_t *args, mp_map_t *kw } STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_load_cascade_obj, 1, py_image_load_cascade); +mp_obj_t py_image_fb_stat(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) +{ + int cmd = 0; + + if (n_args > 0) + cmd = mp_obj_get_int(args[0]); + + return fb_stat(cmd); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_fb_stat_obj, 0, py_image_fb_stat); + #if defined(IMLIB_ENABLE_DESCRIPTOR) #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) mp_obj_t py_image_load_descriptor(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { @@ -7073,7 +7142,7 @@ mp_obj_t py_image_load_descriptor(size_t n_args, const mp_obj_t *args, mp_map_t mp_obj_t desc = mp_const_none; const char *path = mp_obj_str_get_str(args[0]); - if ((res = f_open_helper(&fp, path, FA_READ | FA_OPEN_EXISTING)) == FR_OK) { + if ((res = f_open_helper(&fp, path, "rb")) == FR_OK) { // Read descriptor type res = f_read(&fp, &desc_type, sizeof(desc_type), &bytes); if (res != FR_OK || bytes != sizeof(desc_type)) { @@ -7139,7 +7208,7 @@ mp_obj_t py_image_save_descriptor(size_t n_args, const mp_obj_t *args, mp_map_t uint32_t desc_type; const char *path = mp_obj_str_get_str(args[1]); - if ((res = f_open_helper(&fp, path, FA_WRITE | FA_CREATE_ALWAYS)) == FR_OK) { + if ((res = f_open_helper(&fp, path, "wb")) == FR_OK) { // Find descriptor type const mp_obj_type_t *desc_obj_type = mp_obj_get_type(args[0]); if (0) { @@ -7287,7 +7356,7 @@ int py_image_descriptor_from_roi(image_t *img, const char *path, rectangle_t *ro printf("Save Descriptor: KPTS(%d)\n", array_length(kpts)); if (array_length(kpts)) { - if ((res = f_open_helper(&fp, path, FA_WRITE | FA_CREATE_ALWAYS)) == FR_OK) { + if ((res = f_open_helper(&fp, path, "wb")) == FR_OK) { res = orb_save_descriptor(&fp, kpts); f_close(&fp); } @@ -7384,6 +7453,7 @@ static const mp_rom_map_elem_t globals_dict_table[] = { {MP_ROM_QSTR(MP_QSTR_yuv_to_grayscale), MP_ROM_PTR(&py_image_yuv_to_grayscale_obj)}, {MP_ROM_QSTR(MP_QSTR_yuv_to_rgb), MP_ROM_PTR(&py_image_yuv_to_rgb_obj)}, {MP_ROM_QSTR(MP_QSTR_yuv_to_lab), MP_ROM_PTR(&py_image_yuv_to_lab_obj)}, + {MP_ROM_QSTR(MP_QSTR_fb_stat), MP_ROM_PTR(&py_image_fb_stat_obj)}, {MP_ROM_QSTR(MP_QSTR_Image), MP_ROM_PTR(&py_image_load_image_obj)}, {MP_ROM_QSTR(MP_QSTR_HaarCascade), MP_ROM_PTR(&py_image_load_cascade_obj)}, #if defined(IMLIB_ENABLE_DESCRIPTOR) && defined(IMLIB_ENABLE_IMAGE_FILE_IO) diff --git a/micropython_port/omv/modules/py_image.h b/micropython_port/omv/modules/py_image.h index 93dd9f1..cced832 100644 --- a/micropython_port/omv/modules/py_image.h +++ b/micropython_port/omv/modules/py_image.h @@ -14,5 +14,7 @@ mp_obj_t py_image(int width, int height, pixformat_t pixfmt, uint32_t size, void *pixels); mp_obj_t py_image_from_struct(image_t *img); void *py_image_cobj(mp_obj_t img_obj); +void py_image_alloc(image_t *image, mp_map_t *kw_args); +void py_image_free(image_t *image); int py_image_descriptor_from_roi(image_t *img, const char *path, rectangle_t *roi); #endif // __PY_IMAGE_H__ diff --git a/micropython_port/omv/modules/py_imageio.c b/micropython_port/omv/modules/py_imageio.c new file mode 100644 index 0000000..af22e51 --- /dev/null +++ b/micropython_port/omv/modules/py_imageio.c @@ -0,0 +1,640 @@ +/* + * This file is part of the OpenMV project. + * + * Copyright (c) 2013-2021 Ibrahim Abdelkader + * Copyright (c) 2013-2021 Kwabena W. Agyeman + * + * This work is licensed under the MIT license, see the file LICENSE for details. + * + * Image I/O Python module. + */ +#include "imlib_config.h" +#if defined(IMLIB_ENABLE_IMAGE_IO) + +#include "py/obj.h" +#include "py/nlr.h" +#include "py/mphal.h" +#include "py/runtime.h" + +#include "py_assert.h" +#include "py_helper.h" +#include "py_image.h" +#include "py_imageio.h" + +#if defined(IMLIB_ENABLE_IMAGE_FILE_IO) +#include "ff_wrapper.h" +#endif +#include "framebuffer.h" +#include "omv_boardconfig.h" + +#define OLD_BINARY_BPP 0 +#define OLD_GRAYSCALE_BPP 1 +#define OLD_RGB565_BPP 2 +#define OLD_BAYER_BPP 3 +#define OLD_JPG_BPP 4 + +#define MAGIC_SIZE 16 +#define ALIGN_SIZE 16 +#define AFTER_SIZE_PADDING 12 + +#define ORIGINAL_VER 10 +#define RGB565_FIXED_VER 11 +#define NEW_PIXFORMAT_VER 20 + +#ifndef __DCACHE_PRESENT +#define IMAGE_ALIGNMENT 32 // Use 32-byte alignment on MCUs with no cache for DMA buffer alignment. +#else +#define IMAGE_ALIGNMENT __SCB_DCACHE_LINE_SIZE +#endif + +#define IMAGE_T_SIZE_ALIGNED (((sizeof(uint32_t) + sizeof(image_t) + (IMAGE_ALIGNMENT) -1) \ + / (IMAGE_ALIGNMENT)) \ + * (IMAGE_ALIGNMENT)) + +STATIC size_t image_size_aligned(image_t *image) { + return ((image_size(image) + (IMAGE_ALIGNMENT) -1) / (IMAGE_ALIGNMENT)) * (IMAGE_ALIGNMENT); +} + +typedef enum image_io_stream_type { + IMAGE_IO_FILE_STREAM, + IMAGE_IO_MEMORY_STREAM, +} image_io_stream_type_t; + +typedef struct py_imageio_obj { + mp_obj_base_t base; + image_io_stream_type_t type; + bool closed; + uint32_t count; + uint32_t offset; + uint32_t ms; + union { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + struct { + FIL fp; + int version; + }; + #endif + struct { + uint32_t size; + uint8_t *buffer; + }; + }; +} py_imageio_obj_t; + +STATIC py_imageio_obj_t *py_imageio_obj(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + + if (stream->closed) { + mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Stream closed")); + } + + return stream; +} + +STATIC void py_imageio_print(const mp_print_t *print, mp_obj_t self, mp_print_kind_t kind) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + mp_printf(print, "{\"type\":%s, \"closed\":%s, \"count\":%u, \"offset\":%u, " + "\"version\":%u, \"buffer_size\":%u, \"size\":%u}", + (stream->type == IMAGE_IO_FILE_STREAM) ? "\"file stream\"" : "\"memory stream\"", + stream->closed ? "\"true\"" : "\"false\"", + stream->count, + stream->offset, +#if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + (stream->type == IMAGE_IO_FILE_STREAM) ? stream->version : 0, +#else + 0, +#endif + (stream->type == IMAGE_IO_FILE_STREAM) ? 0 : stream->size, +#if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + (stream->type == IMAGE_IO_FILE_STREAM) ? f_size(&stream->fp) : (stream->count * stream->size)); +#else + stream->count * stream->size); +#endif +} + +STATIC mp_obj_t py_imageio_get_type(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + return mp_obj_new_int(stream->type); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_get_type_obj, py_imageio_get_type); + +STATIC mp_obj_t py_imageio_is_closed(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + return mp_obj_new_int(stream->closed); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_is_closed_obj, py_imageio_is_closed); + +STATIC mp_obj_t py_imageio_count(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + return mp_obj_new_int(stream->count); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_count_obj, py_imageio_count); + +STATIC mp_obj_t py_imageio_offset(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + return mp_obj_new_int(stream->offset); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_offset_obj, py_imageio_offset); + +#if defined(IMLIB_ENABLE_IMAGE_FILE_IO) +STATIC mp_obj_t py_imageio_version(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + return (stream->type == IMAGE_IO_FILE_STREAM) ? mp_obj_new_int(stream->version) : mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_version_obj, py_imageio_version); +#endif + +STATIC mp_obj_t py_imageio_buffer_size(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + if (stream->type == IMAGE_IO_FILE_STREAM) { + return mp_const_none; + } + #endif + + return mp_obj_new_int(stream->size - IMAGE_T_SIZE_ALIGNED); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_buffer_size_obj, py_imageio_buffer_size); + +STATIC mp_obj_t py_imageio_size(mp_obj_t self) { + py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self); + + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + if (stream->type == IMAGE_IO_FILE_STREAM) { + return mp_obj_new_int(f_size(&stream->fp)); + } + #endif + + return mp_obj_new_int(stream->count * stream->size); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_size_obj, py_imageio_size); + +STATIC mp_obj_t py_imageio_write(mp_obj_t self, mp_obj_t img_obj) { + py_imageio_obj_t *stream = py_imageio_obj(self); + image_t *image = py_image_cobj(img_obj); + + uint32_t ms = mp_hal_ticks_ms(), elapsed_ms = ms - stream->ms; + stream->ms = ms; + + if (0) { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + } else if (stream->type == IMAGE_IO_FILE_STREAM) { + FIL *fp = &stream->fp; + + write_long(fp, elapsed_ms); + write_long(fp, image->w); + write_long(fp, image->h); + + char padding[ALIGN_SIZE] = {}; + + if (stream->version < NEW_PIXFORMAT_VER) { + if (image->pixfmt == PIXFORMAT_BINARY) { + write_long(fp, OLD_BINARY_BPP); + } else if (image->pixfmt == PIXFORMAT_GRAYSCALE) { + write_long(fp, OLD_GRAYSCALE_BPP); + } else if (image->pixfmt == PIXFORMAT_RGB565) { + write_long(fp, OLD_RGB565_BPP); + } else if (image->pixfmt == PIXFORMAT_BAYER) { + write_long(fp, OLD_BAYER_BPP); + } else if (image->pixfmt == PIXFORMAT_JPEG) { + write_long(fp, image->size); + } else { + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid image stream bpp")); + } + } else { + write_long(fp, image->pixfmt); + write_long(fp, image->size); + write_data(fp, padding, AFTER_SIZE_PADDING); + } + + uint32_t size = image_size(image); + write_data(fp, image->data, size); + + if (size % ALIGN_SIZE) { + write_data(fp, padding, ALIGN_SIZE - (size % ALIGN_SIZE)); + } + + // Seeking to the middle of a file and writing data corrupts the remainder of the file. So, + // truncate the rest of the file when this happens to prevent crashing because of this. + if (!f_eof(fp)) { + file_truncate(fp); + } + + stream->count = stream->offset + 1; + #endif + } else if (stream->type == IMAGE_IO_MEMORY_STREAM) { + if (stream->offset == stream->count) { + mp_raise_msg(&mp_type_EOFError, MP_ERROR_TEXT("End of stream")); + } + + uint32_t size = image_size(image); + + if (stream->size < size) { + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid frame size")); + } + + *((uint32_t *) (stream->buffer + (stream->offset * stream->size))) = elapsed_ms; + memcpy(stream->buffer + (stream->offset * stream->size) + sizeof(uint32_t), image, sizeof(image_t)); + memcpy(stream->buffer + (stream->offset * stream->size) + IMAGE_T_SIZE_ALIGNED, image->data, size); + } + + stream->offset += 1; + + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_imageio_write_obj, py_imageio_write); + +STATIC void int_py_imageio_pause(py_imageio_obj_t *stream, bool pause) { + uint32_t elapsed_ms; + + if (0) { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + } else if (stream->type == IMAGE_IO_FILE_STREAM) { + read_long(&stream->fp, &elapsed_ms); + #endif + } else if (stream->type == IMAGE_IO_MEMORY_STREAM) { + elapsed_ms = *((uint32_t *) (stream->buffer + (stream->offset * stream->size))); + } + + while (pause && ((mp_hal_ticks_ms() - stream->ms) < elapsed_ms)) { + usleep(1000); + } + + stream->ms += elapsed_ms; +} + +#if defined(IMLIB_ENABLE_IMAGE_FILE_IO) +STATIC void int_py_imageio_read_chunk(py_imageio_obj_t *stream, image_t *image, bool pause) { + FIL *fp = &stream->fp; + + if (f_eof(fp)) { + mp_raise_msg(&mp_type_EOFError, MP_ERROR_TEXT("End of stream")); + } + + int_py_imageio_pause(stream, pause); + + read_long(fp, (uint32_t *) &image->w); + read_long(fp, (uint32_t *) &image->h); + + uint32_t bpp; + read_long(fp, (uint32_t *) &bpp); + + if (stream->version < NEW_PIXFORMAT_VER) { + if (bpp < 0) { + mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid image stream bpp")); + } else if (bpp == OLD_BINARY_BPP) { + image->pixfmt = PIXFORMAT_BINARY; + } else if (bpp == OLD_GRAYSCALE_BPP) { + image->pixfmt = PIXFORMAT_GRAYSCALE; + } else if (bpp == OLD_RGB565_BPP) { + image->pixfmt = PIXFORMAT_RGB565; + } else if (bpp == OLD_BAYER_BPP) { + image->pixfmt = PIXFORMAT_BAYER; + } else if (bpp >= OLD_JPG_BPP) { + image->pixfmt = PIXFORMAT_JPEG; + } + } else { + if (!IMLIB_PIXFORMAT_IS_VALID(bpp)) { + mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid image stream pixformat")); + } + + image->pixfmt = bpp; + read_long(fp, (uint32_t *) &image->size); + + char ignore[AFTER_SIZE_PADDING]; + read_data(fp, ignore, AFTER_SIZE_PADDING); + } +} +#endif + +STATIC mp_obj_t py_imageio_read(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { + + py_imageio_obj_t *stream = py_imageio_obj(args[0]); + + mp_obj_t copy_to_fb_obj = py_helper_keyword_object(n_args, args, 1, kw_args, + MP_OBJ_NEW_QSTR(MP_QSTR_copy_to_fb), NULL); + bool copy_to_fb = false; + image_t *arg_other = NULL; + + if (copy_to_fb_obj) { + if (mp_obj_is_integer(copy_to_fb_obj)) { + copy_to_fb = mp_obj_get_int(copy_to_fb_obj); + } else { + arg_other = py_helper_arg_to_image_mutable(copy_to_fb_obj); + } + } + + image_t image = {}; + + bool pause = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_pause), true); + + if (0) { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + } else if (stream->type == IMAGE_IO_FILE_STREAM) { + FIL *fp = &stream->fp; + + if (f_eof(fp)) { + if (!py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_loop), true)) { + return mp_const_none; + } + + file_seek(fp, MAGIC_SIZE); // skip past the header + + stream->offset = 0; + + if (f_eof(fp)) { + // empty file + return mp_const_none; + } + } + + int_py_imageio_read_chunk(stream, &image, pause); + #endif + } else if (stream->type == IMAGE_IO_MEMORY_STREAM) { + if (stream->offset == stream->count) { + mp_raise_msg(&mp_type_EOFError, MP_ERROR_TEXT("End of stream")); + } + + int_py_imageio_pause(stream, pause); + + memcpy(&image, stream->buffer + (stream->offset * stream->size) + sizeof(uint32_t), sizeof(image_t)); + } + + uint32_t size = image_size(&image); + + if (copy_to_fb) { + py_helper_set_to_framebuffer(&image); + } + if (arg_other) { + PY_ASSERT_TRUE_MSG((size <= image_size(arg_other)), + "The new image won't fit in the target frame buffer!"); + image.data = arg_other->data; + image.alloc_type = arg_other->alloc_type; + image.cache = arg_other->cache; + image.phy_addr = arg_other->phy_addr; + image.pool_id = arg_other->pool_id; + image.ref_obj = arg_other->ref_obj; + } else { + py_image_alloc(&image, kw_args); + } + + if (0) { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + } else if (stream->type == IMAGE_IO_FILE_STREAM) { + FIL *fp = &stream->fp; + read_data(fp, image.data, size); + + // Check if original byte reversed data. + if ((image.pixfmt == PIXFORMAT_RGB565) && (stream->version == ORIGINAL_VER)) { + uint32_t *data_ptr = (uint32_t *) image.data; + size_t data_len = image.w * image.h; + + for (; data_len >= 2; data_len -= 2, data_ptr += 1) { + *data_ptr = __REV16(*data_ptr); // long aligned + } + + if (data_len) { + *((uint16_t *) data_ptr) = __REV16(*((uint16_t *) data_ptr)); // word aligned + } + } + + if (size % ALIGN_SIZE) { + char ignore[ALIGN_SIZE]; + read_data(fp, ignore, ALIGN_SIZE - (size % ALIGN_SIZE)); + } + + if (stream->offset >= stream->count) { + stream->count = stream->offset + 1; + } + #endif + } else if (stream->type == IMAGE_IO_MEMORY_STREAM) { + memcpy(image.data, stream->buffer + (stream->offset * stream->size) + IMAGE_T_SIZE_ALIGNED, size); + } + + stream->offset += 1; + + py_helper_update_framebuffer(&image); + + if (arg_other) { + memcpy(arg_other, &image, sizeof(image_t)); + } + + if (copy_to_fb) { + framebuffer_update_jpeg_buffer(); + } + + return py_image_from_struct(&image); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_imageio_read_obj, 1, py_imageio_read); + +STATIC mp_obj_t py_imageio_seek(mp_obj_t self, mp_obj_t offs) { + py_imageio_obj_t *stream = py_imageio_obj(self); + int offset = mp_obj_get_int(offs); + + if ((offset < 0) || ((stream->type == IMAGE_IO_MEMORY_STREAM) && (stream->count <= offset))) { + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid stream offset")); + } + + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + if (stream->type == IMAGE_IO_FILE_STREAM) { + FIL *fp = &stream->fp; + file_seek(fp, MAGIC_SIZE); // skip past the file header + + for (int i = 0; i < offset; i++) { + image_t image = {}; + int_py_imageio_read_chunk(stream, &image, false); + uint32_t size = image_size(&image); + + if (size % ALIGN_SIZE) { + size += ALIGN_SIZE - (size % ALIGN_SIZE); + } + + file_seek(fp, f_tell(fp) + size); + } + + if (stream->offset >= stream->count) { + stream->count = offset + 1; + } + } + #endif + + stream->offset = offset; + + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_imageio_seek_obj, py_imageio_seek); + +STATIC mp_obj_t py_imageio_sync(mp_obj_t self) { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + py_imageio_obj_t *stream = py_imageio_obj(self); + + if (stream->type == IMAGE_IO_FILE_STREAM) { + file_sync(&stream->fp); + } + #endif + + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_sync_obj, py_imageio_sync); + +STATIC mp_obj_t py_imageio_close(mp_obj_t self) { + py_imageio_obj_t *stream = py_imageio_obj(self); + + if (0) { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + } else if (stream->type == IMAGE_IO_FILE_STREAM) { + file_close(&stream->fp); + #endif + } else if (stream->type == IMAGE_IO_MEMORY_STREAM) { + fb_alloc_free_till_mark_past_mark_permanent(); + } + + stream->closed = true; + + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_close_obj, py_imageio_close); + +STATIC mp_obj_t py_imageio_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { + mp_arg_check_num(n_args, n_kw, 2, 2, false); + py_imageio_obj_t *stream = m_new_obj_with_finaliser(py_imageio_obj_t); + stream->base.type = &py_imageio_type; + stream->closed = false; + + if (0) { + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + } else if (mp_obj_is_str(args[0])) { + // File Stream I/O + FIL *fp = &stream->fp; + stream->type = IMAGE_IO_FILE_STREAM; + stream->count = 0; + + char mode = mp_obj_str_get_str(args[1])[0]; + + if ((mode == 'W') || (mode == 'w')) { + file_read_write_open_always(fp, mp_obj_str_get_str(args[0])); + const char string[] = "OMV IMG STR V2.0"; + stream->version = NEW_PIXFORMAT_VER; + + // Overwrite if file is too small. + if (f_size(fp) < MAGIC_SIZE) { + write_data(fp, string, sizeof(string) - 1); // exclude null terminator + } else { + uint8_t version_hi, period, version_lo; + char temp[sizeof(string) - 3] = {}; + read_data(fp, temp, sizeof(temp) - 1); + read_byte(fp, &version_hi); + read_byte(fp, &period); + read_byte(fp, &version_lo); + int version = ((version_hi - '0') * 10) + (version_lo - '0'); + + // Overwrite if file magic does not match. + if (strcmp(string, temp) + || (period != ((uint8_t) '.')) + || (version != ORIGINAL_VER) + || (version != RGB565_FIXED_VER) + || (version != NEW_PIXFORMAT_VER)) { + file_seek(fp, 0); + write_data(fp, string, sizeof(string) - 1); // exclude null terminator + } else { + file_close(fp); + mode = 'R'; + } + } + } + + if ((mode == 'R') || (mode == 'r')) { + uint8_t version_hi, version_lo; + file_read_write_open_existing(fp, mp_obj_str_get_str(args[0])); + read_long_expect(fp, *((uint32_t *) "OMV ")); // OpenMV + read_long_expect(fp, *((uint32_t *) "IMG ")); // Image + read_long_expect(fp, *((uint32_t *) "STR ")); // Stream + read_byte_expect(fp, 'V'); + read_byte(fp, &version_hi); + read_byte_expect(fp, '.'); + read_byte(fp, &version_lo); + + stream->version = ((version_hi - '0') * 10) + (version_lo - '0'); + + if ((stream->version != ORIGINAL_VER) + && (stream->version != RGB565_FIXED_VER) + && (stream->version != NEW_PIXFORMAT_VER)) { + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected version V1.0, V1.1, or V2.0")); + } + } else if ((mode != 'W') && (mode != 'w')) { + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid stream mode, expected 'R/r' or 'W/w'")); + } + #endif + } else if (mp_obj_is_type(args[0], &mp_type_tuple)) { + // Memory Stream I/O + stream->type = IMAGE_IO_MEMORY_STREAM; + + mp_obj_t *image_info; + mp_obj_get_array_fixed_n(args[0], 3, &image_info); + int w = mp_obj_get_int(image_info[0]); + int h = mp_obj_get_int(image_info[1]); + int pixfmt = mp_obj_get_int(image_info[2]); + + if (!IMLIB_PIXFORMAT_IS_VALID(pixfmt)) { + mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid image stream pixformat")); + } + + image_t image = {.w = w, .h = h, .pixfmt = pixfmt}; + + // Estimate that the compressed image will fit in less than 2 bits per pixel. + if (image.is_compressed) { + image.h *= 2; // double calculated image size + image.pixfmt = PIXFORMAT_BINARY; + } + + stream->count = mp_obj_get_int(args[1]); + stream->size = IMAGE_T_SIZE_ALIGNED + image_size_aligned(&image); + + fb_alloc_mark(); + stream->buffer = fb_alloc(stream->count * stream->size, FB_ALLOC_PREFER_SIZE | FB_ALLOC_CACHE_ALIGN); + fb_alloc_mark_permanent(); + } else { + mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid stream type")); + } + + stream->offset = 0; + stream->ms = mp_hal_ticks_ms(); + + return MP_OBJ_FROM_PTR(stream); +} + +STATIC const mp_rom_map_elem_t py_imageio_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_imageio) }, + { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&py_imageio_close_obj) }, + { MP_ROM_QSTR(MP_QSTR_FILE_STREAM), MP_ROM_INT(IMAGE_IO_FILE_STREAM) }, + { MP_ROM_QSTR(MP_QSTR_MEMORY_STREAM), MP_ROM_INT(IMAGE_IO_MEMORY_STREAM) }, + { MP_ROM_QSTR(MP_QSTR_type), MP_ROM_PTR(&py_imageio_get_type_obj) }, + { MP_ROM_QSTR(MP_QSTR_is_closed), MP_ROM_PTR(&py_imageio_is_closed_obj) }, + { MP_ROM_QSTR(MP_QSTR_count), MP_ROM_PTR(&py_imageio_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_offset), MP_ROM_PTR(&py_imageio_offset_obj) }, + #if defined(IMLIB_ENABLE_IMAGE_FILE_IO) + { MP_ROM_QSTR(MP_QSTR_version), MP_ROM_PTR(&py_imageio_version_obj) }, + #else + { MP_ROM_QSTR(MP_QSTR_version), MP_ROM_PTR(&py_func_unavailable_obj) }, + #endif + { MP_ROM_QSTR(MP_QSTR_buffer_size), MP_ROM_PTR(&py_imageio_buffer_size_obj) }, + { MP_ROM_QSTR(MP_QSTR_size), MP_ROM_PTR(&py_imageio_size_obj) }, + { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&py_imageio_write_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&py_imageio_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_seek), MP_ROM_PTR(&py_imageio_seek_obj) }, + { MP_ROM_QSTR(MP_QSTR_sync), MP_ROM_PTR(&py_imageio_sync_obj) }, + { MP_ROM_QSTR(MP_QSTR_close), MP_ROM_PTR(&py_imageio_close_obj) } +}; + +STATIC MP_DEFINE_CONST_DICT(py_imageio_locals_dict, py_imageio_locals_dict_table); + +MP_DEFINE_CONST_OBJ_TYPE( + py_imageio_type, + MP_QSTR_ImageIO, + MP_TYPE_FLAG_NONE, + print, py_imageio_print, + make_new, py_imageio_make_new, + locals_dict, &py_imageio_locals_dict + ); +#endif // IMLIB_ENABLE_IMAGE_IO diff --git a/micropython_port/omv/modules/py_imageio.h b/micropython_port/omv/modules/py_imageio.h new file mode 100644 index 0000000..2b26009 --- /dev/null +++ b/micropython_port/omv/modules/py_imageio.h @@ -0,0 +1,14 @@ +/* + * This file is part of the OpenMV project. + * + * Copyright (c) 2013-2021 Ibrahim Abdelkader + * Copyright (c) 2013-2021 Kwabena W. Agyeman + * + * This work is licensed under the MIT license, see the file LICENSE for details. + * + * Image I/O Python module. + */ +#ifndef __PY_IMAGE_IO_H__ +#define __PY_IMAGE_IO_H__ +extern const mp_obj_type_t py_imageio_type; +#endif // __PY_IMAGE_IO_H__ diff --git a/micropython_port/ulab/code/numpy/io/io.c b/micropython_port/ulab/code/numpy/io/io.c index 307bc33..a78dab6 100644 --- a/micropython_port/ulab/code/numpy/io/io.c +++ b/micropython_port/ulab/code/numpy/io/io.c @@ -243,22 +243,41 @@ static mp_obj_t io_fromfile(size_t n_args, const mp_obj_t *pos_args, mp_map_t *k mp_raise_TypeError(translate("wrong input type")); } - FILE *f; - f = fopen(mp_obj_str_get_str(pos_args[0]), "rb"); - if (!f) - mp_raise_OSError_with_filename(errno, mp_obj_str_get_str(pos_args[0])); - mp_map_elem_t *kw_dtype = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_dtype), MP_MAP_LOOKUP); uint8_t dtype = NDARRAY_UINT8; if (kw_dtype) dtype = (uint8_t)mp_obj_get_int(kw_dtype->value); + mp_map_elem_t *kw_count = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_count), MP_MAP_LOOKUP); + uint64_t count = 0; + if (kw_count) + count = mp_obj_get_int(kw_count->value); + + mp_map_elem_t *kw_offset = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), MP_MAP_LOOKUP); + uint64_t offset = 0; + if (kw_offset) + offset = mp_obj_get_int(kw_offset->value); + + if (count > UINT32_MAX || offset > UINT32_MAX) + mp_raise_ValueError(translate("count or offset out of range")); + + FILE *f; + f = fopen(mp_obj_str_get_str(pos_args[0]), "rb"); + if (!f) + mp_raise_OSError_with_filename(errno, mp_obj_str_get_str(pos_args[0])); + fseek(f, 0, SEEK_END); size_t size = ftell(f); - fseek(f, 0, SEEK_SET); + if (!kw_count) + count = size; + if (offset > size) + offset = size; + if (count + offset > size) + count = size - offset; + fseek(f, offset, SEEK_SET); size_t shape[ULAB_MAX_DIMS]; - shape[ULAB_MAX_DIMS - 1] = size / ulab_binary_get_size(dtype); + shape[ULAB_MAX_DIMS - 1] = count / ulab_binary_get_size(dtype); ndarray_obj_t *ndarray = ndarray_new_ndarray(1, shape, NULL, dtype); fread(ndarray->origin, ndarray->len * ndarray->itemsize, 1, f); diff --git a/tests/Micropython-Basics/demo_crc16.py b/tests/Micropython-Basics/demo_crc16.py new file mode 100755 index 0000000..5470237 --- /dev/null +++ b/tests/Micropython-Basics/demo_crc16.py @@ -0,0 +1,93 @@ +CRC_LENGTH = 0x02 + +CRC16_TABLE = ( + 0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241, 0xC601, + 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440, 0xCC01, 0x0CC0, + 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40, 0x0A00, 0xCAC1, 0xCB81, + 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841, 0xD801, 0x18C0, 0x1980, 0xD941, + 0x1B00, 0xDBC1, 0xDA81, 0x1A40, 0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, + 0x1DC0, 0x1C80, 0xDC41, 0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, + 0x1680, 0xD641, 0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, + 0x1040, 0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240, + 0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441, 0x3C00, + 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41, 0xFA01, 0x3AC0, + 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840, 0x2800, 0xE8C1, 0xE981, + 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41, 0xEE01, 0x2EC0, 0x2F80, 0xEF41, + 0x2D00, 0xEDC1, 0xEC81, 0x2C40, 0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, + 0xE7C1, 0xE681, 0x2640, 0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, + 0x2080, 0xE041, 0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, + 0x6240, 0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441, + 0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41, 0xAA01, + 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840, 0x7800, 0xB8C1, + 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41, 0xBE01, 0x7EC0, 0x7F80, + 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40, 0xB401, 0x74C0, 0x7580, 0xB541, + 0x7700, 0xB7C1, 0xB681, 0x7640, 0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, + 0x71C0, 0x7080, 0xB041, 0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, + 0x5280, 0x9241, 0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, + 0x5440, 0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40, + 0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841, 0x8801, + 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40, 0x4E00, 0x8EC1, + 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41, 0x4400, 0x84C1, 0x8581, + 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641, 0x8201, 0x42C0, 0x4380, 0x8341, + 0x4100, 0x81C1, 0x8081, 0x4040) +""" Code to generate the CRC-16 lookup table: +def generate_crc16_table(): + crc_table = [] + for byte in range(256): + crc = 0x0000 + for _ in range(8): + if (byte ^ crc) & 0x0001: + crc = (crc >> 1) ^ 0xa001 + else: + crc >>= 1 + byte >>= 1 + crc_table.append(crc) + return crc_table +""" + +import struct + + +def crc16(data): + crc = 0xFFFF + for char in data: + crc = (crc >> 8) ^ CRC16_TABLE[((crc) ^ char) & 0xFF] + return struct.pack('= (self.level or _level) + + def log(self, level, msg, *args): + if self.isEnabledFor(level): + levelname = self._level_str(level) + if args: + msg = msg % args + if self.handlers: + d = self.record.__dict__ + d["levelname"] = levelname + d["levelno"] = level + d["message"] = msg + d["name"] = self.name + for h in self.handlers: + h.emit(self.record) + else: + print(levelname, ":", self.name, ":", msg, sep="", file=_stream) + + def debug(self, msg, *args): + self.log(DEBUG, msg, *args) + + def info(self, msg, *args): + self.log(INFO, msg, *args) + + def warning(self, msg, *args): + self.log(WARNING, msg, *args) + + def error(self, msg, *args): + self.log(ERROR, msg, *args) + + def critical(self, msg, *args): + self.log(CRITICAL, msg, *args) + + def exc(self, e, msg, *args): + self.log(ERROR, msg, *args) + sys.print_exception(e, _stream) + + def addHandler(self, hndlr): + self.handlers.append(hndlr) + +_level = INFO +_loggers = {} + +def getLogger(name="root"): + if name in _loggers: + return _loggers[name] + l = Logger(name) + _loggers[name] = l + return l + +def info(msg, *args): + getLogger().info(msg, *args) + +def debug(msg, *args): + getLogger().debug(msg, *args) + +def basicConfig(level=INFO, filename=None, stream=None, format=None): + global _level, _stream + _level = level + if stream: + _stream = stream + if filename is not None: + print("basicConfig: filename arg is not supported") + if format is not None: + print("basicConfig: format arg is not supported") + +if __name__ == "__main__": + + basicConfig(level=INFO) + log = getLogger("test") + log.debug("Test message: %d(%s)", 100, "foobar") + log.info("Test message2: %d(%s)", 100, "foobar") + log.warning("Test message3: %d(%s)") + log.error("Test message4") + log.critical("Test message5") + info("Test message6") + + try: + 1/0 + except Exception as e: + log.exc(e, "Some trouble (%s)", "expected") + + class MyHandler(Handler): + def emit(self, record): + print("levelname=%(levelname)s name=%(name)s message=%(message)s" % record.__dict__) + + getLogger().addHandler(MyHandler()) + info("Test message7") diff --git a/tests/Micropython-Basics/demo_sha256.py b/tests/Micropython-Basics/demo_sha256.py new file mode 100755 index 0000000..a76672b --- /dev/null +++ b/tests/Micropython-Basics/demo_sha256.py @@ -0,0 +1,17 @@ +import hashlib + +a = bytes([0]*65) +b = hashlib.sha256() +b.update(a) +b.update(a) +c = b.digest() +print(c) +if c != b"\xe5Z\\'sj\x87a\xc8\xe9j\xce\xc0r\x10#%\xe0\x8c\xb2\xd0\xdb\xb4\xd4p,\xfe8\xf8\xab\x07\t": + raise(Exception("error! {}".format(c))) + +a = bytes([0]*1024) +b = hashlib.sha256(a) +c = b.digest() +print(c) +if c != b'_p\xbf\x18\xa0\x86\x00p\x16\xe9H\xb0J\xed;\x82\x10:6\xbe\xa4\x17U\xb6\xcd\xdf\xaf\x10\xac\xe3\xc6\xef': + raise(Exception("error! {}".format(c))) diff --git a/tests/Micropython-Basics/demo_sys_info.py b/tests/Micropython-Basics/demo_sys_info.py new file mode 100755 index 0000000..716c65d --- /dev/null +++ b/tests/Micropython-Basics/demo_sys_info.py @@ -0,0 +1,10 @@ +import sys + +for i in range(0, 2): + print("hello canmv") + print("hello ", end="canmv\n") + +print("implementation:", sys.implementation) +print("platform:", sys.platform) +print("path:", sys.path) +print("Python version:", sys.version) diff --git a/tests/Micropython-Basics/demo_thread.py b/tests/Micropython-Basics/demo_thread.py new file mode 100755 index 0000000..28e87a7 --- /dev/null +++ b/tests/Micropython-Basics/demo_thread.py @@ -0,0 +1,13 @@ +import _thread +import time + +def func(name): + while 1: + print("hello {}".format(name)) + time.sleep(1) + +_thread.start_new_thread(func,("1",)) +_thread.start_new_thread(func,("2",)) + +while 1: + pass diff --git a/tests/Micropython-Basics/demo_time.py b/tests/Micropython-Basics/demo_time.py new file mode 100755 index 0000000..fafdabb --- /dev/null +++ b/tests/Micropython-Basics/demo_time.py @@ -0,0 +1,9 @@ +import time + +print(time.time()) +t1 = time.localtime(546450051) +print('t1', t1) +t2 = time.mktime(t1) +print('t2', t2) +time.sleep(1) +print(time.localtime(time.time())) diff --git a/tests/Micropython-Basics/demo_view_mem.py b/tests/Micropython-Basics/demo_view_mem.py new file mode 100755 index 0000000..2dc717f --- /dev/null +++ b/tests/Micropython-Basics/demo_view_mem.py @@ -0,0 +1,4 @@ +import gc + +print(gc.mem_alloc(), "Bytes") +print(gc.mem_free(), "Bytes") diff --git a/tests/Micropython-Basics/demo_yield.py b/tests/Micropython-Basics/demo_yield.py new file mode 100755 index 0000000..24883e6 --- /dev/null +++ b/tests/Micropython-Basics/demo_yield.py @@ -0,0 +1,39 @@ +def event(): + print('start yield') + # return next(task) and yield next(task.send('set_two')) + one = yield 'get_one' + assert(one == 'set_two') + print(one) + yield 'get_two' # return next(task) and yield next(task.send('set_two')) + print('exit yield') + yield # yield next() to exit or raise StopIteration + + +task = event() +run_one = next(task) # need next(task) init and next(task) == task.send(None) +# so next(task) => yield 'get_one' => run_one = 'get_one' +assert(run_one == 'get_one') +run_two = task.send('set_two') +assert(run_two == 'get_two') +print('run : ', run_one, ' and ', run_two) + +try: + next(task) + print('run end') + next(task) # will raise StopIteration +except Exception as e: + print('yield StopIteration') + +if __name__ == '__main__': + + def task(): + while True: + print('hello') + yield + + tmp = task() + while True: + next(tmp) + + while True: + print('hello') diff --git a/tests/Micropython-Basics/demo_yield_task.py b/tests/Micropython-Basics/demo_yield_task.py new file mode 100755 index 0000000..d300dc5 --- /dev/null +++ b/tests/Micropython-Basics/demo_yield_task.py @@ -0,0 +1,62 @@ +class Task: + + def __init__(self, event=(lambda: print('task running'))): + self.event = event + self.cb = self.pre() + next(self.cb) + print('task init') + + def pre(self): + print('task start') + flag = True + while flag is True: + flag = yield flag + self.event() + print('task exit') + + def run(self, flag=True): + try: + res = self.cb.send(flag) + return res + except StopIteration as e: + return False + + +if __name__ == "__main__": + tmp = Task() + + assert(tmp.run()) + assert(tmp.run()) + assert(False == tmp.run(False)) + + print(tmp.run()) + print(tmp.run(False)) + + class music: + + def __init__(self): + self.task = Task(self.pre) + self.args = None + print('music init') + + def pre(self): + print('pre ', self.args) + + def play(self, size=10): + self.args = list(range(size)) + print(self.task.run()) + + def stop(self): + print(self.task.run(False)) + self.__init__() + + def loop(self): + self.alive = False + while self.alive: + self.play() + stop() + + tmp = music() + tmp.play() + tmp.stop() + tmp.play() diff --git a/tests/ai_demo/face_detection.py b/tests/ai_demo/face_detection.py new file mode 100644 index 0000000..a0a9c3e --- /dev/null +++ b/tests/ai_demo/face_detection.py @@ -0,0 +1,382 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 + +#********************for config.py******************** +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) # 显示宽度要求16位对齐 +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率，sensor默认出图为16:9，若需不形变原图，最好按照16:9比例设置宽高 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) # ai原图宽度要求16位对齐 +OUT_RGB888P_HEIGH = 1080 + +# kmodel参数设置 +# kmodel输入shape +kmodel_input_shape = (1,3,320,320) +# ai原图padding +rgb_mean = [104,117,123] +# kmodel其它参数设置 +confidence_threshold = 0.5 +top_k = 5000 +nms_threshold = 0.2 +keep_top_k = 750 +vis_thres = 0.5 +variance = [0.1, 0.2] +anchor_len = 4200 +score_dim = 2 +det_dim = 4 +keypoint_dim = 10 + +# 文件配置 +# kmodel文件配置 +root_dir = '/sdcard/app/tests/' +kmodel_file = root_dir + 'kmodel/face_detection_320.kmodel' +# anchor文件配置 +anchors_path = root_dir + 'utils/prior_data_320.bin' +# 调试模型，0：不调试，>0：打印对应级别调试信息 +debug_mode = 0 + +#********************for scoped_timing.py******************** +# 时间统计类 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#********************for ai_utils.py******************** +# 当前kmodel +global current_kmodel_obj +# ai2d： ai2d实例 +# ai2d_input_tensor： ai2d输入 +# ai2d_output_tensor：ai2d输出 +# ai2d_builder： 根据ai2d参数，构建的ai2d_builder对象 +global ai2d,ai2d_input_tensor,ai2d_output_tensor,ai2d_builder #for ai2d +print('anchors_path:',anchors_path) +# 读取anchor文件，为后处理做准备 +prior_data = np.fromfile(anchors_path, dtype=np.float) +prior_data = prior_data.reshape((anchor_len,det_dim)) + +def get_pad_one_side_param(): + # 右padding或下padding，获取padding参数 + dst_w = kmodel_input_shape[3] # kmodel输入宽（w） + dst_h = kmodel_input_shape[2] # kmodel输入高（h） + + # OUT_RGB888P_WIDTH：原图宽（w） + # OUT_RGB888P_HEIGH：原图高（h） + # 计算最小的缩放比例，等比例缩放 + ratio_w = dst_w / OUT_RGB888P_WIDTH + ratio_h = dst_h / OUT_RGB888P_HEIGH + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + # 计算经过缩放后的新宽和新高 + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGH) + + # 计算需要添加的padding，以使得kmodel输入的宽高和原图一致 + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + # 四舍五入，确保padding是整数 + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +def ai2d_init(): + # 人脸检测模型ai2d初始化 + with ScopedTiming("ai2d_init",debug_mode > 0): + # （1）创建ai2d对象 + global ai2d + ai2d = nn.ai2d() + # （2）设置ai2d参数 + ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d.set_pad_param(True, get_pad_one_side_param(), 0, rgb_mean) + ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + # （3）创建ai2d_output_tensor，用于保存ai2d输出 + global ai2d_output_tensor + data = np.ones(kmodel_input_shape, dtype=np.uint8) + ai2d_output_tensor = nn.from_numpy(data) + + # （4）ai2d_builder，根据ai2d参数、输入输出大小创建ai2d_builder对象 + global ai2d_builder + ai2d_builder = ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], kmodel_input_shape) + + +def ai2d_run(rgb888p_img): + # 对原图rgb888p_img进行预处理 + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor,ai2d_output_tensor + # （1）根据原图构建ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + ai2d_input_tensor = nn.from_numpy(ai2d_input) + # （2）运行ai2d_builder，将结果保存到ai2d_output_tensor中 + ai2d_builder.run(ai2d_input_tensor, ai2d_output_tensor) + +def ai2d_release(): + # 释放ai2d_input_tensor + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor + del ai2d_input_tensor + +def kpu_init(kmodel_file): + # 初始化kpu对象，并加载kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + # 初始化kpu对象 + kpu_obj = nn.kpu() + # 加载kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化ai2d + ai2d_init() + return kpu_obj + +def kpu_pre_process(rgb888p_img): + # 使用ai2d对原图进行预处理（padding，resize） + ai2d_run(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_output_tensor + # 将ai2d输出设置为kpu输入 + current_kmodel_obj.set_input_tensor(0, ai2d_output_tensor) + +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取模型输出，并将结果转换为numpy，以便进行人脸检测后处理 + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +def kpu_run(kpu_obj,rgb888p_img): + # kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）原图预处理，并设置模型输入 + kpu_pre_process(rgb888p_img) + # （2）kpu推理 + with ScopedTiming("kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放ai2d资源 + ai2d_release() + # （4）获取kpu输出 + results = kpu_get_output() + # （5）kpu结果后处理 + with ScopedTiming("kpu_post",debug_mode > 0): + post_ret = aidemo.face_det_post_process(confidence_threshold,nms_threshold,kmodel_input_shape[2],prior_data,[OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH],results) + + # （6）返回人脸检测框 + if len(post_ret)==0: + return post_ret + else: + return post_ret[0] + + +def kpu_deinit(kpu_obj): + # kpu释放 + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d,ai2d_output_tensor + del kpu_obj #删除kpu_obj变量，释放对它所引用对象的内存引用 + del ai2d #删除ai2d变量，释放对它所引用对象的内存引用 + del ai2d_output_tensor #删除ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +#********************for media_utils.py******************** +global draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +# for display，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.2 +def display_init(): + # hdmi显示初始化 + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +def display_deinit(): + # 释放显示资源 + display.deinit() + +def display_draw(dets): + # hdmi画检测框 + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if dets: + draw_img.clear() + for det in dets: + x, y, w, h = map(lambda x: int(round(x, 0)), det[:4]) + x = x * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + y = y * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + w = w * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + h = h * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + draw_img.draw_rectangle(x,y, w, h, color=(255, 255, 0, 255), thickness = 2) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.1 +def camera_init(dev_id): + # camera初始化 + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +def camera_start(dev_id): + # camera启动 + camera.start_stream(dev_id) + +def camera_read(dev_id): + # 读取一帧图像 + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +def camera_release_image(dev_id,rgb888p_img): + # 释放一帧图像 + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +def camera_stop(dev_id): + # 停止camera + camera.stop_stream(dev_id) + +#for media，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.3 +def media_init(): + # meida初始化 + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +def media_deinit(): + # meida资源释放 + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + + +#********************for face_detect.py******************** +def face_detect_inference(): + print("face_detect_test start") + # kpu初始化 + kpu_face_detect = kpu_init(kmodel_file) + # camera初始化 + camera_init(CAM_DEV_ID_0) + # 显示初始化 + display_init() + + rgb888p_img = None + # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 + try: + # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） + ret = media_init() + if ret: + print("face_detect_test, buffer init failed") + return ret + # 启动camera + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + # （1）读取一帧图像 + rgb888p_img = camera_read(CAM_DEV_ID_0) + # （2）若读取失败，释放当前帧 + if rgb888p_img == -1: + print("face_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # （3）若读取成功，推理当前帧 + if rgb888p_img.format() == image.RGBP888: + # （3.1）推理当前图像，并获取检测结果 + dets = kpu_run(kpu_face_detect,rgb888p_img) + # （3.2）将结果画到显示器 + display_draw(dets) + + # （4）释放当前帧 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + + except Exception as e: + # 捕捉运行运行中异常，并打印错误 + print(f"An error occurred during buffer used: {e}") + finally: + # 释放当前帧 + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + # 停止camera + camera_stop(CAM_DEV_ID_0) + # 释放显示资源 + display_deinit() + # 释放kpu资源 + kpu_deinit(kpu_face_detect) + # 垃圾回收 + gc.collect() + time.sleep(1) + # 释放媒体资源 + ret = media_deinit() + if ret: + print("face_detect_test, buffer_deinit failed") + return ret + + print("face_detect_test end") + return 0 + +if __name__ == '__main__': + face_detect_inference() diff --git a/tests/ai_demo/face_landmark.py b/tests/ai_demo/face_landmark.py new file mode 100644 index 0000000..92b929b --- /dev/null +++ b/tests/ai_demo/face_landmark.py @@ -0,0 +1,615 @@ +import ulab.numpy as np # 类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn # nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * # 摄像头模块 +from media.display import * # 显示模块 +from media.media import * # 软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import aidemo # aidemo模块，封装ai demo相关后处理、画图操作 +import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time # 时间统计 +import gc # 垃圾回收模块 +import os # 操作系统接口模块 +import math # 数学模块 + + +#********************for config.py******************** +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) # 显示宽度要求16位对齐 +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率，sensor默认出图为16:9，若需不形变原图，最好按照16:9比例设置宽高 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) # ai原图宽度要求16位对齐 +OUT_RGB888P_HEIGH = 1080 + +# kmodel参数设置 +# 人脸检测kmodel输入shape +fd_kmodel_input_shape = (1,3,320,320) +# 人脸关键点kmodel输入shape +fld_kmodel_input_shape = (1,3,192,192) +# ai原图padding +rgb_mean = [104,117,123] + +#人脸检测kmodel其它参数设置 +confidence_threshold = 0.5 # 人脸检测阈值 +top_k = 5000 +nms_threshold = 0.2 +keep_top_k = 750 +vis_thres = 0.5 +variance = [0.1, 0.2] +anchor_len = 4200 +score_dim = 2 +det_dim = 4 +keypoint_dim = 10 + +# 文件配置 +# 人脸检测kmodel +root_dir = '/sdcard/app/tests/' +fd_kmodel_file = root_dir + 'kmodel/face_detection_320.kmodel' +# 人脸关键点kmodel +fr_kmodel_file = root_dir + 'kmodel/face_landmark.kmodel' +# anchor文件 +anchors_path = root_dir + 'utils/prior_data_320.bin' +# 调试模型，0：不调试，>0：打印对应级别调试信息 +debug_mode = 0 + +# 人脸关键点不同部位关键点列表 +dict_kp_seq = [ + [43, 44, 45, 47, 46, 50, 51, 49, 48], # left_eyebrow + [97, 98, 99, 100, 101, 105, 104, 103, 102], # right_eyebrow + [35, 36, 33, 37, 39, 42, 40, 41], # left_eye + [89, 90, 87, 91, 93, 96, 94, 95], # right_eye + [34, 88], # pupil + [72, 73, 74, 86], # bridge_nose + [77, 78, 79, 80, 85, 84, 83], # wing_nose + [52, 55, 56, 53, 59, 58, 61, 68, 67, 71, 63, 64], # out_lip + [65, 54, 60, 57, 69, 70, 62, 66], # in_lip + [1, 9, 10, 11, 12, 13, 14, 15, 16, 2, 3, 4, 5, 6, 7, 8, 0, 24, 23, 22, 21, 20, 19, 18, 32, 31, 30, 29, 28, 27, 26, 25, 17] # basin +] + +# 人脸关键点不同部位（顺序同dict_kp_seq）颜色配置，argb +color_list_for_osd_kp = [ + (255, 0, 255, 0), + (255, 0, 255, 0), + (255, 255, 0, 255), + (255, 255, 0, 255), + (255, 255, 0, 0), + (255, 255, 170, 0), + (255, 255, 255, 0), + (255, 0, 255, 255), + (255, 255, 220, 50), + (255, 30, 30, 255) +] + +#********************for scoped_timing.py******************** +# 时间统计类 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#********************for ai_utils.py******************** +global current_kmodel_obj #当前kpu对象 +# fd_ai2d： 人脸检测ai2d实例 +# fd_ai2d_input_tensor： 人脸检测ai2d输入 +# fd_ai2d_output_tensor： 人脸检测ai2d输入 +# fd_ai2d_builder： 根据人脸检测ai2d参数，构建的人脸检测ai2d_builder对象 +global fd_ai2d,fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder +# fld_ai2d： 人脸关键点ai2d实例 +# fld_ai2d_input_tensor： 人脸关键点ai2d输入 +# fld_ai2d_output_tensor：人脸关键点ai2d输入 +# fld_ai2d_builder： 根据人脸关键点ai2d参数，构建的人脸关键点ai2d_builder对象 +global fld_ai2d,fld_ai2d_input_tensor,fld_ai2d_output_tensor,fld_ai2d_builder +global matrix_dst #人脸仿射变换矩阵 + +#读取anchor文件，为人脸检测后处理做准备 +print('anchors_path:',anchors_path) +prior_data = np.fromfile(anchors_path, dtype=np.float) +prior_data = prior_data.reshape((anchor_len,det_dim)) + +def get_pad_one_side_param(): + # 右padding或下padding，获取padding参数 + dst_w = fd_kmodel_input_shape[3] # kmodel输入宽（w） + dst_h = fd_kmodel_input_shape[2] # kmodel输入高（h） + + # OUT_RGB888P_WIDTH：原图宽（w） + # OUT_RGB888P_HEIGH：原图高（h） + # 计算最小的缩放比例，等比例缩放 + ratio_w = dst_w / OUT_RGB888P_WIDTH + ratio_h = dst_h / OUT_RGB888P_HEIGH + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + # 计算经过缩放后的新宽和新高 + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGH) + + # 计算需要添加的padding，以使得kmodel输入的宽高和原图一致 + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + # 四舍五入，确保padding是整数 + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +def fd_ai2d_init(): + # 人脸检测模型ai2d初始化 + with ScopedTiming("fd_ai2d_init",debug_mode > 0): + # （1）创建人脸检测ai2d对象 + global fd_ai2d + fd_ai2d = nn.ai2d() + # （2）设置人脸检测ai2d参数 + fd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + fd_ai2d.set_pad_param(True, get_pad_one_side_param(), 0, rgb_mean) + fd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + #（3）人脸检测ai2d_builder，根据人脸检测ai2d参数、输入输出大小创建ai2d_builder对象 + global fd_ai2d_builder + fd_ai2d_builder = fd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fd_kmodel_input_shape) + + #（4）创建人脸检测ai2d_output_tensor，用于保存人脸检测ai2d输出 + global fd_ai2d_output_tensor + data = np.ones(fd_kmodel_input_shape, dtype=np.uint8) + fd_ai2d_output_tensor = nn.from_numpy(data) + +def fd_ai2d_run(rgb888p_img): + # 根据人脸检测ai2d参数，对原图rgb888p_img进行预处理 + with ScopedTiming("fd_ai2d_run",debug_mode > 0): + global fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder + # （1）根据原图构建ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fd_ai2d_input_tensor = nn.from_numpy(ai2d_input) + # （2）运行人脸检测ai2d_builder，将结果保存到人脸检测ai2d_output_tensor中 + fd_ai2d_builder.run(fd_ai2d_input_tensor, fd_ai2d_output_tensor) + +def fd_ai2d_release(): + # 释放人脸检测ai2d_input_tensor + with ScopedTiming("fd_ai2d_release",debug_mode > 0): + global fd_ai2d_input_tensor + del fd_ai2d_input_tensor + + +def fd_kpu_init(kmodel_file): + # 初始化人脸检测kpu对象，并加载kmodel + with ScopedTiming("fd_kpu_init",debug_mode > 0): + # 初始化人脸检测kpu对象 + kpu_obj = nn.kpu() + # 加载人脸检测kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸检测ai2d + fd_ai2d_init() + return kpu_obj + +def fd_kpu_pre_process(rgb888p_img): + # 设置人脸检测kpu输入 + # 使用人脸检测ai2d对原图进行预处理（padding，resize） + fd_ai2d_run(rgb888p_img) + with ScopedTiming("fd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fd_ai2d_output_tensor + # 设置人脸检测kpu输入 + current_kmodel_obj.set_input_tensor(0, fd_ai2d_output_tensor) + +def fd_kpu_get_output(): + # 获取人脸检测kpu输出 + with ScopedTiming("fd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取模型输出，并将结果转换为numpy，以便进行人脸检测后处理 + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +def fd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）原图预处理，并设置模型输入 + fd_kpu_pre_process(rgb888p_img) + # （2）人脸检测kpu推理 + with ScopedTiming("fd kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸检测ai2d资源 + fd_ai2d_release() + # （4）获取人俩检测kpu输出 + results = fd_kpu_get_output() + # （5）人脸检测kpu结果后处理 + with ScopedTiming("fd kpu_post",debug_mode > 0): + post_ret = aidemo.face_det_post_process(confidence_threshold,nms_threshold,fd_kmodel_input_shape[2],prior_data, + [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH],results) + # （6）返回人脸检测框 + if len(post_ret)==0: + return post_ret + else: + return post_ret[0] #0:det,1:landm,2:score + +def fd_kpu_deinit(kpu_obj): + # kpu释放 + with ScopedTiming("fd_kpu_deinit",debug_mode > 0): + global fd_ai2d, fd_ai2d_output_tensor + del kpu_obj #删除人脸检测kpu_obj变量，释放对它所引用对象的内存引用 + del fd_ai2d #删除人脸检测ai2d变量，释放对它所引用对象的内存引用 + del fd_ai2d_output_tensor #删除人脸检测ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +###############for face recognition############### +def get_affine_matrix(bbox): + # 获取仿射矩阵，用于将边界框映射到模型输入空间 + with ScopedTiming("get_affine_matrix", debug_mode > 1): + # 从边界框提取坐标和尺寸 + x1, y1, w, h = map(lambda x: int(round(x, 0)), bbox[:4]) + # 计算缩放比例，使得边界框映射到模型输入空间的一部分 + scale_ratio = (fld_kmodel_input_shape[2]) / (max(w, h) * 1.5) + # 计算边界框中心点在模型输入空间的坐标 + cx = (x1 + w / 2) * scale_ratio + cy = (y1 + h / 2) * scale_ratio + # 计算模型输入空间的一半长度 + half_input_len = fld_kmodel_input_shape[2] / 2 + + # 创建仿射矩阵并进行设置 + matrix_dst = np.zeros((2, 3), dtype=np.float) + matrix_dst[0, 0] = scale_ratio + matrix_dst[0, 1] = 0 + matrix_dst[0, 2] = half_input_len - cx + matrix_dst[1, 0] = 0 + matrix_dst[1, 1] = scale_ratio + matrix_dst[1, 2] = half_input_len - cy + return matrix_dst + +def fld_ai2d_init(): + # 人脸关键点ai2d初始化 + with ScopedTiming("fld_ai2d_init",debug_mode > 0): + # （1）创建人脸关键点ai2d对象 + global fld_ai2d + fld_ai2d = nn.ai2d() + + # （2）创建人脸关键点ai2d_output_tensor对象，用于存放ai2d输出 + global fld_ai2d_output_tensor + data = np.ones(fld_kmodel_input_shape, dtype=np.uint8) + fld_ai2d_output_tensor = nn.from_numpy(data) + +def fld_ai2d_run(rgb888p_img,det): + # 人脸关键点ai2d推理 + with ScopedTiming("fld_ai2d_run",debug_mode > 0): + global fld_ai2d,fld_ai2d_input_tensor,fld_ai2d_output_tensor + #（1）根据原图ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fld_ai2d_input_tensor = nn.from_numpy(ai2d_input) + + # （2）根据新的det设置新的人脸关键点ai2d参数 + fld_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + global matrix_dst + matrix_dst = get_affine_matrix(det) + affine_matrix = [matrix_dst[0][0],matrix_dst[0][1],matrix_dst[0][2], + matrix_dst[1][0],matrix_dst[1][1],matrix_dst[1][2]] + fld_ai2d.set_affine_param(True,nn.interp_method.cv2_bilinear,0, 0, 127, 1,affine_matrix) + + # （3）根据新的人脸关键点ai2d参数，构建人脸关键点ai2d_builder + global fld_ai2d_builder + fld_ai2d_builder = fld_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fld_kmodel_input_shape) + # （4）推理人脸关键点ai2d，将预处理的结果保存到fld_ai2d_output_tensor + fld_ai2d_builder.run(fld_ai2d_input_tensor, fld_ai2d_output_tensor) + +def fld_ai2d_release(): + # 释放人脸关键点ai2d_input_tensor、ai2d_builder + with ScopedTiming("fld_ai2d_release",debug_mode > 0): + global fld_ai2d_input_tensor,fld_ai2d_builder + del fld_ai2d_input_tensor + del fld_ai2d_builder + +def fld_kpu_init(kmodel_file): + # 人脸关键点kpu初始化 + with ScopedTiming("fld_kpu_init",debug_mode > 0): + # 初始化人脸关键点kpu对象 + kpu_obj = nn.kpu() + # 加载人脸关键点kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸关键点ai2d + fld_ai2d_init() + return kpu_obj + +def fld_kpu_pre_process(rgb888p_img,det): + # 人脸关键点kpu预处理 + # 人脸关键点ai2d推理，根据det对原图进行预处理 + fld_ai2d_run(rgb888p_img,det) + with ScopedTiming("fld_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fld_ai2d_output_tensor + # 将人脸关键点ai2d输出设置为人脸关键点kpu输入 + current_kmodel_obj.set_input_tensor(0, fld_ai2d_output_tensor) + #ai2d_out_data = fld_ai2d_output_tensor.to_numpy() + #with open("/sdcard/app/ai2d_out.bin", "wb") as file: + #file.write(ai2d_out_data.tobytes()) + +def fld_kpu_get_output(): + with ScopedTiming("fld_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取人脸关键点kpu输出 + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + del data + return result + +def fld_kpu_post_process(pred): + # 人脸关键点kpu推理结果后处理 + with ScopedTiming("fld_kpu_post_process",debug_mode > 0): + # （1）将人脸关键点输出变换模型输入 + half_input_len = fld_kmodel_input_shape[2] // 2 + pred = pred.flatten() + for i in range(len(pred)): + pred[i] += (pred[i] + 1) * half_input_len + + # （2）获取仿射矩阵的逆矩阵 + global matrix_dst + matrix_dst_inv = aidemo.invert_affine_transform(matrix_dst) + matrix_dst_inv = matrix_dst_inv.flatten() + + # （3）对每个关键点进行逆变换 + half_out_len = len(pred) // 2 + for kp_id in range(half_out_len): + old_x = pred[kp_id * 2] + old_y = pred[kp_id * 2 + 1] + + # 逆变换公式 + new_x = old_x * matrix_dst_inv[0] + old_y * matrix_dst_inv[1] + matrix_dst_inv[2] + new_y = old_x * matrix_dst_inv[3] + old_y * matrix_dst_inv[4] + matrix_dst_inv[5] + + pred[kp_id * 2] = new_x + pred[kp_id * 2 + 1] = new_y + + return pred + +def fld_kpu_run(kpu_obj,rgb888p_img,det): + # 人脸关键点kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）人脸关键点kpu预处理，设置kpu输入 + fld_kpu_pre_process(rgb888p_img,det) + # （2）人脸关键点kpu推理 + with ScopedTiming("fld_kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸关键点ai2d + fld_ai2d_release() + # （4）获取人脸关键点kpu输出 + result = fld_kpu_get_output() + # （5）人脸关键点后处理 + result = fld_kpu_post_process(result) + return result + +def fld_kpu_deinit(kpu_obj): + # 人脸关键点kpu释放 + with ScopedTiming("fld_kpu_deinit",debug_mode > 0): + global fld_ai2d,fld_ai2d_output_tensor + del kpu_obj # 删除kpu_obj变量，释放对它所引用对象的内存引用 + del fld_ai2d # 删除fld_ai2d变量，释放对它所引用对象的内存引用 + del fld_ai2d_output_tensor # 删除fld_ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +#********************for media_utils.py******************** +global draw_img_ulab,draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +# for display，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.2 +def display_init(): + # 设置使用hdmi进行显示 + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +def display_deinit(): + # 释放显示资源 + display.deinit() + +def display_draw(dets,landmark_preds): + # 在显示器画人脸轮廓 + with ScopedTiming("display_draw",debug_mode >0): + global draw_img_ulab,draw_img,osd_img + if dets: + draw_img.clear() + for pred in landmark_preds: + # （1）获取单个人脸框对应的人脸关键点 + for sub_part_index in range(len(dict_kp_seq)): + # （2）构建人脸某个区域关键点集 + sub_part = dict_kp_seq[sub_part_index] + face_sub_part_point_set = [] + for kp_index in range(len(sub_part)): + real_kp_index = sub_part[kp_index] + x, y = pred[real_kp_index * 2], pred[real_kp_index * 2 + 1] + + x = int(x * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y = int(y * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + face_sub_part_point_set.append((x, y)) + + # （3）画人脸不同区域的轮廓 + if sub_part_index in (9, 6): + color = np.array(color_list_for_osd_kp[sub_part_index],dtype = np.uint8) + face_sub_part_point_set = np.array(face_sub_part_point_set) + + aidemo.polylines(draw_img_ulab, face_sub_part_point_set,False,color,5,8,0) + + elif sub_part_index == 4: + color = color_list_for_osd_kp[sub_part_index] + for kp in face_sub_part_point_set: + x,y = kp[0],kp[1] + draw_img.draw_circle(x,y ,2, color, 1) + else: + color = np.array(color_list_for_osd_kp[sub_part_index],dtype = np.uint8) + face_sub_part_point_set = np.array(face_sub_part_point_set) + aidemo.contours(draw_img_ulab, face_sub_part_point_set,-1,color,2,8) + + # （4）将轮廓结果拷贝到osd + draw_img.copy_to(osd_img) + # （5）将osd显示到屏幕 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + # （1）清空用来画框的图像 + draw_img.clear() + # （2）清空osd + draw_img.copy_to(osd_img) + # （3）显示透明图层 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.1 +def camera_init(dev_id): + # camera初始化 + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +def camera_start(dev_id): + # camera启动 + camera.start_stream(dev_id) + +def camera_read(dev_id): + # 读取一帧图像 + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +def camera_release_image(dev_id,rgb888p_img): + # 释放一帧图像 + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +def camera_stop(dev_id): + # 停止camera + camera.stop_stream(dev_id) + +#for media，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.3 +def media_init(): + # meida初始化 + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img_ulab,draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 用于画框 + draw_img_ulab = np.zeros((DISPLAY_HEIGHT,DISPLAY_WIDTH,4),dtype=np.uint8) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_REF,data = draw_img_ulab) + # 用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +def media_deinit(): + # meida资源释放 + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#********************for face_detect.py******************** +def face_landmark_inference(): + print("face_landmark_test start") + # 人脸检测kpu初始化 + kpu_face_detect = fd_kpu_init(fd_kmodel_file) + # 人脸关键点kpu初始化 + kpu_face_landmark = fld_kpu_init(fr_kmodel_file) + # camera初始化 + camera_init(CAM_DEV_ID_0) + # 显示初始化 + display_init() + + rgb888p_img = None + # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 + try: + # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） + ret = media_init() + if ret: + print("face_detect_test, buffer init failed") + return ret + + # 启动camera + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + # （1）读取一帧图像 + rgb888p_img = camera_read(CAM_DEV_ID_0) + # （2）若读取失败，释放当前帧 + if rgb888p_img == -1: + print("face_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + # （3）若读取成功，推理当前帧 + if rgb888p_img.format() == image.RGBP888: + # （3.1）推理当前图像，并获取人脸检测结果 + dets = fd_kpu_run(kpu_face_detect,rgb888p_img) + # （3.2）针对每个人脸框，推理得到对应人脸关键点 + landmark_result = [] + for det in dets: + ret = fld_kpu_run(kpu_face_landmark,rgb888p_img,det) + landmark_result.append(ret) + # （3.3）将人脸关键点画到屏幕上 + display_draw(dets,landmark_result) + + # （4）释放当前帧 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + #with ScopedTiming("gc collect", debug_mode > 0): + #gc.collect() + except Exception as e: + # 捕捉运行运行中异常，并打印错误 + print(f"An error occurred during buffer used: {e}") + finally: + # 释放当前帧 + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + # 停止camera + camera_stop(CAM_DEV_ID_0) + # 释放显示资源 + display_deinit() + # 释放kpu资源 + fd_kpu_deinit(kpu_face_detect) + fld_kpu_deinit(kpu_face_landmark) + # 垃圾回收 + gc.collect() + time.sleep(1) + # 释放媒体资源 + ret = media_deinit() + if ret: + print("face_landmark_test, buffer_deinit failed") + return ret + + print("face_landmark_test end") + return 0 + +if __name__ == '__main__': + face_landmark_inference() diff --git a/tests/ai_demo/face_mesh.py b/tests/ai_demo/face_mesh.py new file mode 100644 index 0000000..64546e4 --- /dev/null +++ b/tests/ai_demo/face_mesh.py @@ -0,0 +1,621 @@ +import ulab.numpy as np # 类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn # nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * # 摄像头模块 +from media.display import * # 显示模块 +from media.media import * # 软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import aidemo # aidemo模块，封装ai demo相关后处理、画图操作 +import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time # 时间统计 +import gc # 垃圾回收模块 +import os # 操作系统接口模块 +import math # 数学模块 + + +#********************for config.py******************** +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) # 显示宽度要求16位对齐 +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率，sensor默认出图为16:9，若需不形变原图，最好按照16:9比例设置宽高 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) # ai原图宽度要求16位对齐 +OUT_RGB888P_HEIGH = 1080 + +# kmodel参数设置 +# 人脸检测kmodel输入shape +fd_kmodel_input_shape = (1,3,320,320) +# 人脸mesh kmodel输入shape +fm_kmodel_input_shape = (1,3,120,120) +fmpost_kmodel_input_shapes = [(3,3),(3,1),(40,1),(10,1)] +# ai原图padding +rgb_mean = [104,117,123] + +#人脸检测kmodel其它参数设置 +confidence_threshold = 0.5 # 人脸检测阈值 +top_k = 5000 +nms_threshold = 0.2 +keep_top_k = 750 +vis_thres = 0.5 +variance = [0.1, 0.2] +anchor_len = 4200 +score_dim = 2 +det_dim = 4 +keypoint_dim = 10 + +# 文件配置 +# 人脸检测kmodel +root_dir = '/sdcard/app/tests/' +fd_kmodel_file = root_dir + 'kmodel/face_detection_320.kmodel' +# 人脸mesh kmodel +fm_kmodel_file = root_dir + 'kmodel/face_alignment.kmodel' +# 人脸mesh后处理kmodel +fmpost_kmodel_file = root_dir + 'kmodel/face_alignment_post.kmodel' +# anchor文件 +anchors_path = root_dir + 'utils/prior_data_320.bin' +# 人脸mesh参数均值 +param_mean = np.array([0.0003492636315058917,2.52790130161884e-07,-6.875197868794203e-07,60.1679573059082,-6.295513230725192e-07,0.0005757200415246189,-5.085391239845194e-05,74.2781982421875,5.400917189035681e-07,6.574138387804851e-05,0.0003442012530285865,-66.67157745361328,-346603.6875,-67468.234375,46822.265625,-15262.046875,4350.5888671875,-54261.453125,-18328.033203125,-1584.328857421875,-84566.34375,3835.960693359375,-20811.361328125,38094.9296875,-19967.85546875,-9241.3701171875,-19600.71484375,13168.08984375,-5259.14404296875,1848.6478271484375,-13030.662109375,-2435.55615234375,-2254.20654296875,-14396.5615234375,-6176.3291015625,-25621.919921875,226.39447021484375,-6326.12353515625,-10867.2509765625,868.465087890625,-5831.14794921875,2705.123779296875,-3629.417724609375,2043.9901123046875,-2446.6162109375,3658.697021484375,-7645.98974609375,-6674.45263671875,116.38838958740234,7185.59716796875,-1429.48681640625,2617.366455078125,-1.2070955038070679,0.6690792441368103,-0.17760828137397766,0.056725528091192245,0.03967815637588501,-0.13586315512657166,-0.09223993122577667,-0.1726071834564209,-0.015804484486579895,-0.1416848599910736],dtype=np.float) +# 人脸mesh参数方差 +param_std = np.array([0.00017632152594160289,6.737943476764485e-05,0.00044708489440381527,26.55023193359375,0.0001231376954820007,4.493021697271615e-05,7.923670636955649e-05,6.982563018798828,0.0004350444069132209,0.00012314890045672655,0.00017400001524947584,20.80303955078125,575421.125,277649.0625,258336.84375,255163.125,150994.375,160086.109375,111277.3046875,97311.78125,117198.453125,89317.3671875,88493.5546875,72229.9296875,71080.2109375,50013.953125,55968.58203125,47525.50390625,49515.06640625,38161.48046875,44872.05859375,46273.23828125,38116.76953125,28191.162109375,32191.4375,36006.171875,32559.892578125,25551.1171875,24267.509765625,27521.3984375,23166.53125,21101.576171875,19412.32421875,19452.203125,17454.984375,22537.623046875,16174.28125,14671.640625,15115.6884765625,13870.0732421875,13746.3125,12663.1337890625,1.5870834589004517,1.5077009201049805,0.5881357789039612,0.5889744758605957,0.21327851712703705,0.2630201280117035,0.2796429395675659,0.38030216097831726,0.16162841022014618,0.2559692859649658],dtype=np.float) +# 调试模型，0：不调试，>0：打印对应级别调试信息 +debug_mode = 0 + +#********************for scoped_timing.py******************** +# 时间统计类 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#********************for ai_utils.py******************** +global current_kmodel_obj #当前kpu对象 +# fd_ai2d： 人脸检测ai2d实例 +# fd_ai2d_input_tensor： 人脸检测ai2d输入 +# fd_ai2d_output_tensor： 人脸检测ai2d输入 +# fd_ai2d_builder： 根据人脸检测ai2d参数，构建的人脸检测ai2d_builder对象 +global fd_ai2d,fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder +# fm_ai2d： 人脸mesh ai2d实例 +# fm_ai2d_input_tensor： 人脸mesh ai2d输入 +# fm_ai2d_output_tensor：人脸mesh ai2d输入 +# fm_ai2d_builder： 根据人脸mesh ai2d参数，构建的人脸mesh ai2d_builder对象 +global fm_ai2d,fm_ai2d_input_tensor,fm_ai2d_output_tensor,fm_ai2d_builder +global roi #人脸区域 +global vertices #3D关键点 + +#读取anchor文件，为人脸检测后处理做准备 +print('anchors_path:',anchors_path) +prior_data = np.fromfile(anchors_path, dtype=np.float) +prior_data = prior_data.reshape((anchor_len,det_dim)) + +def get_pad_one_side_param(): + # 右padding或下padding，获取padding参数 + dst_w = fd_kmodel_input_shape[3] # kmodel输入宽（w） + dst_h = fd_kmodel_input_shape[2] # kmodel输入高（h） + + # OUT_RGB888P_WIDTH：原图宽（w） + # OUT_RGB888P_HEIGH：原图高（h） + # 计算最小的缩放比例，等比例缩放 + ratio_w = dst_w / OUT_RGB888P_WIDTH + ratio_h = dst_h / OUT_RGB888P_HEIGH + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + # 计算经过缩放后的新宽和新高 + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGH) + + # 计算需要添加的padding，以使得kmodel输入的宽高和原图一致 + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + # 四舍五入，确保padding是整数 + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +def fd_ai2d_init(): + # 人脸检测模型ai2d初始化 + with ScopedTiming("fd_ai2d_init",debug_mode > 0): + # （1）创建人脸检测ai2d对象 + global fd_ai2d + fd_ai2d = nn.ai2d() + # （2）设置人脸检测ai2d参数 + fd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + fd_ai2d.set_pad_param(True, get_pad_one_side_param(), 0, rgb_mean) + fd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + #（3）人脸检测ai2d_builder，根据人脸检测ai2d参数、输入输出大小创建ai2d_builder对象 + global fd_ai2d_builder + fd_ai2d_builder = fd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fd_kmodel_input_shape) + + #（4）创建人脸检测ai2d_output_tensor，用于保存人脸检测ai2d输出 + global fd_ai2d_output_tensor + data = np.ones(fd_kmodel_input_shape, dtype=np.uint8) + fd_ai2d_output_tensor = nn.from_numpy(data) + +def fd_ai2d_run(rgb888p_img): + # 根据人脸检测ai2d参数，对原图rgb888p_img进行预处理 + with ScopedTiming("fd_ai2d_run",debug_mode > 0): + global fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder + # （1）根据原图构建ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fd_ai2d_input_tensor = nn.from_numpy(ai2d_input) + # （2）运行人脸检测ai2d_builder，将结果保存到人脸检测ai2d_output_tensor中 + fd_ai2d_builder.run(fd_ai2d_input_tensor, fd_ai2d_output_tensor) + +def fd_ai2d_release(): + # 释放人脸检测ai2d_input_tensor + with ScopedTiming("fd_ai2d_release",debug_mode > 0): + global fd_ai2d_input_tensor + del fd_ai2d_input_tensor + +def fd_kpu_init(kmodel_file): + # 初始化人脸检测kpu对象，并加载kmodel + with ScopedTiming("fd_kpu_init",debug_mode > 0): + # 初始化人脸检测kpu对象 + kpu_obj = nn.kpu() + # 加载人脸检测kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸检测ai2d + fd_ai2d_init() + return kpu_obj + +def fd_kpu_pre_process(rgb888p_img): + # 设置人脸检测kpu输入 + # 使用人脸检测ai2d对原图进行预处理（padding，resize） + fd_ai2d_run(rgb888p_img) + with ScopedTiming("fd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fd_ai2d_output_tensor + # 设置人脸检测kpu输入 + current_kmodel_obj.set_input_tensor(0, fd_ai2d_output_tensor) + +def fd_kpu_get_output(): + # 获取人脸检测kpu输出 + with ScopedTiming("fd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取模型输出，并将结果转换为numpy，以便进行人脸检测后处理 + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +def fd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）原图预处理，并设置模型输入 + fd_kpu_pre_process(rgb888p_img) + # （2）人脸检测kpu推理 + with ScopedTiming("fd kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸检测ai2d资源 + fd_ai2d_release() + # （4）获取人俩检测kpu输出 + results = fd_kpu_get_output() + # （5）人脸检测kpu结果后处理 + with ScopedTiming("fd kpu_post",debug_mode > 0): + post_ret = aidemo.face_det_post_process(confidence_threshold,nms_threshold,fd_kmodel_input_shape[2],prior_data, + [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH],results) + # （6）返回人脸检测框 + if len(post_ret)==0: + return post_ret + else: + return post_ret[0] #0:det,1:landm,2:score + +def fd_kpu_deinit(kpu_obj): + # kpu释放 + with ScopedTiming("fd_kpu_deinit",debug_mode > 0): + global fd_ai2d, fd_ai2d_output_tensor + del kpu_obj #删除人脸检测kpu_obj变量，释放对它所引用对象的内存引用 + del fd_ai2d #删除人脸检测ai2d变量，释放对它所引用对象的内存引用 + del fd_ai2d_output_tensor #删除人脸检测ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +###############for face recognition############### +def parse_roi_box_from_bbox(bbox): + # 获取人脸roi + x1, y1, w, h = map(lambda x: int(round(x, 0)), bbox[:4]) + old_size = (w + h) / 2 + center_x = x1 + w / 2 + center_y = y1 + h / 2 + old_size * 0.14 + size = int(old_size * 1.58) + + x0 = center_x - float(size) / 2 + y0 = center_y - float(size) / 2 + x1 = x0 + size + y1 = y0 + size + + x0 = max(0, min(x0, OUT_RGB888P_WIDTH)) + y0 = max(0, min(y0, OUT_RGB888P_HEIGH)) + x1 = max(0, min(x1, OUT_RGB888P_WIDTH)) + y1 = max(0, min(y1, OUT_RGB888P_HEIGH)) + + roi = (x0, y0, x1 - x0, y1 - y0) + return roi + +def fm_ai2d_init(): + # 人脸mesh ai2d初始化 + with ScopedTiming("fm_ai2d_init",debug_mode > 0): + # （1）创建人脸mesh ai2d对象 + global fm_ai2d + fm_ai2d = nn.ai2d() + + # （2）创建人脸mesh ai2d_output_tensor对象，用于存放ai2d输出 + global fm_ai2d_output_tensor + data = np.ones(fm_kmodel_input_shape, dtype=np.uint8) + fm_ai2d_output_tensor = nn.from_numpy(data) + +def fm_ai2d_run(rgb888p_img,det): + # 人脸mesh ai2d推理 + with ScopedTiming("fm_ai2d_run",debug_mode > 0): + global fm_ai2d,fm_ai2d_input_tensor,fm_ai2d_output_tensor + #（1）根据原图ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fm_ai2d_input_tensor = nn.from_numpy(ai2d_input) + + # （2）根据新的det设置新的人脸mesh ai2d参数 + fm_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + global roi + roi = parse_roi_box_from_bbox(det) + fm_ai2d.set_crop_param(True,int(roi[0]),int(roi[1]),int(roi[2]),int(roi[3])) + fm_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + # （3）根据新的人脸mesh ai2d参数，构建人脸mesh ai2d_builder + global fm_ai2d_builder + fm_ai2d_builder = fm_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fm_kmodel_input_shape) + # （4）推理人脸mesh ai2d，将预处理的结果保存到fm_ai2d_output_tensor + fm_ai2d_builder.run(fm_ai2d_input_tensor, fm_ai2d_output_tensor) + +def fm_ai2d_release(): + # 释放人脸mesh ai2d_input_tensor、ai2d_builder + with ScopedTiming("fm_ai2d_release",debug_mode > 0): + global fm_ai2d_input_tensor,fm_ai2d_builder + del fm_ai2d_input_tensor + del fm_ai2d_builder + +def fm_kpu_init(kmodel_file): + # 人脸mesh kpu初始化 + with ScopedTiming("fm_kpu_init",debug_mode > 0): + # 初始化人脸mesh kpu对象 + kpu_obj = nn.kpu() + # 加载人脸mesh kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸mesh ai2d + fm_ai2d_init() + return kpu_obj + +def fm_kpu_pre_process(rgb888p_img,det): + # 人脸mesh kpu预处理 + # 人脸mesh ai2d推理，根据det对原图进行预处理 + fm_ai2d_run(rgb888p_img,det) + with ScopedTiming("fm_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fm_ai2d_output_tensor + # 将人脸mesh ai2d输出设置为人脸mesh kpu输入 + current_kmodel_obj.set_input_tensor(0, fm_ai2d_output_tensor) + +def fm_kpu_get_output(): + with ScopedTiming("fm_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取人脸mesh kpu输出 + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + del data + return result + +def fm_kpu_post_process(param): + # 人脸mesh kpu结果后处理，反标准化 + with ScopedTiming("fm_kpu_post_process",debug_mode > 0): + param = param * param_std + param_mean + return param + +def fm_kpu_run(kpu_obj,rgb888p_img,det): + # 人脸mesh kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）人脸mesh kpu预处理，设置kpu输入 + fm_kpu_pre_process(rgb888p_img,det) + # （2）人脸mesh kpu推理 + with ScopedTiming("fm_kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸mesh ai2d + fm_ai2d_release() + # （4）获取人脸mesh kpu输出 + param = fm_kpu_get_output() + # （5）人脸mesh 后处理 + param = fm_kpu_post_process(param) + return param + +def fm_kpu_deinit(kpu_obj): + # 人脸mesh kpu释放 + with ScopedTiming("fm_kpu_deinit",debug_mode > 0): + global fm_ai2d,fm_ai2d_output_tensor + del kpu_obj # 删除kpu_obj变量，释放对它所引用对象的内存引用 + del fm_ai2d # 删除fm_ai2d变量，释放对它所引用对象的内存引用 + del fm_ai2d_output_tensor # 删除fm_ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +def fmpost_kpu_init(kmodel_file): + # face mesh post模型初始化 + with ScopedTiming("fmpost_kpu_init",debug_mode > 0): + # 初始化人脸mesh kpu post对象 + kpu_obj = nn.kpu() + # 加载人脸mesh后处理kmodel + kpu_obj.load_kmodel(kmodel_file) + return kpu_obj + +def fmpost_kpu_pre_process(param): + # face mesh post模型预处理，param解析 + with ScopedTiming("fmpost_kpu_pre_process",debug_mode > 0): + param = param[0] + trans_dim, shape_dim, exp_dim = 12, 40, 10 + + # reshape前务必进行copy，否则会导致模型输入错误 + R_ = param[:trans_dim].copy().reshape((3, -1)) + R = R_[:, :3].copy() + offset = R_[:, 3].copy() + offset = offset.reshape((3, 1)) + alpha_shp = param[trans_dim:trans_dim + shape_dim].copy().reshape((-1, 1)) + alpha_exp = param[trans_dim + shape_dim:].copy().reshape((-1, 1)) + + R_tensor = nn.from_numpy(R) + current_kmodel_obj.set_input_tensor(0, R_tensor) + del R_tensor + + offset_tensor = nn.from_numpy(offset) + current_kmodel_obj.set_input_tensor(1, offset_tensor) + del offset_tensor + + alpha_shp_tensor = nn.from_numpy(alpha_shp) + current_kmodel_obj.set_input_tensor(2, alpha_shp_tensor) + del alpha_shp_tensor + + alpha_exp_tensor = nn.from_numpy(alpha_exp) + current_kmodel_obj.set_input_tensor(3, alpha_exp_tensor) + del alpha_exp_tensor + + return + +def fmpost_kpu_get_output(): + # 获取face mesh post模型输出 + with ScopedTiming("fmpost_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取人脸mesh kpu输出 + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + del data + return result + +def fmpost_kpu_post_process(roi): + # face mesh post模型推理结果后处理 + with ScopedTiming("fmpost_kpu_post_process",debug_mode > 0): + x, y, w, h = map(lambda x: int(round(x, 0)), roi[:4]) + x = x * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + y = y * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + w = w * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + h = h * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + roi_array = np.array([x,y,w,h],dtype=np.float) + global vertices + aidemo.face_mesh_post_process(roi_array,vertices) + return + +def fmpost_kpu_run(kpu_obj,param): + # face mesh post模型推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + fmpost_kpu_pre_process(param) + with ScopedTiming("fmpost_kpu_run",debug_mode > 0): + kpu_obj.run() + global vertices + vertices = fmpost_kpu_get_output() + global roi + fmpost_kpu_post_process(roi) + return + +def fmpost_kpu_deinit(kpu_obj): + # face mesh post模型释放 + with ScopedTiming("fm_kpu_deinit",debug_mode > 0): + del kpu_obj + +#********************for media_utils.py******************** +global draw_img_ulab,draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +# for display，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.2 +def display_init(): + # 设置使用hdmi进行显示 + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +def display_deinit(): + # 释放显示资源 + display.deinit() + +def display_draw(dets,vertices_list): + # 在显示器画人脸轮廓 + with ScopedTiming("display_draw",debug_mode >0): + global draw_img_ulab,draw_img,osd_img + if dets: + draw_img.clear() + for vertices in vertices_list: + aidemo.face_draw_mesh(draw_img_ulab, vertices) + # （4）将轮廓结果拷贝到osd + draw_img.copy_to(osd_img) + # （5）将osd显示到屏幕 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + # （1）清空用来画框的图像 + draw_img.clear() + # （2）清空osd + draw_img.copy_to(osd_img) + # （3）显示透明图层 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.1 +def camera_init(dev_id): + # camera初始化 + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +def camera_start(dev_id): + # camera启动 + camera.start_stream(dev_id) + +def camera_read(dev_id): + # 读取一帧图像 + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +def camera_release_image(dev_id,rgb888p_img): + # 释放一帧图像 + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +def camera_stop(dev_id): + # 停止camera + camera.stop_stream(dev_id) + +#for media，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.3 +def media_init(): + # meida初始化 + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img_ulab,draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 用于画框 + draw_img_ulab = np.zeros((DISPLAY_HEIGHT,DISPLAY_WIDTH,4),dtype=np.uint8) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_REF,data = draw_img_ulab) + # 用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +def media_deinit(): + # meida资源释放 + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#********************for face_detect.py******************** +def face_mesh_inference(): + # 人脸检测kpu初始化 + kpu_face_detect = fd_kpu_init(fd_kmodel_file) + # 人脸mesh kpu初始化 + kpu_face_mesh = fm_kpu_init(fm_kmodel_file) + # face_mesh_post kpu初始化 + kpu_face_mesh_post = fmpost_kpu_init(fmpost_kmodel_file) + # camera初始化 + camera_init(CAM_DEV_ID_0) + # 显示初始化 + display_init() + + rgb888p_img = None + # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 + try: + # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） + ret = media_init() + if ret: + print("face_detect_test, buffer init failed") + return ret + + # 启动camera + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + # （1）读取一帧图像 + rgb888p_img = camera_read(CAM_DEV_ID_0) + # （2）若读取失败，释放当前帧 + if rgb888p_img == -1: + print("face_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + # （3）若读取成功，推理当前帧 + if rgb888p_img.format() == image.RGBP888: + # （3.1）推理当前图像，并获取人脸检测结果 + dets = fd_kpu_run(kpu_face_detect,rgb888p_img) + ## （3.2）针对每个人脸框，推理得到对应人脸mesh + mesh_result = [] + for det in dets: + param = fm_kpu_run(kpu_face_mesh,rgb888p_img,det) + fmpost_kpu_run(kpu_face_mesh_post,param) + global vertices + mesh_result.append(vertices) + ## （3.3）将人脸mesh 画到屏幕上 + display_draw(dets,mesh_result) + + # （4）释放当前帧 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + #with ScopedTiming("gc collect", debug_mode > 0): + #gc.collect() + except Exception as e: + # 捕捉运行运行中异常，并打印错误 + print(f"An error occurred during buffer used: {e}") + finally: + # 释放当前帧 + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + # 停止camera + camera_stop(CAM_DEV_ID_0) + # 释放显示资源 + display_deinit() + # 释放kpu资源 + fd_kpu_deinit(kpu_face_detect) + fm_kpu_deinit(kpu_face_mesh) + fmpost_kpu_deinit(kpu_face_mesh_post) + # 垃圾回收 + gc.collect() + time.sleep(1) + # 释放媒体资源 + ret = media_deinit() + if ret: + print("face_mesh_test, buffer_deinit failed") + return ret + + #print("face_mesh_test end") + return 0 + +if __name__ == '__main__': + face_mesh_inference() diff --git a/tests/ai_demo/face_parse.py b/tests/ai_demo/face_parse.py new file mode 100644 index 0000000..b3b982b --- /dev/null +++ b/tests/ai_demo/face_parse.py @@ -0,0 +1,530 @@ +import ulab.numpy as np # 类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn # nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * # 摄像头模块 +from media.display import * # 显示模块 +from media.media import * # 软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import aidemo # aidemo模块，封装ai demo相关后处理、画图操作 +import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time # 时间统计 +import gc # 垃圾回收模块 +import os # 操作系统接口模块 +import math # 数学模块 + +#********************for config.py******************** +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) # 显示宽度要求16位对齐 +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率，sensor默认出图为16:9，若需不形变原图，最好按照16:9比例设置宽高 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) # ai原图宽度要求16位对齐 +OUT_RGB888P_HEIGH = 1080 + +# kmodel参数设置 +# 人脸检测kmodel输入shape +fd_kmodel_input_shape = (1,3,320,320) +# 人脸解析kmodel输入shape +fp_kmodel_input_shape = (1,3,320,320) +# ai原图padding +rgb_mean = [104,117,123] + +#人脸检测kmodel其它参数设置 +confidence_threshold = 0.5 # 人脸检测阈值 +top_k = 5000 +nms_threshold = 0.2 +keep_top_k = 750 +vis_thres = 0.5 +variance = [0.1, 0.2] +anchor_len = 4200 +score_dim = 2 +det_dim = 4 +keypoint_dim = 10 + +# 文件配置 +# 人脸检测kmodel +root_dir = '/sdcard/app/tests/' +fd_kmodel_file = root_dir + 'kmodel/face_detection_320.kmodel' +# 人脸解析kmodel +fp_kmodel_file = root_dir + 'kmodel/face_parse.kmodel' +# anchor文件 +anchors_path = root_dir + 'utils/prior_data_320.bin' +# 调试模型，0：不调试，>0：打印对应级别调试信息 +debug_mode = 0 + +#********************for scoped_timing.py******************** +# 时间统计类 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#********************for ai_utils.py******************** +global current_kmodel_obj #当前kpu对象 +# fd_ai2d： 人脸检测ai2d实例 +# fd_ai2d_input_tensor： 人脸检测ai2d输入 +# fd_ai2d_output_tensor： 人脸检测ai2d输入 +# fd_ai2d_builder： 根据人脸检测ai2d参数，构建的人脸检测ai2d_builder对象 +global fd_ai2d,fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder +# fld_ai2d： 人脸解析ai2d实例 +# fld_ai2d_input_tensor： 人脸解析ai2d输入 +# fld_ai2d_output_tensor：人脸解析ai2d输入 +# fld_ai2d_builder： 根据人脸解析ai2d参数，构建的人脸解析ai2d_builder对象 +global fp_ai2d,fp_ai2d_input_tensor,fp_ai2d_output_tensor,fp_ai2d_builder +global matrix_dst #人脸仿射变换矩阵 + +#读取anchor文件，为人脸检测后处理做准备 +print('anchors_path:',anchors_path) +prior_data = np.fromfile(anchors_path, dtype=np.float) +prior_data = prior_data.reshape((anchor_len,det_dim)) + +def get_pad_one_side_param(): + # 右padding或下padding，获取padding参数 + dst_w = fd_kmodel_input_shape[3] # kmodel输入宽（w） + dst_h = fd_kmodel_input_shape[2] # kmodel输入高（h） + + # OUT_RGB888P_WIDTH：原图宽（w） + # OUT_RGB888P_HEIGH：原图高（h） + # 计算最小的缩放比例，等比例缩放 + ratio_w = dst_w / OUT_RGB888P_WIDTH + ratio_h = dst_h / OUT_RGB888P_HEIGH + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + # 计算经过缩放后的新宽和新高 + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGH) + + # 计算需要添加的padding，以使得kmodel输入的宽高和原图一致 + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + # 四舍五入，确保padding是整数 + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +def fd_ai2d_init(): + # 人脸检测模型ai2d初始化 + with ScopedTiming("fd_ai2d_init",debug_mode > 0): + # （1）创建人脸检测ai2d对象 + global fd_ai2d + fd_ai2d = nn.ai2d() + # （2）设置人脸检测ai2d参数 + fd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + fd_ai2d.set_pad_param(True, get_pad_one_side_param(), 0, rgb_mean) + fd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + #（3）人脸检测ai2d_builder，根据人脸检测ai2d参数、输入输出大小创建ai2d_builder对象 + global fd_ai2d_builder + fd_ai2d_builder = fd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fd_kmodel_input_shape) + + #（4）创建人脸检测ai2d_output_tensor，用于保存人脸检测ai2d输出 + global fd_ai2d_output_tensor + data = np.ones(fd_kmodel_input_shape, dtype=np.uint8) + fd_ai2d_output_tensor = nn.from_numpy(data) + +def fd_ai2d_run(rgb888p_img): + # 根据人脸检测ai2d参数，对原图rgb888p_img进行预处理 + with ScopedTiming("fd_ai2d_run",debug_mode > 0): + global fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder + # （1）根据原图构建ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fd_ai2d_input_tensor = nn.from_numpy(ai2d_input) + # （2）运行人脸检测ai2d_builder，将结果保存到人脸检测ai2d_output_tensor中 + fd_ai2d_builder.run(fd_ai2d_input_tensor, fd_ai2d_output_tensor) + +def fd_ai2d_release(): + # 释放人脸检测ai2d_input_tensor + with ScopedTiming("fd_ai2d_release",debug_mode > 0): + global fd_ai2d_input_tensor + del fd_ai2d_input_tensor + + +def fd_kpu_init(kmodel_file): + # 初始化人脸检测kpu对象，并加载kmodel + with ScopedTiming("fd_kpu_init",debug_mode > 0): + # 初始化人脸检测kpu对象 + kpu_obj = nn.kpu() + # 加载人脸检测kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸检测ai2d + fd_ai2d_init() + return kpu_obj + +def fd_kpu_pre_process(rgb888p_img): + # 设置人脸检测kpu输入 + # 使用人脸检测ai2d对原图进行预处理（padding，resize） + fd_ai2d_run(rgb888p_img) + with ScopedTiming("fd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fd_ai2d_output_tensor + # 设置人脸检测kpu输入 + current_kmodel_obj.set_input_tensor(0, fd_ai2d_output_tensor) + +def fd_kpu_get_output(): + # 获取人脸检测kpu输出 + with ScopedTiming("fd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取模型输出，并将结果转换为numpy，以便进行人脸检测后处理 + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +def fd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）原图预处理，并设置模型输入 + fd_kpu_pre_process(rgb888p_img) + # （2）人脸检测kpu推理 + with ScopedTiming("fd kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸检测ai2d资源 + fd_ai2d_release() + # （4）获取人俩检测kpu输出 + results = fd_kpu_get_output() + # （5）人脸检测kpu结果后处理 + with ScopedTiming("fd kpu_post",debug_mode > 0): + post_ret = aidemo.face_det_post_process(confidence_threshold,nms_threshold,fd_kmodel_input_shape[2],prior_data, + [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH],results) + # （6）返回人脸检测框 + if len(post_ret)==0: + return post_ret + else: + return post_ret[0] #0:det,1:landm,2:score + +def fd_kpu_deinit(kpu_obj): + # kpu释放 + with ScopedTiming("fd_kpu_deinit",debug_mode > 0): + global fd_ai2d, fd_ai2d_output_tensor + del kpu_obj #删除人脸检测kpu_obj变量，释放对它所引用对象的内存引用 + del fd_ai2d #删除人脸检测ai2d变量，释放对它所引用对象的内存引用 + del fd_ai2d_output_tensor #删除人脸检测ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +###############for face recognition############### +def get_affine_matrix(bbox): + # 获取仿射矩阵，用于将边界框映射到模型输入空间 + with ScopedTiming("get_affine_matrix", debug_mode > 1): + # 设置缩放因子 + factor = 2.7 + # 从边界框提取坐标和尺寸 + x1, y1, w, h = map(lambda x: int(round(x, 0)), bbox[:4]) + # 模型输入大小 + edge_size = fp_kmodel_input_shape[2] + # 平移距离，使得模型输入空间的中心对准原点 + trans_distance = edge_size / 2.0 + # 计算边界框中心点的坐标 + center_x = x1 + w / 2.0 + center_y = y1 + h / 2.0 + # 计算最大边长 + maximum_edge = factor * (h if h > w else w) + # 计算缩放比例 + scale = edge_size * 2.0 / maximum_edge + # 计算平移参数 + cx = trans_distance - scale * center_x + cy = trans_distance - scale * center_y + # 创建仿射矩阵 + affine_matrix = [scale, 0, cx, 0, scale, cy] + return affine_matrix + +def fp_ai2d_init(): + # 人脸解析ai2d初始化 + with ScopedTiming("fp_ai2d_init",debug_mode > 0): + # （1）创建人脸解析ai2d对象 + global fp_ai2d + fp_ai2d = nn.ai2d() + + # （2）创建人脸解析ai2d_output_tensor对象 + global fp_ai2d_output_tensor + data = np.ones(fp_kmodel_input_shape, dtype=np.uint8) + fp_ai2d_output_tensor = nn.from_numpy(data) + +def fp_ai2d_run(rgb888p_img,det): + # 人脸解析ai2d推理 + with ScopedTiming("fp_ai2d_run",debug_mode > 0): + global fp_ai2d,fp_ai2d_input_tensor,fp_ai2d_output_tensor + #（1）根据原图构建人脸解析ai2d_input_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + fp_ai2d_input_tensor = nn.from_numpy(ai2d_input) + #（2）设置人脸解析ai2d参数 + fp_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + global matrix_dst + matrix_dst = get_affine_matrix(det) + fp_ai2d.set_affine_param(True,nn.interp_method.cv2_bilinear,0, 0, 127, 1,matrix_dst) + + # （3）构建人脸解析ai2d_builder + global fp_ai2d_builder + fp_ai2d_builder = fp_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fp_kmodel_input_shape) + # （4）推理人脸解析ai2d，将结果保存到ai2d_output_tensor + fp_ai2d_builder.run(fp_ai2d_input_tensor, fp_ai2d_output_tensor) + +def fp_ai2d_release(): + # 释放部分人脸解析ai2d资源 + with ScopedTiming("fp_ai2d_release",debug_mode > 0): + global fp_ai2d_input_tensor,fp_ai2d_builder + del fp_ai2d_input_tensor + del fp_ai2d_builder + +def fp_kpu_init(kmodel_file): + # 初始化人脸解析kpu及ai2d + with ScopedTiming("fp_kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + fp_ai2d_init() + return kpu_obj + +def fp_kpu_pre_process(rgb888p_img,det): + # 人脸解析kpu预处理 + fp_ai2d_run(rgb888p_img,det) + with ScopedTiming("fp_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fp_ai2d_output_tensor + current_kmodel_obj.set_input_tensor(0, fp_ai2d_output_tensor) + #ai2d_out_data = fp_ai2d_output_tensor.to_numpy() + #with open("/sdcard/app/ai2d_out.bin", "wb") as file: + #file.write(ai2d_out_data.tobytes()) + +def fp_kpu_get_output(): + # 获取人脸解析kpu输出 + with ScopedTiming("fp_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + del data + return result + +def fp_kpu_run(kpu_obj,rgb888p_img,det): + # 人脸解析kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）根据人脸检测框进行人脸解析kpu预处理 + fp_kpu_pre_process(rgb888p_img,det) + # （2）人脸解析kpu推理 + with ScopedTiming("fp_kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸解析ai2d资源 + fp_ai2d_release() + # （4）释放人脸解析kpu输出 + result = fp_kpu_get_output() + return result + +def fp_kpu_deinit(kpu_obj): + # 释放人脸解析kpu和ai2d资源 + with ScopedTiming("fp_kpu_deinit",debug_mode > 0): + global fp_ai2d,fp_ai2d_output_tensor + del kpu_obj + del fp_ai2d + del fp_ai2d_output_tensor + +#********************for media_utils.py******************** +global draw_img_ulab,draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +#for display +def display_init(): + # 设置使用hdmi进行显示 + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +def display_deinit(): + # 释放显示资源 + display.deinit() + +def display_draw(dets,parse_results): + # 在显示器画出人脸解析结果 + with ScopedTiming("display_draw",debug_mode >0): + global draw_img_ulab,draw_img,osd_img + if dets: + draw_img.clear() + for i,det in enumerate(dets): + # （1）将人脸检测框画到draw_img + x, y, w, h = map(lambda x: int(round(x, 0)), det[:4]) + x = x * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + y = y * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + w = w * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + h = h * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + draw_img.draw_rectangle(x,y, w, h, color=(255, 255, 0, 255)) + # （2）将人脸解析结果画到draw_img（draw_img_ulab和draw_img指同一内存） + aidemo.face_parse_post_process(draw_img_ulab,[OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH], + [DISPLAY_WIDTH,DISPLAY_HEIGHT],fp_kmodel_input_shape[2],det.tolist(),parse_results[i]) + # （3）将绘制好的图像拷贝到显示缓冲区，并在显示器上展示 + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + # （1）清空用来画框的图像 + draw_img.clear() + # （2）清空osd + draw_img.copy_to(osd_img) + # （3）显示透明图层 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.1 +def camera_init(dev_id): + # camera初始化 + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +def camera_start(dev_id): + # camera启动 + camera.start_stream(dev_id) + +def camera_read(dev_id): + # 读取一帧图像 + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +def camera_release_image(dev_id,rgb888p_img): + # 释放一帧图像 + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +def camera_stop(dev_id): + # 停止camera + camera.stop_stream(dev_id) + +#for media，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.3 +def media_init(): + # meida初始化 + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + + global buffer, draw_img_ulab,draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 用于画框，draw_img->draw_img_ulab(两者指向同一块内存) + draw_img_ulab = np.zeros((DISPLAY_HEIGHT,DISPLAY_WIDTH,4),dtype=np.uint8) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_REF,data = draw_img_ulab) + # 用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +def media_deinit(): + # meida资源释放 + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#********************for face_detect.py******************** +def face_parse_inference(): + print("face_parse_test start") + # 人脸检测kpu初始化 + kpu_face_detect = fd_kpu_init(fd_kmodel_file) + # 人脸解析kpu初始化 + kpu_face_parse = fp_kpu_init(fp_kmodel_file) + # camera初始化 + camera_init(CAM_DEV_ID_0) + # 显示初始化 + display_init() + + rgb888p_img = None + # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 + try: + # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） + ret = media_init() + if ret: + print("face_detect_test, buffer init failed") + return ret + + # 启动camera + camera_start(CAM_DEV_ID_0) + time.sleep(5) + + gc_count = 0 + while True: + with ScopedTiming("total",1): + # （1）读取一帧图像 + rgb888p_img = camera_read(CAM_DEV_ID_0) + # （2）若读取失败，释放当前帧 + if rgb888p_img == -1: + print("face_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # （3）若读取成功，推理当前帧 + if rgb888p_img.format() == image.RGBP888: + # （3.1）推理当前图像，并获取人脸检测结果 + dets = fd_kpu_run(kpu_face_detect,rgb888p_img) + # （3.2）针对每个人脸框，推理得到对应人脸解析结果 + parse_results = [] + for det in dets: + parse_ret = fp_kpu_run(kpu_face_parse,rgb888p_img,det) + parse_results.append(parse_ret) + # （3.3）将人脸解析结果画到显示器上 + display_draw(dets,parse_results) + + # （4）释放当前帧 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + except Exception as e: + # 捕捉运行运行中异常，并打印错误 + print(f"An error occurred during buffer used: {e}") + finally: + # 释放当前帧 + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + # 停止camera + camera_stop(CAM_DEV_ID_0) + # 释放显示资源 + display_deinit() + # 释放kpu资源 + fd_kpu_deinit(kpu_face_detect) + fp_kpu_deinit(kpu_face_parse) + # 垃圾回收 + gc.collect() + time.sleep(1) + # 释放媒体资源 + ret = media_deinit() + if ret: + print("face_parse_test, buffer_deinit failed") + return ret + + print("face_parse_test end") + return 0 + +if __name__ == '__main__': + face_parse_inference() diff --git a/tests/ai_demo/face_pose.py b/tests/ai_demo/face_pose.py new file mode 100644 index 0000000..aff7dd1 --- /dev/null +++ b/tests/ai_demo/face_pose.py @@ -0,0 +1,614 @@ +import ulab.numpy as np # 类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn # nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * # 摄像头模块 +from media.display import * # 显示模块 +from media.media import * # 软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import aidemo # aidemo模块，封装ai demo相关后处理、画图操作 +import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time # 时间统计 +import gc # 垃圾回收模块 +import os # 操作系统接口模块 +import math # 数学模块 + +#********************for config.py******************** +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) # 显示宽度要求16位对齐 +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率，sensor默认出图为16:9，若需不形变原图，最好按照16:9比例设置宽高 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) # ai原图宽度要求16位对齐 +OUT_RGB888P_HEIGH = 1080 + +# kmodel参数设置 +# 人脸检测kmodel输入shape +fd_kmodel_input_shape = (1,3,320,320) +# 人脸姿态估计kmodel输入shape +fp_kmodel_input_shape = (1,3,120,120) +# ai原图padding +rgb_mean = [104,117,123] + +#人脸检测kmodel其它参数设置 +confidence_threshold = 0.5 # 人脸检测阈值 +top_k = 5000 +nms_threshold = 0.2 +keep_top_k = 750 +vis_thres = 0.5 +variance = [0.1, 0.2] +anchor_len = 4200 +score_dim = 2 +det_dim = 4 +keypoint_dim = 10 + +# 文件配置 +# 人脸检测kmodel文件配置 +root_dir = '/sdcard/app/tests/' +fd_kmodel_file = root_dir + 'kmodel/face_detection_320.kmodel' +# 人脸姿态估计kmodel文件配置 +fp_kmodel_file = root_dir + 'kmodel/face_pose.kmodel' +# anchor文件配置 +anchors_path = root_dir + 'utils/prior_data_320.bin' +# 调试模型，0：不调试，>0：打印对应级别调试信息 +debug_mode = 0 + +#********************for scoped_timing.py******************** +# 时间统计类 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#********************for ai_utils.py******************** +global current_kmodel_obj #当前kpu对象 +# fd_ai2d： 人脸检测ai2d实例 +# fd_ai2d_input_tensor： 人脸检测ai2d输入 +# fd_ai2d_output_tensor： 人脸检测ai2d输入 +# fd_ai2d_builder： 根据人脸检测ai2d参数，构建的人脸检测ai2d_builder对象 +global fd_ai2d,fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder +# fld_ai2d： 人脸姿态估计ai2d实例 +# fld_ai2d_input_tensor： 人脸姿态估计ai2d输入 +# fld_ai2d_output_tensor：人脸姿态估计ai2d输入 +# fld_ai2d_builder： 根据人脸姿态估计ai2d参数，构建的人脸姿态估计ai2d_builder对象 +global fp_ai2d,fp_ai2d_input_tensor,fp_ai2d_output_tensor,fp_ai2d_builder +global matrix_dst #人脸仿射变换矩阵 +#读取anchor文件，为人脸检测后处理做准备 +print('anchors_path:',anchors_path) +prior_data = np.fromfile(anchors_path, dtype=np.float) +prior_data = prior_data.reshape((anchor_len,det_dim)) + +def get_pad_one_side_param(): + # 右padding或下padding，获取padding参数 + dst_w = fd_kmodel_input_shape[3] # kmodel输入宽（w） + dst_h = fd_kmodel_input_shape[2] # kmodel输入高（h） + + # OUT_RGB888P_WIDTH：原图宽（w） + # OUT_RGB888P_HEIGH：原图高（h） + # 计算最小的缩放比例，等比例缩放 + ratio_w = dst_w / OUT_RGB888P_WIDTH + ratio_h = dst_h / OUT_RGB888P_HEIGH + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + # 计算经过缩放后的新宽和新高 + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGH) + + # 计算需要添加的padding，以使得kmodel输入的宽高和原图一致 + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + # 四舍五入，确保padding是整数 + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +def fd_ai2d_init(): + # 人脸检测模型ai2d初始化 + with ScopedTiming("fd_ai2d_init",debug_mode > 0): + # （1）创建人脸检测ai2d对象 + global fd_ai2d + fd_ai2d = nn.ai2d() + # （2）设置人脸检测ai2d参数 + fd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + fd_ai2d.set_pad_param(True, get_pad_one_side_param(), 0, rgb_mean) + fd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + #（3）人脸检测ai2d_builder，根据人脸检测ai2d参数、输入输出大小创建ai2d_builder对象 + global fd_ai2d_builder + fd_ai2d_builder = fd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fd_kmodel_input_shape) + + #（4）创建人脸检测ai2d_output_tensor，用于保存人脸检测ai2d输出 + global fd_ai2d_output_tensor + data = np.ones(fd_kmodel_input_shape, dtype=np.uint8) + fd_ai2d_output_tensor = nn.from_numpy(data) + +def fd_ai2d_run(rgb888p_img): + # 根据人脸检测ai2d参数，对原图rgb888p_img进行预处理 + with ScopedTiming("fd_ai2d_run",debug_mode > 0): + global fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder + # （1）根据原图构建ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fd_ai2d_input_tensor = nn.from_numpy(ai2d_input) + # （2）运行人脸检测ai2d_builder，将结果保存到人脸检测ai2d_output_tensor中 + fd_ai2d_builder.run(fd_ai2d_input_tensor, fd_ai2d_output_tensor) + +def fd_ai2d_release(): + # 释放人脸检测ai2d_input_tensor + with ScopedTiming("fd_ai2d_release",debug_mode > 0): + global fd_ai2d_input_tensor + del fd_ai2d_input_tensor + + +def fd_kpu_init(kmodel_file): + # 初始化人脸检测kpu对象，并加载kmodel + with ScopedTiming("fd_kpu_init",debug_mode > 0): + # 初始化人脸检测kpu对象 + kpu_obj = nn.kpu() + # 加载人脸检测kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸检测ai2d + fd_ai2d_init() + return kpu_obj + +def fd_kpu_pre_process(rgb888p_img): + # 设置人脸检测kpu输入 + # 使用人脸检测ai2d对原图进行预处理（padding，resize） + fd_ai2d_run(rgb888p_img) + with ScopedTiming("fd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fd_ai2d_output_tensor + # 设置人脸检测kpu输入 + current_kmodel_obj.set_input_tensor(0, fd_ai2d_output_tensor) + +def fd_kpu_get_output(): + # 获取人脸检测kpu输出 + with ScopedTiming("fd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取模型输出，并将结果转换为numpy，以便进行人脸检测后处理 + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +def fd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）原图预处理，并设置模型输入 + fd_kpu_pre_process(rgb888p_img) + # （2）人脸检测kpu推理 + with ScopedTiming("fd kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸检测ai2d资源 + fd_ai2d_release() + # （4）获取人俩检测kpu输出 + results = fd_kpu_get_output() + # （5）人脸检测kpu结果后处理 + with ScopedTiming("fd kpu_post",debug_mode > 0): + post_ret = aidemo.face_det_post_process(confidence_threshold,nms_threshold,fd_kmodel_input_shape[2],prior_data, + [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH],results) + # （6）返回人脸检测框 + if len(post_ret)==0: + return post_ret + else: + return post_ret[0] #0:det,1:landm,2:score + +def fd_kpu_deinit(kpu_obj): + # kpu释放 + with ScopedTiming("fd_kpu_deinit",debug_mode > 0): + global fd_ai2d, fd_ai2d_output_tensor + del kpu_obj #删除人脸检测kpu_obj变量，释放对它所引用对象的内存引用 + del fd_ai2d #删除人脸检测ai2d变量，释放对它所引用对象的内存引用 + del fd_ai2d_output_tensor #删除人脸检测ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +###############for face recognition############### +def get_affine_matrix(bbox): + # 获取仿射矩阵，用于将边界框映射到模型输入空间 + with ScopedTiming("get_affine_matrix", debug_mode > 1): + # 设置缩放因子 + factor = 2.7 + # 从边界框提取坐标和尺寸 + x1, y1, w, h = map(lambda x: int(round(x, 0)), bbox[:4]) + # 模型输入大小 + edge_size = fp_kmodel_input_shape[2] + # 平移距离，使得模型输入空间的中心对准原点 + trans_distance = edge_size / 2.0 + # 计算边界框中心点的坐标 + center_x = x1 + w / 2.0 + center_y = y1 + h / 2.0 + # 计算最大边长 + maximum_edge = factor * (h if h > w else w) + # 计算缩放比例 + scale = edge_size * 2.0 / maximum_edge + # 计算平移参数 + cx = trans_distance - scale * center_x + cy = trans_distance - scale * center_y + # 创建仿射矩阵 + affine_matrix = [scale, 0, cx, 0, scale, cy] + return affine_matrix + +def build_projection_matrix(det): + x1, y1, w, h = map(lambda x: int(round(x, 0)), det[:4]) + + # 计算边界框中心坐标 + center_x = x1 + w / 2.0 + center_y = y1 + h / 2.0 + + # 定义后部（rear）和前部（front）的尺寸和深度 + rear_width = 0.5 * w + rear_height = 0.5 * h + rear_depth = 0 + factor = np.sqrt(2.0) + front_width = factor * rear_width + front_height = factor * rear_height + front_depth = factor * rear_width # 使用宽度来计算深度，也可以使用高度，取决于需求 + + # 定义立方体的顶点坐标 + temp = [ + [-rear_width, -rear_height, rear_depth], + [-rear_width, rear_height, rear_depth], + [rear_width, rear_height, rear_depth], + [rear_width, -rear_height, rear_depth], + [-front_width, -front_height, front_depth], + [-front_width, front_height, front_depth], + [front_width, front_height, front_depth], + [front_width, -front_height, front_depth] + ] + + projections = np.array(temp) + # 返回投影矩阵和中心坐标 + return projections, (center_x, center_y) + +def rotation_matrix_to_euler_angles(R): + # 将旋转矩阵（3x3 矩阵）转换为欧拉角（pitch、yaw、roll） + # 计算 sin(yaw) + sy = np.sqrt(R[0, 0] ** 2 + R[1, 0] ** 2) + + if sy < 1e-6: + # 若 sin(yaw) 过小，说明 pitch 接近 ±90 度 + pitch = np.arctan2(-R[1, 2], R[1, 1]) * 180 / np.pi + yaw = np.arctan2(-R[2, 0], sy) * 180 / np.pi + roll = 0 + else: + # 计算 pitch、yaw、roll 的角度 + pitch = np.arctan2(R[2, 1], R[2, 2]) * 180 / np.pi + yaw = np.arctan2(-R[2, 0], sy) * 180 / np.pi + roll = np.arctan2(R[1, 0], R[0, 0]) * 180 / np.pi + return [pitch,yaw,roll] + +def get_euler(data): + # 获取旋转矩阵和欧拉角 + R = data[:3, :3].copy() + eular = rotation_matrix_to_euler_angles(R) + return R,eular + +def fp_ai2d_init(): + # 人脸姿态估计ai2d初始化 + with ScopedTiming("fp_ai2d_init",debug_mode > 0): + # （1）创建人脸姿态估计ai2d对象 + global fp_ai2d + fp_ai2d = nn.ai2d() + + # （2）创建人脸姿态估计ai2d_output_tensor对象 + global fp_ai2d_output_tensor + data = np.ones(fp_kmodel_input_shape, dtype=np.uint8) + fp_ai2d_output_tensor = nn.from_numpy(data) + +def fp_ai2d_run(rgb888p_img,det): + # 人脸姿态估计ai2d推理 + with ScopedTiming("fp_ai2d_run",debug_mode > 0): + global fp_ai2d,fp_ai2d_input_tensor,fp_ai2d_output_tensor + #（1）根据原图构建人脸姿态估计ai2d_input_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + fp_ai2d_input_tensor = nn.from_numpy(ai2d_input) + #（2）设置人脸姿态估计ai2d参数 + fp_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + global matrix_dst + matrix_dst = get_affine_matrix(det) + fp_ai2d.set_affine_param(True,nn.interp_method.cv2_bilinear,0, 0, 127, 1,matrix_dst) + # （3）构建人脸姿态估计ai2d_builder + global fp_ai2d_builder + fp_ai2d_builder = fp_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fp_kmodel_input_shape) + # （4）推理人脸姿态估计ai2d，将结果保存到ai2d_output_tensor + fp_ai2d_builder.run(fp_ai2d_input_tensor, fp_ai2d_output_tensor) + +def fp_ai2d_release(): + # 释放部分人脸姿态估计ai2d资源 + with ScopedTiming("fp_ai2d_release",debug_mode > 0): + global fp_ai2d_input_tensor,fp_ai2d_builder + del fp_ai2d_input_tensor + del fp_ai2d_builder + +def fp_kpu_init(kmodel_file): + # 初始化人脸姿态估计kpu及ai2d + with ScopedTiming("fp_kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + fp_ai2d_init() + return kpu_obj + +def fp_kpu_pre_process(rgb888p_img,det): + # 人脸姿态估计kpu预处理 + fp_ai2d_run(rgb888p_img,det) + with ScopedTiming("fp_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fp_ai2d_output_tensor + current_kmodel_obj.set_input_tensor(0, fp_ai2d_output_tensor) + #ai2d_out_data = _ai2d_output_tensor.to_numpy() + #with open("/sdcard/app/ai2d_out.bin", "wb") as file: + #file.write(ai2d_out_data.tobytes()) + +def fp_kpu_get_output(): + # 获取人脸姿态估计kpu输出 + with ScopedTiming("fp_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + result = result[0] + del data + return result + +def fp_kpu_post_process(pred): + # 人脸姿态估计kpu推理结果后处理 + R,eular = get_euler(pred) + return R,eular + +def fp_kpu_run(kpu_obj,rgb888p_img,det): + # 人脸姿态估计kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）根据人脸检测框进行人脸姿态估计kpu预处理 + fp_kpu_pre_process(rgb888p_img,det) + # （2）人脸姿态估计kpu推理 + with ScopedTiming("fp_kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸姿态估计ai2d资源 + fp_ai2d_release() + # （4）释放人脸姿态估计kpu推理输出 + result = fp_kpu_get_output() + # （5）释放人脸姿态估计后处理 + R,eular = fp_kpu_post_process(result) + return R,eular + +def fp_kpu_deinit(kpu_obj): + # 释放人脸姿态估计kpu及ai2d资源 + with ScopedTiming("fp_kpu_deinit",debug_mode > 0): + global fp_ai2d,fp_ai2d_output_tensor + del kpu_obj + del fp_ai2d + del fp_ai2d_output_tensor + +#********************for media_utils.py******************** +global draw_img_ulab,draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +# for display，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.2 +def display_init(): + # 设置使用hdmi进行显示 + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +def display_deinit(): + # 释放显示资源 + display.deinit() + +def display_draw(dets,pose_results): + # 在显示器画人脸轮廓 + with ScopedTiming("display_draw",debug_mode >0): + global draw_img_ulab,draw_img,osd_img + if dets: + draw_img.clear() + line_color = np.array([255, 0, 0 ,255],dtype = np.uint8) #bgra + for i,det in enumerate(dets): + # （1）获取人脸姿态矩阵和欧拉角 + projections,center_point = build_projection_matrix(det) + R,euler = pose_results[i] + + # （2）遍历人脸投影矩阵的关键点，进行投影，并将结果画在图像上 + first_points = [] + second_points = [] + for pp in range(8): + sum_x, sum_y = 0.0, 0.0 + for cc in range(3): + sum_x += projections[pp][cc] * R[cc][0] + sum_y += projections[pp][cc] * (-R[cc][1]) + + center_x,center_y = center_point[0],center_point[1] + x = (sum_x + center_x) / OUT_RGB888P_WIDTH * DISPLAY_WIDTH + y = (sum_y + center_y) / OUT_RGB888P_HEIGH * DISPLAY_HEIGHT + x = max(0, min(x, DISPLAY_WIDTH)) + y = max(0, min(y, DISPLAY_HEIGHT)) + + if pp < 4: + first_points.append((x, y)) + else: + second_points.append((x, y)) + first_points = np.array(first_points,dtype=np.float) + aidemo.polylines(draw_img_ulab,first_points,True,line_color,2,8,0) + second_points = np.array(second_points,dtype=np.float) + aidemo.polylines(draw_img_ulab,second_points,True,line_color,2,8,0) + + for ll in range(4): + x0, y0 = int(first_points[ll][0]),int(first_points[ll][1]) + x1, y1 = int(second_points[ll][0]),int(second_points[ll][1]) + draw_img.draw_line(x0, y0, x1, y1, color = (255, 0, 0 ,255), thickness = 2) + + # （3）将绘制好的图像拷贝到显示缓冲区，并在显示器上展示 + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + # （1）清空用来画框的图像 + draw_img.clear() + # （2）清空osd + draw_img.copy_to(osd_img) + # （3）显示透明图层 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.1 +def camera_init(dev_id): + # camera初始化 + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +def camera_start(dev_id): + # camera启动 + camera.start_stream(dev_id) + +def camera_read(dev_id): + # 读取一帧图像 + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +def camera_release_image(dev_id,rgb888p_img): + # 释放一帧图像 + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +def camera_stop(dev_id): + # 停止camera + camera.stop_stream(dev_id) + +#for media，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.3 +def media_init(): + # meida初始化 + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img_ulab,draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 用于画框，draw_img->draw_img_ulab(两者指向同一块内存) + draw_img_ulab = np.zeros((DISPLAY_HEIGHT,DISPLAY_WIDTH,4),dtype=np.uint8) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_REF,data = draw_img_ulab) + # 用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +def media_deinit(): + # meida资源释放 + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#********************for face_detect.py******************** +def face_pose_inference(): + print("face_pose_test start") + # 人脸检测kpu初始化 + kpu_face_detect = fd_kpu_init(fd_kmodel_file) + # 人脸姿态估计kpu初始化 + kpu_face_pose = fp_kpu_init(fp_kmodel_file) + # camera初始化 + camera_init(CAM_DEV_ID_0) + # 显示初始化 + display_init() + + rgb888p_img = None + # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 + try: + # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） + ret = media_init() + if ret: + print("face_detect_test, buffer init failed") + return ret + + # 启动camera + camera_start(CAM_DEV_ID_0) + time.sleep(5) + + gc_count = 0 + while True: + with ScopedTiming("total",1): + # （1）读取一帧图像 + rgb888p_img = camera_read(CAM_DEV_ID_0) + # （2）若读取失败，释放当前帧 + if rgb888p_img == -1: + print("face_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # （3）若读取成功，推理当前帧 + if rgb888p_img.format() == image.RGBP888: + # （3.1）推理当前图像，并获取人脸检测结果 + dets = fd_kpu_run(kpu_face_detect,rgb888p_img) + # （3.2）针对每个人脸框，推理得到对应人脸旋转矩阵、欧拉角 + pose_results = [] + for det in dets: + R,eular = fp_kpu_run(kpu_face_pose,rgb888p_img,det) + pose_results.append((R,eular)) + # （3.3）将人脸姿态估计结果画到显示器上 + display_draw(dets,pose_results) + + # （4）释放当前帧 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + + except Exception as e: + # 捕捉运行运行中异常，并打印错误 + print(f"An error occurred during buffer used: {e}") + finally: + # 释放当前帧 + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + # 停止camera + camera_stop(CAM_DEV_ID_0) + # 释放显示资源 + display_deinit() + # 释放kpu资源 + fd_kpu_deinit(kpu_face_detect) + fp_kpu_deinit(kpu_face_pose) + # 垃圾回收 + gc.collect() + time.sleep(1) + # 释放媒体资源 + ret = media_deinit() + if ret: + print("face_pose_test, buffer_deinit failed") + return ret + + print("face_pose_test end") + return 0 + +if __name__ == '__main__': + face_pose_inference() diff --git a/tests/ai_demo/face_recognition.py b/tests/ai_demo/face_recognition.py new file mode 100644 index 0000000..0afd17f --- /dev/null +++ b/tests/ai_demo/face_recognition.py @@ -0,0 +1,697 @@ +import ulab.numpy as np # 类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn # nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * # 摄像头模块 +from media.display import * # 显示模块 +from media.media import * # 软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import aidemo # aidemo模块，封装ai demo相关后处理、画图操作 +import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time # 时间统计 +import gc # 垃圾回收模块 +import os # 操作系统接口模块 +import math # 数学模块 + +#********************for config.py******************** +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) # 显示宽度要求16位对齐 +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率，sensor默认出图为16:9，若需不形变原图，最好按照16:9比例设置宽高 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) # ai原图宽度要求16位对齐 +OUT_RGB888P_HEIGH = 1080 + +# kmodel输入shape +# 人脸检测kmodel输入shape +fd_kmodel_input_shape = (1,3,320,320) +# 人脸识别kmodel输入shape +fr_kmodel_input_shape = (1,3,112,112) +# ai原图padding +rgb_mean = [104,117,123] + +#kmodel相关参数设置 +#人脸检测 +confidence_threshold = 0.5 #人脸检测阈值 +top_k = 5000 +nms_threshold = 0.2 +keep_top_k = 750 +vis_thres = 0.5 +variance = [0.1, 0.2] +anchor_len = 4200 +score_dim = 2 +det_dim = 4 +keypoint_dim = 10 +#人脸识别 +max_register_face = 100 # 数据库最多人脸个数 +feature_num = 128 # 人脸识别特征维度 +face_recognition_threshold = 0.75 # 人脸识别阈值 + +#文件配置 +# 人脸检测kmodel +root_dir = '/sdcard/app/tests/' +fd_kmodel_file = root_dir + 'kmodel/face_detection_320.kmodel' +# 人脸识别kmodel +fr_kmodel_file = root_dir + 'kmodel/face_recognition.kmodel' +# 人脸检测anchor +anchors_path = root_dir + 'utils/prior_data_320.bin' +# 人脸数据库 +database_dir = root_dir + 'utils/db/' +# 调试模型，0：不调试，>0：打印对应级别调试信息 +debug_mode = 0 + +#********************for scoped_timing.py******************** +# 时间统计类 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#********************for ai_utils.py******************** +global current_kmodel_obj #当前kpu实例 +# fd_ai2d： 人脸检测ai2d实例 +# fd_ai2d_input_tensor： 人脸检测ai2d输入 +# fd_ai2d_output_tensor： 人脸检测ai2d输入 +# fd_ai2d_builder： 根据人脸检测ai2d参数，构建的人脸检测ai2d_builder对象 +global fd_ai2d,fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder +# fr_ai2d： 人脸识别ai2d实例 +# fr_ai2d_input_tensor： 人脸识别ai2d输入 +# fr_ai2d_output_tensor： 人脸识别ai2d输入 +# fr_ai2d_builder： 根据人脸识别ai2d参数，构建的人脸识别ai2d_builder对象 +global fr_ai2d,fr_ai2d_input_tensor,fr_ai2d_output_tensor,fr_ai2d_builder +# valid_register_face： 数据库中有效人脸个数 +# db_name： 数据库人名列表 +# db_data： 数据库特征列表 +global valid_register_face,db_name，db_data + +#读取anchor文件，为人脸检测后处理做准备 +print('anchors_path:',anchors_path) +prior_data = np.fromfile(anchors_path, dtype=np.float) +prior_data = prior_data.reshape((anchor_len,det_dim)) + +def get_pad_one_side_param(): + # 右padding或下padding，获取padding参数 + dst_w = fd_kmodel_input_shape[3] # kmodel输入宽（w） + dst_h = fd_kmodel_input_shape[2] # kmodel输入高（h） + + # OUT_RGB888P_WIDTH：原图宽（w） + # OUT_RGB888P_HEIGH：原图高（h） + # 计算最小的缩放比例，等比例缩放 + ratio_w = dst_w / OUT_RGB888P_WIDTH + ratio_h = dst_h / OUT_RGB888P_HEIGH + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + # 计算经过缩放后的新宽和新高 + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGH) + + # 计算需要添加的padding，以使得kmodel输入的宽高和原图一致 + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + # 四舍五入，确保padding是整数 + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +def fd_ai2d_init(): + # 人脸检测模型ai2d初始化 + with ScopedTiming("fd_ai2d_init",debug_mode > 0): + # （1）创建人脸检测ai2d对象 + global fd_ai2d + fd_ai2d = nn.ai2d() + # （2）设置人脸检测ai2d参数 + fd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + fd_ai2d.set_pad_param(True, get_pad_one_side_param(), 0, rgb_mean) + fd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + #（3）人脸检测ai2d_builder，根据人脸检测ai2d参数、输入输出大小创建ai2d_builder对象 + global fd_ai2d_builder + fd_ai2d_builder = fd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fd_kmodel_input_shape) + + #（4）创建人脸检测ai2d_output_tensor，用于保存人脸检测ai2d输出 + global fd_ai2d_output_tensor + data = np.ones(fd_kmodel_input_shape, dtype=np.uint8) + fd_ai2d_output_tensor = nn.from_numpy(data) + +def fd_ai2d_run(rgb888p_img): + # 根据人脸检测ai2d参数，对原图rgb888p_img进行预处理 + with ScopedTiming("fd_ai2d_run",debug_mode > 0): + global fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder + # （1）根据原图构建ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fd_ai2d_input_tensor = nn.from_numpy(ai2d_input) + # （2）运行人脸检测ai2d_builder，将结果保存到人脸检测ai2d_output_tensor中 + fd_ai2d_builder.run(fd_ai2d_input_tensor, fd_ai2d_output_tensor) + +def fd_ai2d_release(): + # 释放人脸检测ai2d_input_tensor + with ScopedTiming("fd_ai2d_release",debug_mode > 0): + global fd_ai2d_input_tensor + del fd_ai2d_input_tensor + + +def fd_kpu_init(kmodel_file): + # 初始化人脸检测kpu对象，并加载kmodel + with ScopedTiming("fd_kpu_init",debug_mode > 0): + # 初始化人脸检测kpu对象 + kpu_obj = nn.kpu() + # 加载人脸检测kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸检测ai2d + fd_ai2d_init() + return kpu_obj + +def fd_kpu_pre_process(rgb888p_img): + # 设置人脸检测kpu输入 + # 使用人脸检测ai2d对原图进行预处理（padding，resize） + fd_ai2d_run(rgb888p_img) + with ScopedTiming("fd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fd_ai2d_output_tensor + # 设置人脸检测kpu输入 + current_kmodel_obj.set_input_tensor(0, fd_ai2d_output_tensor) + +def fd_kpu_get_output(): + # 获取人脸检测kpu输出 + with ScopedTiming("fd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取模型输出，并将结果转换为numpy，以便进行人脸检测后处理 + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +def fd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）原图预处理，并设置模型输入 + fd_kpu_pre_process(rgb888p_img) + # （2）人脸检测kpu推理 + with ScopedTiming("fd kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸检测ai2d资源 + fd_ai2d_release() + # （4）获取人俩检测kpu输出 + results = fd_kpu_get_output() + # （5）人脸检测kpu结果后处理 + with ScopedTiming("fd kpu_post",debug_mode > 0): + post_ret = aidemo.face_det_post_process(confidence_threshold,nms_threshold,fd_kmodel_input_shape[2],prior_data, + [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH],results) + # （6）返回人脸检测框 + if len(post_ret)==0: + return post_ret,post_ret + else: + return post_ret[0],post_ret[1] #0:det,1:landm,2:score + +def fd_kpu_deinit(kpu_obj): + # kpu释放 + with ScopedTiming("fd_kpu_deinit",debug_mode > 0): + global fd_ai2d, fd_ai2d_output_tensor + del kpu_obj #删除人脸检测kpu_obj变量，释放对它所引用对象的内存引用 + del fd_ai2d #删除人脸检测ai2d变量，释放对它所引用对象的内存引用 + del fd_ai2d_output_tensor #删除人脸检测ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +###############for face recognition############### +##for database +def database_init(): + # 数据初始化，构建数据库人名列表和数据库特征列表 + with ScopedTiming("database_init", debug_mode > 1): + global valid_register_face,db_name,db_data + valid_register_face = 0 + db_name = [] + db_data = [] + + db_file_list = os.listdir(database_dir) + for db_file in db_file_list: + if not db_file.endswith('.bin'): + continue + if valid_register_face >= max_register_face: + break + valid_index = valid_register_face + full_db_file = database_dir + db_file + with open(full_db_file, 'rb') as f: + data = f.read() + feature = np.frombuffer(data, dtype=np.float) + db_data.append(feature) + name = db_file.split('.')[0] + db_name.append(name) + valid_register_face += 1 + +def database_reset(): + # 数据库清空 + with ScopedTiming("database_reset", debug_mode > 1): + global valid_register_face,db_name,db_data + print("database clearing...") + db_name = [] + db_data = [] + valid_register_face = 0 + print("database clear Done!") + +def database_search(feature): + # 数据库查询 + with ScopedTiming("database_search", debug_mode > 1): + global valid_register_face,db_name,db_data + v_id = -1 + v_score_max = 0.0 + + # 将当前人脸特征归一化 + feature /= np.linalg.norm(feature) + # 遍历当前人脸数据库，统计最高得分 + for i in range(valid_register_face): + db_feature = db_data[i] + db_feature /= np.linalg.norm(db_feature) + # 计算数据库特征与当前人脸特征相似度 + v_score = np.dot(feature, db_feature)/2 + 0.5 + if v_score > v_score_max: + v_score_max = v_score + v_id = i + + if v_id == -1: + # 数据库中无人脸 + return 'unknown' + elif v_score_max < face_recognition_threshold: + # 小于人脸识别阈值，未识别 + print('v_score_max:',v_score_max) + return 'unknown' + else: + # 识别成功 + result = 'name: {}, score:{}'.format(db_name[v_id],v_score_max) + return result + +# 标准5官 +umeyama_args_112 = [ + 38.2946 , 51.6963 , + 73.5318 , 51.5014 , + 56.0252 , 71.7366 , + 41.5493 , 92.3655 , + 70.7299 , 92.2041 +] + +def svd22(a): + # svd + s = [0.0, 0.0] + u = [0.0, 0.0, 0.0, 0.0] + v = [0.0, 0.0, 0.0, 0.0] + + s[0] = (math.sqrt((a[0] - a[3]) ** 2 + (a[1] + a[2]) ** 2) + math.sqrt((a[0] + a[3]) ** 2 + (a[1] - a[2]) ** 2)) / 2 + s[1] = abs(s[0] - math.sqrt((a[0] - a[3]) ** 2 + (a[1] + a[2]) ** 2)) + v[2] = math.sin((math.atan2(2 * (a[0] * a[1] + a[2] * a[3]), a[0] ** 2 - a[1] ** 2 + a[2] ** 2 - a[3] ** 2)) / 2) if \ + s[0] > s[1] else 0 + v[0] = math.sqrt(1 - v[2] ** 2) + v[1] = -v[2] + v[3] = v[0] + u[0] = -(a[0] * v[0] + a[1] * v[2]) / s[0] if s[0] != 0 else 1 + u[2] = -(a[2] * v[0] + a[3] * v[2]) / s[0] if s[0] != 0 else 0 + u[1] = (a[0] * v[1] + a[1] * v[3]) / s[1] if s[1] != 0 else -u[2] + u[3] = (a[2] * v[1] + a[3] * v[3]) / s[1] if s[1] != 0 else u[0] + v[0] = -v[0] + v[2] = -v[2] + + return u, s, v + + +def image_umeyama_112(src): + # 使用Umeyama算法计算仿射变换矩阵 + SRC_NUM = 5 + SRC_DIM = 2 + src_mean = [0.0, 0.0] + dst_mean = [0.0, 0.0] + + for i in range(0,SRC_NUM * 2,2): + src_mean[0] += src[i] + src_mean[1] += src[i + 1] + dst_mean[0] += umeyama_args_112[i] + dst_mean[1] += umeyama_args_112[i + 1] + + src_mean[0] /= SRC_NUM + src_mean[1] /= SRC_NUM + dst_mean[0] /= SRC_NUM + dst_mean[1] /= SRC_NUM + + src_demean = [[0.0, 0.0] for _ in range(SRC_NUM)] + dst_demean = [[0.0, 0.0] for _ in range(SRC_NUM)] + + for i in range(SRC_NUM): + src_demean[i][0] = src[2 * i] - src_mean[0] + src_demean[i][1] = src[2 * i + 1] - src_mean[1] + dst_demean[i][0] = umeyama_args_112[2 * i] - dst_mean[0] + dst_demean[i][1] = umeyama_args_112[2 * i + 1] - dst_mean[1] + + A = [[0.0, 0.0], [0.0, 0.0]] + for i in range(SRC_DIM): + for k in range(SRC_DIM): + for j in range(SRC_NUM): + A[i][k] += dst_demean[j][i] * src_demean[j][k] + A[i][k] /= SRC_NUM + + T = [[1, 0, 0], [0, 1, 0], [0, 0, 1]] + U, S, V = svd22([A[0][0], A[0][1], A[1][0], A[1][1]]) + + T[0][0] = U[0] * V[0] + U[1] * V[2] + T[0][1] = U[0] * V[1] + U[1] * V[3] + T[1][0] = U[2] * V[0] + U[3] * V[2] + T[1][1] = U[2] * V[1] + U[3] * V[3] + + scale = 1.0 + src_demean_mean = [0.0, 0.0] + src_demean_var = [0.0, 0.0] + for i in range(SRC_NUM): + src_demean_mean[0] += src_demean[i][0] + src_demean_mean[1] += src_demean[i][1] + + src_demean_mean[0] /= SRC_NUM + src_demean_mean[1] /= SRC_NUM + + for i in range(SRC_NUM): + src_demean_var[0] += (src_demean_mean[0] - src_demean[i][0]) * (src_demean_mean[0] - src_demean[i][0]) + src_demean_var[1] += (src_demean_mean[1] - src_demean[i][1]) * (src_demean_mean[1] - src_demean[i][1]) + + src_demean_var[0] /= SRC_NUM + src_demean_var[1] /= SRC_NUM + + scale = 1.0 / (src_demean_var[0] + src_demean_var[1]) * (S[0] + S[1]) + T[0][2] = dst_mean[0] - scale * (T[0][0] * src_mean[0] + T[0][1] * src_mean[1]) + T[1][2] = dst_mean[1] - scale * (T[1][0] * src_mean[0] + T[1][1] * src_mean[1]) + T[0][0] *= scale + T[0][1] *= scale + T[1][0] *= scale + T[1][1] *= scale + return T + +def get_affine_matrix(sparse_points): + # 获取放射变换矩阵 + with ScopedTiming("get_affine_matrix", debug_mode > 1): + # 使用Umeyama算法计算仿射变换矩阵 + matrix_dst = image_umeyama_112(sparse_points) + matrix_dst = [matrix_dst[0][0],matrix_dst[0][1],matrix_dst[0][2], + matrix_dst[1][0],matrix_dst[1][1],matrix_dst[1][2]] + return matrix_dst + +def fr_ai2d_init(): + with ScopedTiming("fr_ai2d_init",debug_mode > 0): + # （1）人脸识别ai2d初始化 + global fr_ai2d + fr_ai2d = nn.ai2d() + + # （2）人脸识别ai2d_output_tensor初始化，用于存放ai2d输出 + global fr_ai2d_output_tensor + data = np.ones(fr_kmodel_input_shape, dtype=np.uint8) + fr_ai2d_output_tensor = nn.from_numpy(data) + +def fr_ai2d_run(rgb888p_img,sparse_points): + # 人脸识别ai2d推理 + with ScopedTiming("fr_ai2d_run",debug_mode > 0): + global fr_ai2d,fr_ai2d_input_tensor,fr_ai2d_output_tensor + #（1）根据原图创建人脸识别ai2d_input_tensor对象 + ai2d_input = rgb888p_img.to_numpy_ref() + fr_ai2d_input_tensor = nn.from_numpy(ai2d_input) + #（2）根据新的人脸关键点设置新的人脸识别ai2d参数 + fr_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + affine_matrix = get_affine_matrix(sparse_points) + fr_ai2d.set_affine_param(True,nn.interp_method.cv2_bilinear,0, 0, 127, 1,affine_matrix) + global fr_ai2d_builder + # （3）根据新的人脸识别ai2d参数，构建识别ai2d_builder + fr_ai2d_builder = fr_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], fr_kmodel_input_shape) + # （4）推理人脸识别ai2d，将预处理的结果保存到fr_ai2d_output_tensor + fr_ai2d_builder.run(fr_ai2d_input_tensor, fr_ai2d_output_tensor) + +def fr_ai2d_release(): + # 释放人脸识别ai2d_input_tensor、ai2d_builder + with ScopedTiming("fr_ai2d_release",debug_mode > 0): + global fr_ai2d_input_tensor,fr_ai2d_builder + del fr_ai2d_input_tensor + del fr_ai2d_builder + +def fr_kpu_init(kmodel_file): + # 人脸识别kpu初始化 + with ScopedTiming("fr_kpu_init",debug_mode > 0): + # 初始化人脸识别kpu对象 + kpu_obj = nn.kpu() + # 加载人脸识别kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸识别ai2d + fr_ai2d_init() + # 数据库初始化 + database_init() + return kpu_obj + +def fr_kpu_pre_process(rgb888p_img,sparse_points): + # 人脸识别kpu预处理 + # 人脸识别ai2d推理，根据关键点对原图进行预处理 + fr_ai2d_run(rgb888p_img,sparse_points) + with ScopedTiming("fr_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fr_ai2d_output_tensor + # 将人脸识别ai2d输出设置为人脸识别kpu输入 + current_kmodel_obj.set_input_tensor(0, fr_ai2d_output_tensor) + + #ai2d_out_data = fr_ai2d_output_tensor.to_numpy() + #print('ai2d_out_data.shape:',ai2d_out_data.shape) + #with open("/sdcard/app/ai2d_out.bin", "wb") as file: + #file.write(ai2d_out_data.tobytes()) + +def fr_kpu_get_output(): + # 获取人脸识别kpu输出 + with ScopedTiming("fr_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + del data + return result[0] + +def fr_kpu_run(kpu_obj,rgb888p_img,sparse_points): + # 人脸识别kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）人脸识别kpu预处理,设置kpu输入 + fr_kpu_pre_process(rgb888p_img,sparse_points) + # （2）人脸识别kpu推理 + with ScopedTiming("fr kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸识别ai2d + fr_ai2d_release() + # （4）获取人脸识别kpu输出 + results = fr_kpu_get_output() + # （5）在数据库中查找当前人脸特征 + recg_result = database_search(results) + return recg_result + +def fr_kpu_deinit(kpu_obj): + # 人脸识别kpu相关资源释放 + with ScopedTiming("fr_kpu_deinit",debug_mode > 0): + global fr_ai2d + del kpu_obj + del fr_ai2d + +#********************for media_utils.py******************** +global draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +# for display，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.2 +def display_init(): + # hdmi显示初始化 + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +def display_deinit(): + # 释放显示资源 + display.deinit() + +def display_draw(dets,recg_results): + # 在显示器上写人脸识别结果 + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if dets: + draw_img.clear() + for i,det in enumerate(dets): + # （1）画人脸框 + x1, y1, w, h = map(lambda x: int(round(x, 0)), det[:4]) + x1 = x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + y1 = y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + w = w * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + h = h * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + draw_img.draw_rectangle(x1,y1, w, h, color=(255,0, 255, 0)) + + # （2）写人脸识别结果 + recg_text = recg_results[i] + draw_img.draw_string(x1,y1,recg_text,color=(255,0, 0, 255),scale=4) + + # （3）将画图结果拷贝到osd + draw_img.copy_to(osd_img) + # （4）将osd显示到屏幕 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + # （1）清空用来画框的图像 + draw_img.clear() + # （2）清空osd + draw_img.copy_to(osd_img) + # （3）显示透明图层 + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.1 +def camera_init(dev_id): + # camera初始化 + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_BGR_888_PLANAR) + +def camera_start(dev_id): + # camera启动 + camera.start_stream(dev_id) + +def camera_read(dev_id): + # 读取一帧图像 + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +def camera_release_image(dev_id,rgb888p_img): + # 释放一帧图像 + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +def camera_stop(dev_id): + # 停止camera + camera.stop_stream(dev_id) + +#for media，已经封装好，无需自己再实现，直接调用即可，详细解析请查看1.6.3 +def media_init(): + # meida初始化 + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +def media_deinit(): + # meida资源释放 + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#********************for face_detect.py******************** +def face_recognition_inference(): + print("face_recognition_test start") + # 人脸检测kpu初始化 + kpu_face_detect = fd_kpu_init(fd_kmodel_file) + # 人脸关键点kpu初始化 + kpu_face_recg = fr_kpu_init(fr_kmodel_file) + # camera初始化 + camera_init(CAM_DEV_ID_0) + # 显示初始化 + display_init() + + rgb888p_img = None + # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 + try: + # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） + ret = media_init() + if ret: + print("face_detect_test, buffer init failed") + return ret + + # 启动camera + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + # （1）读取一帧图像 + rgb888p_img = camera_read(CAM_DEV_ID_0) + # （2）若读取失败，释放当前帧 + if rgb888p_img == -1: + print("face_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # （3）若读取成功，推理当前帧 + if rgb888p_img.format() == image.RGBP888: + # （3.1）推理当前图像，并获取人脸检测结果 + dets,landms = fd_kpu_run(kpu_face_detect,rgb888p_img) + recg_result = [] + for landm in landms: + # （3.2）针对每个人脸五官点，推理得到人脸特征，并计算特征在数据库中相似度 + ret = fr_kpu_run(kpu_face_recg,rgb888p_img,landm) + recg_result.append(ret) + # （3.3）将识别结果画到显示器上 + display_draw(dets,recg_result) + + # （4）释放当前帧 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + gc.collect() + except Exception as e: + # 捕捉运行运行中异常，并打印错误 + print(f"An error occurred during buffer used: {e}") + finally: + # 释放当前帧 + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + # 停止camera + camera_stop(CAM_DEV_ID_0) + # 释放显示资源 + display_deinit() + # 释放kpu资源 + fd_kpu_deinit(kpu_face_detect) + fr_kpu_deinit(kpu_face_recg) + # 垃圾回收 + gc.collect() + time.sleep(1) + # 释放媒体资源 + ret = media_deinit() + if ret: + print("face_recognition_test, buffer_deinit failed") + return ret + + print("face_recognition_test end") + return 0 + +if __name__ == '__main__': + face_recognition_inference() diff --git a/tests/ai_demo/face_registration.py b/tests/ai_demo/face_registration.py new file mode 100644 index 0000000..301aba5 --- /dev/null +++ b/tests/ai_demo/face_registration.py @@ -0,0 +1,479 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 +import os #操作系统接口模块 +import math #数学模块 + +#********************for config.py******************** +# kmodel输入shape +# 人脸检测kmodel输入shape +fd_kmodel_input_shape = (1,3,320,320) +# 人脸识别kmodel输入shape +fr_kmodel_input_shape = (1,3,112,112) +# ai原图padding +rgb_mean = [104,117,123] + +#kmodel相关参数设置 +#人脸检测 +confidence_threshold = 0.5 #人脸检测阈值 +top_k = 5000 +nms_threshold = 0.2 +keep_top_k = 750 +vis_thres = 0.5 +variance = [0.1, 0.2] +anchor_len = 4200 +score_dim = 2 +det_dim = 4 +keypoint_dim = 10 +#人脸识别 +max_register_face = 100 #数据库最多人脸个数 +feature_num = 128 #人脸识别特征维度 + +# 文件配置 +# 人脸检测kmodel +root_dir = '/sdcard/app/tests/' +fd_kmodel_file = root_dir + 'kmodel/face_detection_320.kmodel' +# 人脸识别kmodel +fr_kmodel_file = root_dir + 'kmodel/face_recognition.kmodel' +# 人脸检测anchor +anchors_path = root_dir + 'utils/prior_data_320.bin' +# 人脸注册数据库 +database_dir = root_dir + 'utils/db/' +# 人脸注册数据库原图 +database_img_dir = root_dir + 'utils/db_img/' +# 调试模型，0：不调试，>0：打印对应级别调试信息 +debug_mode = 0 + +#********************for scoped_timing.py******************** +# 时间统计类 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#********************for ai_utils.py******************** +global current_kmodel_obj #当前kpu实例 +# fd_ai2d： 人脸检测ai2d实例 +# fd_ai2d_input_tensor： 人脸检测ai2d输入 +# fd_ai2d_output_tensor： 人脸检测ai2d输入 +# fd_ai2d_builder： 根据人脸检测ai2d参数，构建的人脸检测ai2d_builder对象 +global fd_ai2d,fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder +# fr_ai2d： 人脸识别ai2d实例 +# fr_ai2d_input_tensor： 人脸识别ai2d输入 +# fr_ai2d_output_tensor： 人脸识别ai2d输入 +# fr_ai2d_builder： 根据人脸识别ai2d参数，构建的人脸识别ai2d_builder对象 +global fr_ai2d,fr_ai2d_input_tensor,fr_ai2d_output_tensor,fr_ai2d_builder +global valid_register_face #数据库中有效人脸个数 + +#读取anchor文件，为人脸检测后处理做准备 +print('anchors_path:',anchors_path) +prior_data = np.fromfile(anchors_path, dtype=np.float) +prior_data = prior_data.reshape((anchor_len,det_dim)) + +def get_pad_one_side_param(rgb888p_img): + # 右padding或下padding，获取padding参数 + with ScopedTiming("get_pad_one_side_param", debug_mode > 1): + dst_w = fd_kmodel_input_shape[3] # kmodel输入宽（w） + dst_h = fd_kmodel_input_shape[2] # kmodel输入高（h） + + # 计算最小的缩放比例，等比例缩放 + ratio_w = dst_w / rgb888p_img.shape[3] + ratio_h = dst_h / rgb888p_img.shape[2] + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + + # 计算经过缩放后的新宽和新高 + new_w = (int)(ratio * rgb888p_img.shape[3]) + new_h = (int)(ratio * rgb888p_img.shape[2]) + + # 计算需要添加的padding，以使得kmodel输入的宽高和原图一致 + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + # 四舍五入，确保padding是整数 + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +def fd_ai2d_init(): + # 人脸检测模型ai2d初始化 + with ScopedTiming("fd_ai2d_init",debug_mode > 0): + # （1）创建人脸检测ai2d对象 + global fd_ai2d + fd_ai2d = nn.ai2d() + + #（2）创建人脸检测ai2d_output_tensor，用于保存人脸检测ai2d输出 + global fd_ai2d_output_tensor + data = np.ones(fd_kmodel_input_shape, dtype=np.uint8) + fd_ai2d_output_tensor = nn.from_numpy(data) + +def fd_ai2d_run(rgb888p_img): + # 根据人脸检测ai2d参数，对原图rgb888p_img进行预处理 + with ScopedTiming("fd_ai2d_run",debug_mode > 0): + global fd_ai2d,fd_ai2d_input_tensor,fd_ai2d_output_tensor,fd_ai2d_builder + # （1）根据原图构建ai2d_input_tensor对象 + fd_ai2d_input_tensor = nn.from_numpy(rgb888p_img) + # （2）根据新的图像设置新的人脸检测ai2d参数 + fd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + fd_ai2d.set_pad_param(True, get_pad_one_side_param(rgb888p_img), 0, rgb_mean) + fd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + # （3）根据新的人脸检测ai2d参数，构建人脸检测ai2d_builder + fd_ai2d_builder = fd_ai2d.build(rgb888p_img.shape, fd_kmodel_input_shape) + # （4）运行人脸检测ai2d_builder，将结果保存到人脸检测ai2d_output_tensor中 + fd_ai2d_builder.run(fd_ai2d_input_tensor, fd_ai2d_output_tensor) + +def fd_ai2d_release(): + # 释放人脸检测ai2d部分资源 + with ScopedTiming("fd_ai2d_release",debug_mode > 0): + global fd_ai2d_input_tensor,fd_ai2d_builder + del fd_ai2d_input_tensor + del fd_ai2d_builder + + +def fd_kpu_init(kmodel_file): + # 初始化人脸检测kpu对象，并加载kmodel + with ScopedTiming("fd_kpu_init",debug_mode > 0): + # 初始化人脸检测kpu对象 + kpu_obj = nn.kpu() + # 加载人脸检测kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸检测ai2d + fd_ai2d_init() + return kpu_obj + +def fd_kpu_pre_process(rgb888p_img): + # 设置人脸检测kpu输入 + # 使用人脸检测ai2d对原图进行预处理（padding，resize） + fd_ai2d_run(rgb888p_img) + with ScopedTiming("fd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fd_ai2d_output_tensor + # 设置人脸检测kpu输入 + current_kmodel_obj.set_input_tensor(0, fd_ai2d_output_tensor) + +def fd_kpu_get_output(): + # 获取人脸检测kpu输出 + with ScopedTiming("fd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + # 获取模型输出，并将结果转换为numpy，以便进行人脸检测后处理 + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +def fd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）原图预处理，并设置模型输入 + fd_kpu_pre_process(rgb888p_img) + # （2）人脸检测kpu推理 + with ScopedTiming("fd kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸检测ai2d资源 + fd_ai2d_release() + # （4）获取人俩检测kpu输出 + results = fd_kpu_get_output() + # （5）人脸检测kpu结果后处理 + with ScopedTiming("fd kpu_post",debug_mode > 0): + post_ret = aidemo.face_det_post_process(confidence_threshold,nms_threshold,fd_kmodel_input_shape[2],prior_data, + [rgb888p_img.shape[3],rgb888p_img.shape[2]],results) + # （6）返回人脸关键点 + if len(post_ret)==0: + return post_ret + else: + return post_ret[0],post_ret[1] #0:det,1:landm,2:score + +def fd_kpu_deinit(kpu_obj): + # kpu释放 + with ScopedTiming("fd_kpu_deinit",debug_mode > 0): + global fd_ai2d, fd_ai2d_output_tensor + del kpu_obj #删除人脸检测kpu_obj变量，释放对它所引用对象的内存引用 + del fd_ai2d #删除人脸检测ai2d变量，释放对它所引用对象的内存引用 + del fd_ai2d_output_tensor #删除人脸检测ai2d_output_tensor变量，释放对它所引用对象的内存引用 + +###############for face recognition############### +# 标准5官 +umeyama_args_112 = [ + 38.2946 , 51.6963 , + 73.5318 , 51.5014 , + 56.0252 , 71.7366 , + 41.5493 , 92.3655 , + 70.7299 , 92.2041 +] + +def svd22(a): + # svd + s = [0.0, 0.0] + u = [0.0, 0.0, 0.0, 0.0] + v = [0.0, 0.0, 0.0, 0.0] + + s[0] = (math.sqrt((a[0] - a[3]) ** 2 + (a[1] + a[2]) ** 2) + math.sqrt((a[0] + a[3]) ** 2 + (a[1] - a[2]) ** 2)) / 2 + s[1] = abs(s[0] - math.sqrt((a[0] - a[3]) ** 2 + (a[1] + a[2]) ** 2)) + v[2] = math.sin((math.atan2(2 * (a[0] * a[1] + a[2] * a[3]), a[0] ** 2 - a[1] ** 2 + a[2] ** 2 - a[3] ** 2)) / 2) if \ + s[0] > s[1] else 0 + v[0] = math.sqrt(1 - v[2] ** 2) + v[1] = -v[2] + v[3] = v[0] + u[0] = -(a[0] * v[0] + a[1] * v[2]) / s[0] if s[0] != 0 else 1 + u[2] = -(a[2] * v[0] + a[3] * v[2]) / s[0] if s[0] != 0 else 0 + u[1] = (a[0] * v[1] + a[1] * v[3]) / s[1] if s[1] != 0 else -u[2] + u[3] = (a[2] * v[1] + a[3] * v[3]) / s[1] if s[1] != 0 else u[0] + v[0] = -v[0] + v[2] = -v[2] + + return u, s, v + + +def image_umeyama_112(src): + # 使用Umeyama算法计算仿射变换矩阵 + SRC_NUM = 5 + SRC_DIM = 2 + src_mean = [0.0, 0.0] + dst_mean = [0.0, 0.0] + + for i in range(0,SRC_NUM * 2,2): + src_mean[0] += src[i] + src_mean[1] += src[i + 1] + dst_mean[0] += umeyama_args_112[i] + dst_mean[1] += umeyama_args_112[i + 1] + + src_mean[0] /= SRC_NUM + src_mean[1] /= SRC_NUM + dst_mean[0] /= SRC_NUM + dst_mean[1] /= SRC_NUM + + src_demean = [[0.0, 0.0] for _ in range(SRC_NUM)] + dst_demean = [[0.0, 0.0] for _ in range(SRC_NUM)] + + for i in range(SRC_NUM): + src_demean[i][0] = src[2 * i] - src_mean[0] + src_demean[i][1] = src[2 * i + 1] - src_mean[1] + dst_demean[i][0] = umeyama_args_112[2 * i] - dst_mean[0] + dst_demean[i][1] = umeyama_args_112[2 * i + 1] - dst_mean[1] + + A = [[0.0, 0.0], [0.0, 0.0]] + for i in range(SRC_DIM): + for k in range(SRC_DIM): + for j in range(SRC_NUM): + A[i][k] += dst_demean[j][i] * src_demean[j][k] + A[i][k] /= SRC_NUM + + T = [[1, 0, 0], [0, 1, 0], [0, 0, 1]] + U, S, V = svd22([A[0][0], A[0][1], A[1][0], A[1][1]]) + + T[0][0] = U[0] * V[0] + U[1] * V[2] + T[0][1] = U[0] * V[1] + U[1] * V[3] + T[1][0] = U[2] * V[0] + U[3] * V[2] + T[1][1] = U[2] * V[1] + U[3] * V[3] + + scale = 1.0 + src_demean_mean = [0.0, 0.0] + src_demean_var = [0.0, 0.0] + for i in range(SRC_NUM): + src_demean_mean[0] += src_demean[i][0] + src_demean_mean[1] += src_demean[i][1] + + src_demean_mean[0] /= SRC_NUM + src_demean_mean[1] /= SRC_NUM + + for i in range(SRC_NUM): + src_demean_var[0] += (src_demean_mean[0] - src_demean[i][0]) * (src_demean_mean[0] - src_demean[i][0]) + src_demean_var[1] += (src_demean_mean[1] - src_demean[i][1]) * (src_demean_mean[1] - src_demean[i][1]) + + src_demean_var[0] /= SRC_NUM + src_demean_var[1] /= SRC_NUM + + scale = 1.0 / (src_demean_var[0] + src_demean_var[1]) * (S[0] + S[1]) + T[0][2] = dst_mean[0] - scale * (T[0][0] * src_mean[0] + T[0][1] * src_mean[1]) + T[1][2] = dst_mean[1] - scale * (T[1][0] * src_mean[0] + T[1][1] * src_mean[1]) + T[0][0] *= scale + T[0][1] *= scale + T[1][0] *= scale + T[1][1] *= scale + return T + +def get_affine_matrix(sparse_points): + # 获取affine变换矩阵 + with ScopedTiming("get_affine_matrix", debug_mode > 1): + # 使用Umeyama算法计算仿射变换矩阵 + matrix_dst = image_umeyama_112(sparse_points) + matrix_dst = [matrix_dst[0][0],matrix_dst[0][1],matrix_dst[0][2], + matrix_dst[1][0],matrix_dst[1][1],matrix_dst[1][2]] + return matrix_dst + +def fr_ai2d_init(): + with ScopedTiming("fr_ai2d_init",debug_mode > 0): + # （1）人脸识别ai2d初始化 + global fr_ai2d + fr_ai2d = nn.ai2d() + + # （2）人脸识别ai2d_output_tensor初始化，用于存放ai2d输出 + global fr_ai2d_output_tensor + data = np.ones(fr_kmodel_input_shape, dtype=np.uint8) + fr_ai2d_output_tensor = nn.from_numpy(data) + +def fr_ai2d_run(rgb888p_img,sparse_points): + # 人脸识别ai2d推理 + with ScopedTiming("fr_ai2d_run",debug_mode > 0): + global fr_ai2d,fr_ai2d_input_tensor,fr_ai2d_output_tensor + #（1）根据原图创建人脸识别ai2d_input_tensor对象 + fr_ai2d_input_tensor = nn.from_numpy(rgb888p_img) + #（2）根据新的人脸关键点设置新的人脸识别ai2d参数 + fr_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + affine_matrix = get_affine_matrix(sparse_points) + fr_ai2d.set_affine_param(True,nn.interp_method.cv2_bilinear,0, 0, 127, 1,affine_matrix) + global fr_ai2d_builder + # （3）根据新的人脸识别ai2d参数，构建识别ai2d_builder + fr_ai2d_builder = fr_ai2d.build(rgb888p_img.shape, fr_kmodel_input_shape) + # （4）推理人脸识别ai2d，将预处理的结果保存到fr_ai2d_output_tensor + fr_ai2d_builder.run(fr_ai2d_input_tensor, fr_ai2d_output_tensor) + +def fr_ai2d_release(): + # 释放人脸识别ai2d_input_tensor、ai2d_builder + with ScopedTiming("fr_ai2d_release",debug_mode > 0): + global fr_ai2d_input_tensor,fr_ai2d_builder + del fr_ai2d_input_tensor + del fr_ai2d_builder + +def fr_kpu_init(kmodel_file): + # 人脸识别kpu初始化 + with ScopedTiming("fr_kpu_init",debug_mode > 0): + # 初始化人脸识别kpu对象 + kpu_obj = nn.kpu() + # 加载人脸识别kmodel + kpu_obj.load_kmodel(kmodel_file) + # 初始化人脸识别ai2d + fr_ai2d_init() + return kpu_obj + +def fr_kpu_pre_process(rgb888p_img,sparse_points): + # 人脸识别kpu预处理 + # 人脸识别ai2d推理，根据关键点对原图进行预处理 + fr_ai2d_run(rgb888p_img,sparse_points) + with ScopedTiming("fr_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,fr_ai2d_output_tensor + # 将人脸识别ai2d输出设置为人脸识别kpu输入 + current_kmodel_obj.set_input_tensor(0, fr_ai2d_output_tensor) + + #ai2d_out_data = fr_ai2d_output_tensor.to_numpy() + #print('ai2d_out_data.shape:',ai2d_out_data.shape) + #with open("/sdcard/app/ai2d_out.bin", "wb") as file: + #file.write(ai2d_out_data.tobytes()) + +def fr_kpu_get_output(): + # 获取人脸识别kpu输出 + with ScopedTiming("fr_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + del data + return result[0] + +def fr_kpu_run(kpu_obj,rgb888p_img,sparse_points): + # 人脸识别kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # （1）人脸识别kpu预处理,设置kpu输入 + fr_kpu_pre_process(rgb888p_img,sparse_points) + # （2）人脸识别kpu推理 + with ScopedTiming("fr kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）释放人脸识别ai2d + fr_ai2d_release() + # （4）获取人脸识别kpu输出 + results = fr_kpu_get_output() + return results + +def fr_kpu_deinit(kpu_obj): + # 人脸识别kpu相关资源释放 + with ScopedTiming("fr_kpu_deinit",debug_mode > 0): + global fr_ai2d + del kpu_obj + del fr_ai2d + +#********************for face_detect.py******************** +def image2rgb888array(img): #4维 + # 将Image转换为rgb888格式 + with ScopedTiming("fr_kpu_deinit",debug_mode > 0): + img_data_rgb888=img.to_rgb888() + # hwc,rgb888 + img_hwc=img_data_rgb888.to_numpy_ref() + shape=img_hwc.shape + img_tmp = img_hwc.reshape((shape[0] * shape[1], shape[2])) + img_tmp_trans = img_tmp.transpose() + img_res=img_tmp_trans.copy() + # chw,rgb888 + img_return=img_res.reshape((1,shape[2],shape[0],shape[1])) + return img_return + +def face_registration_inference(): + print("face_registration_test start") + # 人脸检测kpu初始化 + kpu_face_detect = fd_kpu_init(fd_kmodel_file) + # 人脸识别kpu初始化 + kpu_face_reg = fr_kpu_init(fr_kmodel_file) + try: + # 获取图像列表 + img_list = os.listdir(database_img_dir) + for img_file in img_list: + with ScopedTiming("total",1): + # （1）读取一张图像 + full_img_file = database_img_dir + img_file + print(full_img_file) + img = image.Image(full_img_file) + rgb888p_img_ndarry = image2rgb888array(img) + + #（2）推理得到人脸检测kpu，得到人脸检测框、人脸五点 + dets,landms = fd_kpu_run(kpu_face_detect,rgb888p_img_ndarry) + if dets: + if dets.shape[0] == 1: + #（3）若是只检测到一张人脸，则将该人脸注册到数据库 + db_i_name = img_file.split('.')[0] + for landm in landms: + reg_result = fr_kpu_run(kpu_face_reg,rgb888p_img_ndarry,landm) + #print('\nwrite bin:',database_dir+'{}.bin'.format(db_i_name)) + with open(database_dir+'{}.bin'.format(db_i_name), "wb") as file: + file.write(reg_result.tobytes()) + else: + print('Only one person in a picture when you sign up') + else: + print('No person detected') + + gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + # 释放kpu资源 + fd_kpu_deinit(kpu_face_detect) + fr_kpu_deinit(kpu_face_reg) + # 垃圾回收 + gc.collect() + time.sleep(1) + + print("face_registration_test end") + return 0 + +if __name__ == '__main__': + face_registration_inference() diff --git a/tests/ai_demo/finger_guessing.py b/tests/ai_demo/finger_guessing.py new file mode 100644 index 0000000..e0723c6 --- /dev/null +++ b/tests/ai_demo/finger_guessing.py @@ -0,0 +1,602 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +from random import randint #随机整数生成 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 +import aicube #aicube模块，封装ai cube 相关后处理 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +#ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) +OUT_RGB888P_HEIGH = 1080 + +#手掌检测 和 手掌关键点检测 kmodel输入shape +hd_kmodel_input_shape = (1,3,512,512) +hk_kmodel_input_shape = (1,3,256,256) + +#手掌检测 相关参数设置 +confidence_threshold = 0.2 #手掌检测 分数阈值 +nms_threshold = 0.5 #非极大值抑制 阈值 +hd_kmodel_frame_size = [512,512] #手掌检测kmodel输入 w h +hd_frame_size = [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH] #手掌检测原始输入图像 w h +strides = [8,16,32] #手掌检测模型 下采样输出倍数 +num_classes = 1 #检测类别数， 及手掌一种 +nms_option = False #控制最大值抑制的方式 False 类内 True 类间 +labels = ["hand"] #标签名称 +anchors = [26,27,53,52,75,71,80,99,106,82,99,134,140,113,161,172,245,276] #手掌检测模型 锚框 +#手掌关键点检测 相关参数 +hk_kmodel_frame_size = [256,256] #手掌关键点检测 kmodel 输入 w h + +# kmodel 路径 +root_dir = '/sdcard/app/tests/' +hd_kmodel_file = root_dir + 'kmodel/hand_det.kmodel' #手掌检测kmodel路径 +hk_kmodel_file = root_dir + 'kmodel/handkp_det.kmodel' #手掌关键点kmodel路径 +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +# 猜拳模式 0 玩家稳赢 ， 1 玩家必输 ， n > 2 多局多胜 +guess_mode = 3 + +# 读取石头剪刀布的bin文件方法 +def read_file(file_name): + image_arr = np.fromfile(file_name,dtype=np.uint8) + image_arr = image_arr.reshape((400,400,4)) + return image_arr +# 石头剪刀布的 array +five_image = read_file(root_dir + "utils/five.bin") +fist_image = read_file(root_dir + "utils/fist.bin") +shear_image = read_file(root_dir + "utils/shear.bin") + + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global hd_ai2d,hd_ai2d_input_tensor,hd_ai2d_output_tensor,hd_ai2d_builder # 定义手掌检测 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder +global hk_ai2d,hk_ai2d_input_tensor,hk_ai2d_output_tensor,hk_ai2d_builder # 定义手掌关键点检测 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder +global counts_guess, player_win, k230_win, sleep_end, set_stop_id # 定义猜拳游戏的参数：猜拳次数、玩家赢次、k230赢次、是否停顿、是狗暂停 + +# 手掌检测 ai2d 初始化 +def hd_ai2d_init(): + with ScopedTiming("hd_ai2d_init",debug_mode > 0): + global hd_ai2d + global hd_ai2d_builder + # 计算padding值 + ori_w = OUT_RGB888P_WIDTH + ori_h = OUT_RGB888P_HEIGH + width = hd_kmodel_frame_size[0] + height = hd_kmodel_frame_size[1] + ratiow = float(width) / ori_w + ratioh = float(height) / ori_h + if ratiow < ratioh: + ratio = ratiow + else: + ratio = ratioh + new_w = int(ratio * ori_w) + new_h = int(ratio * ori_h) + dw = float(width - new_w) / 2 + dh = float(height - new_h) / 2 + top = int(round(dh - 0.1)) + bottom = int(round(dh + 0.1)) + left = int(round(dw - 0.1)) + right = int(round(dw - 0.1)) + + # init kpu and load kmodel + hd_ai2d = nn.ai2d() + hd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + hd_ai2d.set_pad_param(True, [0,0,0,0,top,bottom,left,right], 0, [114,114,114]) + hd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + hd_ai2d_builder = hd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,height,width]) + + global hd_ai2d_output_tensor + data = np.ones(hd_kmodel_input_shape, dtype=np.uint8) + hd_ai2d_output_tensor = nn.from_numpy(data) + +# 手掌检测 ai2d 运行 +def hd_ai2d_run(rgb888p_img): + with ScopedTiming("hd_ai2d_run",debug_mode > 0): + global hd_ai2d_input_tensor,hd_ai2d_output_tensor + hd_ai2d_input = rgb888p_img.to_numpy_ref() + hd_ai2d_input_tensor = nn.from_numpy(hd_ai2d_input) + + hd_ai2d_builder.run(hd_ai2d_input_tensor, hd_ai2d_output_tensor) + +# 手掌检测 ai2d 释放内存 +def hd_ai2d_release(): + with ScopedTiming("hd_ai2d_release",debug_mode > 0): + global hd_ai2d_input_tensor + del hd_ai2d_input_tensor + +# 手掌检测 kpu 初始化 +def hd_kpu_init(hd_kmodel_file): + # init kpu and load kmodel + with ScopedTiming("hd_kpu_init",debug_mode > 0): + hd_kpu_obj = nn.kpu() + hd_kpu_obj.load_kmodel(hd_kmodel_file) + + hd_ai2d_init() + return hd_kpu_obj + +# 手掌检测 kpu 输入预处理 +def hd_kpu_pre_process(rgb888p_img): + hd_ai2d_run(rgb888p_img) + with ScopedTiming("hd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,hd_ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, hd_ai2d_output_tensor) + +# 手掌检测 kpu 获取 kmodel 输出 +def hd_kpu_get_output(): + with ScopedTiming("hd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + result = result.reshape((result.shape[0]*result.shape[1]*result.shape[2]*result.shape[3])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# 手掌检测 kpu 运行 +def hd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1) 原始图像预处理，并设置模型输入 + hd_kpu_pre_process(rgb888p_img) + # (2) kpu 运行 + with ScopedTiming("hd_kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3) 释放ai2d资源 + hd_ai2d_release() + # (4) 获取kpu输出 + results = hd_kpu_get_output() + # (5) kpu结果后处理 + dets = aicube.anchorbasedet_post_process( results[0], results[1], results[2], hd_kmodel_frame_size, hd_frame_size, strides, num_classes, confidence_threshold, nms_threshold, anchors, nms_option) + # (6) 返回 手掌检测 结果 + return dets + +# 手掌检测 kpu 释放内存 +def hd_kpu_deinit(kpu_obj): + with ScopedTiming("hd_kpu_deinit",debug_mode > 0): + global hd_ai2d,hd_ai2d_output_tensor + del kpu_obj + del hd_ai2d + del hd_ai2d_output_tensor + +# 手掌关键点检测 ai2d 初始化 +def hk_ai2d_init(): + with ScopedTiming("hk_ai2d_init",debug_mode > 0): + global hk_ai2d + hk_ai2d = nn.ai2d() + hk_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + + global hk_ai2d_output_tensor + data = np.ones(hk_kmodel_input_shape, dtype=np.uint8) + hk_ai2d_output_tensor = nn.from_numpy(data) + +# 手掌关键点检测 ai2d 运行 +def hk_ai2d_run(rgb888p_img, x, y, w, h): + with ScopedTiming("hk_ai2d_run",debug_mode > 0): + global hk_ai2d,hk_ai2d_input_tensor,hk_ai2d_output_tensor + hk_ai2d_input = rgb888p_img.to_numpy_ref() + hk_ai2d_input_tensor = nn.from_numpy(hk_ai2d_input) + + hk_ai2d.set_crop_param(True, x, y, w, h) + hk_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + + global hk_ai2d_builder + hk_ai2d_builder = hk_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,hk_kmodel_frame_size[1],hk_kmodel_frame_size[0]]) + hk_ai2d_builder.run(hk_ai2d_input_tensor, hk_ai2d_output_tensor) + +# 手掌关键点检测 ai2d 释放内存 +def hk_ai2d_release(): + with ScopedTiming("hk_ai2d_release",debug_mode > 0): + global hk_ai2d_input_tensor + del hk_ai2d_input_tensor + +# 手掌关键点检测 kpu 初始化 +def hk_kpu_init(hk_kmodel_file): + # init kpu and load kmodel + with ScopedTiming("hk_kpu_init",debug_mode > 0): + hk_kpu_obj = nn.kpu() + hk_kpu_obj.load_kmodel(hk_kmodel_file) + + hk_ai2d_init() + return hk_kpu_obj + +# 手掌关键点检测 kpu 输入预处理 +def hk_kpu_pre_process(rgb888p_img, x, y, w, h): + hk_ai2d_run(rgb888p_img, x, y, w, h) + with ScopedTiming("hk_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,hk_ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, hk_ai2d_output_tensor) + +# 手掌关键点检测 kpu 获得 kmodel 输出 +def hk_kpu_get_output(): + with ScopedTiming("hk_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + + result = result.reshape((result.shape[0]*result.shape[1])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# 手掌关键点检测 接收kmodel结果的后处理 +def hk_kpu_post_process(results, x, y, w, h): + results_show = np.zeros(results.shape,dtype=np.int16) + # results_show = np.zeros(len(results),dtype=np.int16) + results_show[0::2] = results[0::2] * w + x + results_show[1::2] = results[1::2] * h + y + return results_show + +# 手掌关键点检测 kpu 运行 +def hk_kpu_run(kpu_obj,rgb888p_img, x, y, w, h): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1) 原图预处理，并设置模型输入 + hk_kpu_pre_process(rgb888p_img, x, y, w, h) + # (2) kpu 运行 + with ScopedTiming("hk_kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3) 释放ai2d资源 + hk_ai2d_release() + # (4) 获取kpu输出 + results = hk_kpu_get_output() + # (5) kpu结果后处理 + result = hk_kpu_post_process(results[0],x,y,w,h) + # (6) 返回 关键点检测 结果 + return result + +# 手掌关键点检测 kpu 释放内存 +def hk_kpu_deinit(kpu_obj): + with ScopedTiming("hk_kpu_deinit",debug_mode > 0): + global hk_ai2d,hk_ai2d_output_tensor + del kpu_obj + del hk_ai2d + del hk_ai2d_output_tensor + +# 手掌关键点检测 计算角度 +def hk_vector_2d_angle(v1,v2): + v1_x = v1[0] + v1_y = v1[1] + v2_x = v2[0] + v2_y = v2[1] + v1_norm = np.sqrt(v1_x * v1_x+ v1_y * v1_y) + v2_norm = np.sqrt(v2_x * v2_x + v2_y * v2_y) + dot_product = v1_x * v2_x + v1_y * v2_y + cos_angle = dot_product/(v1_norm*v2_norm) + angle = np.acos(cos_angle)*180/np.pi + # if (angle>180): + # return 65536 + return angle + +# 利用手掌关键点检测的结果 判断手掌手势 +def hk_gesture(kpu_hand_keypoint_detect,rgb888p_img,det_box): + x1, y1, x2, y2 = det_box[2],det_box[3],det_box[4],det_box[5] + w = int(float(x2 - x1) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + h = int(float(y2 - y1) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + x1 = int(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y1 = int(y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + x2 = int(x2 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y2 = int(y2 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + if (h<(0.1*DISPLAY_HEIGHT)): + return + if (w<(0.25*DISPLAY_WIDTH) and ((x1<(0.03*DISPLAY_WIDTH)) or (x2>(0.97*DISPLAY_WIDTH)))): + return + if (w<(0.15*DISPLAY_WIDTH) and ((x1<(0.01*DISPLAY_WIDTH)) or (x2>(0.99*DISPLAY_WIDTH)))): + return + + length = max(w,h)/2 + cx = (x1+x2)/2 + cy = (y1+y2)/2 + ratio_num = 1.26*length + + x1_kp = int(max(0,cx-ratio_num)) + y1_kp = int(max(0,cy-ratio_num)) + x2_kp = int(min(DISPLAY_WIDTH-1, cx+ratio_num)) + y2_kp = int(min(DISPLAY_HEIGHT-1, cy+ratio_num)) + w_kp = int(x2_kp - x1_kp + 1) + h_kp = int(y2_kp - y1_kp + 1) + + results = hk_kpu_run(kpu_hand_keypoint_detect,rgb888p_img, x1_kp, y1_kp, w_kp, h_kp) + + angle_list = [] + for i in range(5): + angle = hk_vector_2d_angle([(results[0]-results[i*8+4]), (results[1]-results[i*8+5])],[(results[i*8+6]-results[i*8+8]),(results[i*8+7]-results[i*8+9])]) + angle_list.append(angle) + + thr_angle = 65. + thr_angle_thumb = 53. + thr_angle_s = 49. + gesture_str = None + if 65535. not in angle_list: + if (angle_list[0]>thr_angle_thumb) and (angle_list[1]>thr_angle) and (angle_list[2]>thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]>thr_angle): + gesture_str = "fist" + elif (angle_list[0]thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]>thr_angle): + gesture_str = "gun" + elif (angle_list[0]thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]5) and (angle_list[1]thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]>thr_angle): + gesture_str = "one" + elif (angle_list[0]thr_angle) and (angle_list[2]>thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]thr_angle_thumb) and (angle_list[1]thr_angle): + gesture_str = "three" + elif (angle_list[0]thr_angle) and (angle_list[2]>thr_angle) and (angle_list[3]>thr_angle) and (angle_list[4]>thr_angle): + gesture_str = "thumbUp" + elif (angle_list[0]>thr_angle_thumb) and (angle_list[1]thr_angle) and (angle_list[4]>thr_angle): + gesture_str = "yeah" + + return gesture_str + + +#media_utils.py +global draw_img,osd_img,masks #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img, masks + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + masks = np.zeros((OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH,4),dtype=np.uint8) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888,alloc=image.ALLOC_REF,data=masks) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + + +#**********for finger_guessing.py********** +def finger_guessing_inference(): + print("finger_guessing_test start") + kpu_hand_detect = hd_kpu_init(hd_kmodel_file) # 创建手掌检测的 kpu 对象 + kpu_hand_keypoint_detect = hk_kpu_init(hk_kmodel_file) # 创建手掌关键点检测的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("finger_guessing, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) # 开启 camera + counts_guess = -1 # 猜拳次数 计数 + player_win = 0 # 玩家 赢次计数 + k230_win = 0 # k230 赢次计数 + sleep_end = False # 是否 停顿 + set_stop_id = True # 是否 暂停猜拳 + LIBRARY = ["fist","yeah","five"] # 猜拳 石头剪刀布 三种方案的dict + + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图像 + if rgb888p_img == -1: + print("finger_guessing, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + with ScopedTiming("trigger time", debug_mode > 0): + dets = hd_kpu_run(kpu_hand_detect,rgb888p_img) # 执行手掌检测 kpu 运行 以及 后处理过程 + gesture = "" + draw_img.clear() + for det_box in dets: + gesture = hk_gesture(kpu_hand_keypoint_detect,rgb888p_img,det_box) # 执行手掌关键点检测 kpu 运行 以及 后处理过程 得到手势类型 + if (len(dets) >= 2): + draw_img.draw_string( 300 , 500, "Must have one hand !", color=(255,255,0,0), scale=7) + draw_img.copy_to(osd_img) + elif (guess_mode == 0): + if (gesture == "fist"): + masks[:400,:400,:] = shear_image + elif (gesture == "five"): + masks[:400,:400,:] = fist_image + elif (gesture == "yeah"): + masks[:400,:400,:] = five_image + draw_img.copy_to(osd_img) + elif (guess_mode == 1): + if (gesture == "fist"): + masks[:400,:400,:] = five_image + elif (gesture == "five"): + masks[:400,:400,:] = shear_image + elif (gesture == "yeah"): + masks[:400,:400,:] = fist_image + draw_img.copy_to(osd_img) + else: + if (sleep_end): + time.sleep_ms(2000) + sleep_end = False + if (len(dets) == 0): + set_stop_id = True + if (counts_guess == -1 and gesture != "fist" and gesture != "yeah" and gesture != "five"): + draw_img.draw_string( 400 , 450, "G A M E S T A R T", color=(255,255,0,0), scale=7) + draw_img.draw_string( 400 , 550, " 1 S E T ", color=(255,255,0,0), scale=7) + draw_img.copy_to(osd_img) + elif (counts_guess == guess_mode): + draw_img.clear() + if (k230_win > player_win): + draw_img.draw_string( 400 , 450, "Y O U L O S E", color=(255,255,0,0), scale=7) + elif (k230_win < player_win): + draw_img.draw_string( 400 , 450, "Y O U W I N", color=(255,255,0,0), scale=7) + else: + draw_img.draw_string( 400 , 450, "T I E G A M E", color=(255,255,0,0), scale=7) + draw_img.copy_to(osd_img) + counts_guess = -1 + player_win = 0 + k230_win = 0 + + sleep_end = True + else: + if (set_stop_id): + if (counts_guess == -1 and (gesture == "fist" or gesture == "yeah" or gesture == "five")): + counts_guess = 0 + if (counts_guess != -1 and (gesture == "fist" or gesture == "yeah" or gesture == "five")): + k230_guess = randint(1,10000) % 3 + if (gesture == "fist" and LIBRARY[k230_guess] == "yeah"): + player_win += 1 + elif (gesture == "fist" and LIBRARY[k230_guess] == "five"): + k230_win += 1 + if (gesture == "yeah" and LIBRARY[k230_guess] == "fist"): + k230_win += 1 + elif (gesture == "yeah" and LIBRARY[k230_guess] == "five"): + player_win += 1 + if (gesture == "five" and LIBRARY[k230_guess] == "fist"): + player_win += 1 + elif (gesture == "five" and LIBRARY[k230_guess] == "yeah"): + k230_win += 1 + + if (LIBRARY[k230_guess] == "fist"): + masks[:400,:400,:] = fist_image + elif (LIBRARY[k230_guess] == "five"): + masks[:400,:400,:] = five_image + elif (LIBRARY[k230_guess] == "yeah"): + masks[:400,:400,:] = shear_image + + counts_guess += 1; + draw_img.draw_string( 400 , 450, " " + str(counts_guess) + " S E T ", color=(255,255,0,0), scale=7) + draw_img.copy_to(osd_img) + set_stop_id = False + sleep_end = True + + else: + draw_img.draw_string( 400 , 450, " " + str(counts_guess+1) + " S E T ", color=(255,255,0,0), scale=7) + draw_img.copy_to(osd_img) + else: + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) # 将得到的图像 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图形 + rgb888p_img = None + gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 停止 display + hd_kpu_deinit(kpu_hand_detect) # 释放手掌检测 kpu + hk_kpu_deinit(kpu_hand_keypoint_detect) # 释放手掌关键点检测 kpu + + gc.collect() + ret = media_deinit() # 释放 整个 media + if ret: + print("finger_guessing, buffer_deinit failed") + return ret + + print("finger_guessing_test end") + return 0 + +if __name__ == '__main__': + finger_guessing_inference() + diff --git a/tests/ai_demo/hand_detection.py b/tests/ai_demo/hand_detection.py new file mode 100644 index 0000000..9ca1d45 --- /dev/null +++ b/tests/ai_demo/hand_detection.py @@ -0,0 +1,339 @@ +import aicube #aicube模块，封装检测分割等任务相关后处理 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 + +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 + +import time #时间统计 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 + +import gc #垃圾回收模块 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +##ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) +OUT_RGB888P_HEIGH = 1080 + +#kmodel输入shape +kmodel_input_shape = (1,3,512,512) # kmodel输入分辨率 + +#kmodel相关参数设置 +confidence_threshold = 0.2 # 手掌检测阈值，用于过滤roi +nms_threshold = 0.5 # 手掌检测框阈值，用于过滤重复roi +kmodel_frame_size = [512,512] # 手掌检测输入图片尺寸 +frame_size = [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH] # 直接输入图片尺寸 +strides = [8,16,32] # 输出特征图的尺寸与输入图片尺寸的比 +num_classes = 1 # 模型输出类别数 +nms_option = False # 是否所有检测框一起做NMS，False则按照不同的类分别应用NMS +labels = ["hand"] # 模型输出类别名称 + +root_dir = '/sdcard/app/tests/' +kmodel_file = root_dir + 'kmodel/hand_det.kmodel' # kmodel文件的路径 +anchors = [26,27, 53,52, 75,71, 80,99, 106,82, 99,134, 140,113, 161,172, 245,276] #anchor设置 + +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global ai2d,ai2d_input_tensor,ai2d_output_tensor,ai2d_builder # 定义全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + + +# ai2d 初始化 +def ai2d_init(): + with ScopedTiming("ai2d_init",debug_mode > 0): + global ai2d + global ai2d_builder + global ai2d_output_tensor + # 计算padding值 + ori_w = OUT_RGB888P_WIDTH + ori_h = OUT_RGB888P_HEIGH + width = kmodel_frame_size[0] + height = kmodel_frame_size[1] + ratiow = float(width) / ori_w + ratioh = float(height) / ori_h + if ratiow < ratioh: + ratio = ratiow + else: + ratio = ratioh + new_w = int(ratio * ori_w) + new_h = int(ratio * ori_h) + dw = float(width - new_w) / 2 + dh = float(height - new_h) / 2 + top = int(round(dh - 0.1)) + bottom = int(round(dh + 0.1)) + left = int(round(dw - 0.1)) + right = int(round(dw - 0.1)) + + ai2d = nn.ai2d() + ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d.set_pad_param(True, [0,0,0,0,top,bottom,left,right], 0, [114,114,114]) + ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + ai2d_builder = ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,height,width]) + data = np.ones(kmodel_input_shape, dtype=np.uint8) + ai2d_output_tensor = nn.from_numpy(data) + +# ai2d 运行 +def ai2d_run(rgb888p_img): + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor,ai2d_output_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + ai2d_input_tensor = nn.from_numpy(ai2d_input) + ai2d_builder.run(ai2d_input_tensor, ai2d_output_tensor) + +# ai2d 释放内存 +def ai2d_release(): + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor + del ai2d_input_tensor + +# kpu 初始化 +def kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + ai2d_init() + return kpu_obj + +# kpu 输入预处理 +def kpu_pre_process(rgb888p_img): + ai2d_run(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_output_tensor) + +# kpu 获得 kmodel 输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + + result = result.reshape((result.shape[0]*result.shape[1]*result.shape[2]*result.shape[3])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# kpu 运行 +def kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1)原图预处理，并设置模型输入 + kpu_pre_process(rgb888p_img) + # (2)手掌检测 kpu 运行 + with ScopedTiming("kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3)释放手掌检测 ai2d 资源 + ai2d_release() + # (4)获取手掌检测 kpu 输出 + results = kpu_get_output() + # (5)手掌检测 kpu 结果后处理 + dets = aicube.anchorbasedet_post_process( results[0], results[1], results[2], kmodel_frame_size, frame_size, strides, num_classes, confidence_threshold, nms_threshold, anchors, nms_option) + # (6)返回手掌检测结果 + return dets + +# kpu 释放内存 +def kpu_deinit(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d, ai2d_output_tensor + del kpu_obj + del ai2d + del ai2d_output_tensor + +#media_utils.py +global draw_img,osd_img,masks #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 框出所有检测到的手以及标出得分 +def display_draw(dets): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + + if dets: + draw_img.clear() + for det_box in dets: + x1, y1, x2, y2 = det_box[2],det_box[3],det_box[4],det_box[5] + w = float(x2 - x1) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + h = float(y2 - y1) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + + x1 = int(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y1 = int(y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + x2 = int(x2 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y2 = int(y2 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + if (h<(0.1*DISPLAY_HEIGHT)): + continue + if (w<(0.25*DISPLAY_WIDTH) and ((x1<(0.03*DISPLAY_WIDTH)) or (x2>(0.97*DISPLAY_WIDTH)))): + continue + if (w<(0.15*DISPLAY_WIDTH) and ((x1<(0.01*DISPLAY_WIDTH)) or (x2>(0.99*DISPLAY_WIDTH)))): + continue + draw_img.draw_rectangle(x1 , y1 , int(w) , int(h) , color=(255, 0, 255, 0),thickness = 2) + draw_img.draw_string( x1 , y1-50, " " + labels[det_box[0]] + " " + str(round(det_box[1],2)) , color=(255,0, 255, 0), scale=4) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#**********for hand_detect.py********** +def hand_detect_inference(): + print("hand_detect_test start") + kpu_hand_detect = kpu_init(kmodel_file) # 创建手掌检测的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("hand_detect_test, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("hand_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + dets = kpu_run(kpu_hand_detect,rgb888p_img) # 执行手掌检测 kpu 运行 以及 后处理过程 + display_draw(dets) # 将得到的检测结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + #gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + kpu_deinit(kpu_hand_detect) # 释放 kpu + gc.collect() + ret = media_deinit() # 释放 整个media + if ret: + print("hand_detect_test, buffer_deinit failed") + return ret + + print("hand_detect_test end") + return 0 + +if __name__ == '__main__': + hand_detect_inference() + diff --git a/tests/ai_demo/hand_keypoint_detection.py b/tests/ai_demo/hand_keypoint_detection.py new file mode 100644 index 0000000..c01e330 --- /dev/null +++ b/tests/ai_demo/hand_keypoint_detection.py @@ -0,0 +1,471 @@ +import aicube #aicube模块，封装检测分割等任务相关后处理 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 + +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 + +import time #时间统计 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 + +import gc #垃圾回收模块 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +##ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) +OUT_RGB888P_HEIGH = 1080 + +#--------for hand detection---------- +#kmodel输入shape +hd_kmodel_input_shape = (1,3,512,512) # 手掌检测kmodel输入分辨率 + +#kmodel相关参数设置 +confidence_threshold = 0.2 # 手掌检测阈值，用于过滤roi +nms_threshold = 0.5 # 手掌检测框阈值，用于过滤重复roi +hd_kmodel_frame_size = [512,512] # 手掌检测输入图片尺寸 +hd_frame_size = [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH] # 手掌检测直接输入图片尺寸 +strides = [8,16,32] # 输出特征图的尺寸与输入图片尺寸的比 +num_classes = 1 # 手掌检测模型输出类别数 +nms_option = False # 是否所有检测框一起做NMS，False则按照不同的类分别应用NMS + +root_dir = '/sdcard/app/tests/' +hd_kmodel_file = root_dir + "kmodel/hand_det.kmodel" # 手掌检测kmodel文件的路径 +anchors = [26,27, 53,52, 75,71, 80,99, 106,82, 99,134, 140,113, 161,172, 245,276] #anchor设置 + +#--------for hand keypoint detection---------- +#kmodel输入shape +hk_kmodel_input_shape = (1,3,256,256) # 手掌关键点检测kmodel输入分辨率 + +#kmodel相关参数设置 +hk_kmodel_frame_size = [256,256] # 手掌关键点检测输入图片尺寸 +hk_kmodel_file = root_dir + 'kmodel/handkp_det.kmodel' # 手掌关键点检测kmodel文件的路径 + +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global hd_ai2d,hd_ai2d_input_tensor,hd_ai2d_output_tensor,hd_ai2d_builder # 定义手掌检测全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder +global hk_ai2d,hk_ai2d_input_tensor,hk_ai2d_output_tensor,hk_ai2d_builder # 定义手掌关键点检测全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + +#-------hand detect--------: +# 手掌检测ai2d 初始化 +def hd_ai2d_init(): + with ScopedTiming("hd_ai2d_init",debug_mode > 0): + global hd_ai2d + global hd_ai2d_builder + global hd_ai2d_output_tensor + # 计算padding值 + ori_w = OUT_RGB888P_WIDTH + ori_h = OUT_RGB888P_HEIGH + width = hd_kmodel_frame_size[0] + height = hd_kmodel_frame_size[1] + ratiow = float(width) / ori_w + ratioh = float(height) / ori_h + if ratiow < ratioh: + ratio = ratiow + else: + ratio = ratioh + new_w = int(ratio * ori_w) + new_h = int(ratio * ori_h) + dw = float(width - new_w) / 2 + dh = float(height - new_h) / 2 + top = int(round(dh - 0.1)) + bottom = int(round(dh + 0.1)) + left = int(round(dw - 0.1)) + right = int(round(dw - 0.1)) + + # init kpu and load kmodel + hd_ai2d = nn.ai2d() + hd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + hd_ai2d.set_pad_param(True, [0,0,0,0,top,bottom,left,right], 0, [114,114,114]) + hd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + hd_ai2d_builder = hd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,height,width]) + data = np.ones(hd_kmodel_input_shape, dtype=np.uint8) + hd_ai2d_output_tensor = nn.from_numpy(data) + +# 手掌检测 ai2d 运行 +def hd_ai2d_run(rgb888p_img): + with ScopedTiming("hd_ai2d_run",debug_mode > 0): + global hd_ai2d_input_tensor,hd_ai2d_output_tensor + hd_ai2d_input = rgb888p_img.to_numpy_ref() + hd_ai2d_input_tensor = nn.from_numpy(hd_ai2d_input) + + hd_ai2d_builder.run(hd_ai2d_input_tensor, hd_ai2d_output_tensor) + +# 手掌检测 ai2d 释放内存 +def hd_ai2d_release(): + with ScopedTiming("hd_ai2d_release",debug_mode > 0): + global hd_ai2d_input_tensor + del hd_ai2d_input_tensor + +# 手掌检测 kpu 初始化 +def hd_kpu_init(hd_kmodel_file): + # init kpu and load kmodel + with ScopedTiming("hd_kpu_init",debug_mode > 0): + hd_kpu_obj = nn.kpu() + hd_kpu_obj.load_kmodel(hd_kmodel_file) + + hd_ai2d_init() + return hd_kpu_obj + +# 手掌检测 kpu 输入预处理 +def hd_kpu_pre_process(rgb888p_img): + hd_ai2d_run(rgb888p_img) + with ScopedTiming("hd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,hd_ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, hd_ai2d_output_tensor) + +# 手掌检测 kpu 获得 kmodel 输出 +def hd_kpu_get_output(): + with ScopedTiming("hd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + result = result.reshape((result.shape[0]*result.shape[1]*result.shape[2]*result.shape[3])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# 手掌检测 kpu 运行 +def hd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1)原图预处理，并设置模型输入 + hd_kpu_pre_process(rgb888p_img) + # (2)手掌检测 kpu 运行 + with ScopedTiming("hd_kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3)释放手掌检测 ai2d 资源 + hd_ai2d_release() + # (4)获取手掌检测 kpu 输出 + results = hd_kpu_get_output() + # (5)手掌检测 kpu 结果后处理 + dets = aicube.anchorbasedet_post_process( results[0], results[1], results[2], hd_kmodel_frame_size, hd_frame_size, strides, num_classes, confidence_threshold, nms_threshold, anchors, nms_option) + # (6)返回手掌检测结果 + return dets + +# 手掌检测 kpu 释放内存 +def hd_kpu_deinit(kpu_obj): + with ScopedTiming("hd_kpu_deinit",debug_mode > 0): + global hd_ai2d, hd_ai2d_output_tensor + del kpu_obj + del hd_ai2d + del hd_ai2d_output_tensor + +#-------hand keypoint detection------: +# 手掌关键点检测 ai2d 初始化 +def hk_ai2d_init(): + with ScopedTiming("hk_ai2d_init",debug_mode > 0): + global hk_ai2d, hk_ai2d_output_tensor + hk_ai2d = nn.ai2d() + hk_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + data = np.ones(hk_kmodel_input_shape, dtype=np.uint8) + hk_ai2d_output_tensor = nn.from_numpy(data) + +# 手掌关键点检测 ai2d 运行 +def hk_ai2d_run(rgb888p_img, x, y, w, h): + with ScopedTiming("hk_ai2d_run",debug_mode > 0): + global hk_ai2d,hk_ai2d_input_tensor,hk_ai2d_output_tensor + hk_ai2d_input = rgb888p_img.to_numpy_ref() + hk_ai2d_input_tensor = nn.from_numpy(hk_ai2d_input) + + hk_ai2d.set_crop_param(True, x, y, w, h) + hk_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + + global hk_ai2d_builder + hk_ai2d_builder = hk_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,hk_kmodel_frame_size[1],hk_kmodel_frame_size[0]]) + hk_ai2d_builder.run(hk_ai2d_input_tensor, hk_ai2d_output_tensor) + +# 手掌关键点检测 ai2d 释放内存 +def hk_ai2d_release(): + with ScopedTiming("hk_ai2d_release",debug_mode > 0): + global hk_ai2d_input_tensor + del hk_ai2d_input_tensor + +# 手掌关键点检测 kpu 初始化 +def hk_kpu_init(hk_kmodel_file): + # init kpu and load kmodel + with ScopedTiming("hk_kpu_init",debug_mode > 0): + hk_kpu_obj = nn.kpu() + hk_kpu_obj.load_kmodel(hk_kmodel_file) + + hk_ai2d_init() + return hk_kpu_obj + +# 手掌关键点检测 kpu 输入预处理 +def hk_kpu_pre_process(rgb888p_img, x, y, w, h): + hk_ai2d_run(rgb888p_img, x, y, w, h) + with ScopedTiming("hk_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,hk_ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, hk_ai2d_output_tensor) + +# 手掌关键点检测 kpu 获得 kmodel 输出 +def hk_kpu_get_output(): + with ScopedTiming("hk_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + + result = result.reshape((result.shape[0]*result.shape[1])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# 手掌关键点检测 kpu 运行 +def hk_kpu_run(kpu_obj,rgb888p_img, x, y, w, h): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1)原图预处理，并设置模型输入 + hk_kpu_pre_process(rgb888p_img, x, y, w, h) + # (2)手掌关键点检测 kpu 运行 + with ScopedTiming("hk_kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3)释放手掌关键点检测 ai2d 资源 + hk_ai2d_release() + # (4)获取手掌关键点检测 kpu 输出 + results = hk_kpu_get_output() + # (5)返回手掌关键点检测结果 + return results + +# 手掌关键点检测 kpu 释放内存 +def hk_kpu_deinit(kpu_obj): + with ScopedTiming("hk_kpu_deinit",debug_mode > 0): + global hk_ai2d, hk_ai2d_output_tensor + del kpu_obj + del hk_ai2d + del hk_ai2d_output_tensor + +#media_utils.py +global draw_img,osd_img,masks #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 标出检测到的21个关键点并用不同颜色的线段连接 +def display_draw(results, x, y, w, h): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + + if results: + results_show = np.zeros(results.shape,dtype=np.int16) + results_show[0::2] = results[0::2] * w + x + results_show[1::2] = results[1::2] * h + y + for i in range(len(results_show)/2): + draw_img.draw_circle(results_show[i*2], results_show[i*2+1], 1, color=(255, 0, 255, 0),fill=False) + for i in range(5): + j = i*8 + if i==0: + R = 255; G = 0; B = 0 + if i==1: + R = 255; G = 0; B = 255 + if i==2: + R = 255; G = 255; B = 0 + if i==3: + R = 0; G = 255; B = 0 + if i==4: + R = 0; G = 0; B = 255 + draw_img.draw_line(results_show[0], results_show[1],results_show[j+2], results_show[j+3],color=(255,R,G,B),thickness = 3) + draw_img.draw_line(results_show[j+2], results_show[j+3],results_show[j+4], results_show[j+5],color=(255,R,G,B),thickness = 3) + draw_img.draw_line(results_show[j+4], results_show[j+5],results_show[j+6], results_show[j+7],color=(255,R,G,B),thickness = 3) + draw_img.draw_line(results_show[j+6], results_show[j+7],results_show[j+8], results_show[j+9],color=(255,R,G,B),thickness = 3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#**********for hand_keypoint_detect.py********** +def hand_keypoint_detect_inference(): + print("hand_keypoint_detect_test start") + kpu_hand_detect = hd_kpu_init(hd_kmodel_file) # 创建手掌检测的 kpu 对象 + kpu_hand_keypoint_detect = hk_kpu_init(hk_kmodel_file) # 创建手掌关键点检测的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("hand_detect_test, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("hand_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + dets = hd_kpu_run(kpu_hand_detect,rgb888p_img) # 执行手掌检测 kpu 运行 以及 后处理过程 + draw_img.clear() + + for det_box in dets: + x1, y1, x2, y2 = det_box[2],det_box[3],det_box[4],det_box[5] + w = int(float(x2 - x1) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + h = int(float(y2 - y1) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + x1 = int(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y1 = int(y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + x2 = int(x2 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y2 = int(y2 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + if (h<(0.1*DISPLAY_HEIGHT)): + continue + if (w<(0.25*DISPLAY_WIDTH) and ((x1<(0.03*DISPLAY_WIDTH)) or (x2>(0.97*DISPLAY_WIDTH)))): + continue + if (w<(0.15*DISPLAY_WIDTH) and ((x1<(0.01*DISPLAY_WIDTH)) or (x2>(0.99*DISPLAY_WIDTH)))): + continue + + length = max(w,h)/2 + cx = (x1+x2)/2 + cy = (y1+y2)/2 + ratio_num = 1.26*length + + x1_kp = int(max(0,cx-ratio_num)) + y1_kp = int(max(0,cy-ratio_num)) + x2_kp = int(min(DISPLAY_WIDTH-1, cx+ratio_num)) + y2_kp = int(min(DISPLAY_HEIGHT-1, cy+ratio_num)) + w_kp = int(x2_kp - x1_kp + 1) + h_kp = int(y2_kp - y1_kp + 1) + + hk_results = hk_kpu_run(kpu_hand_keypoint_detect,rgb888p_img, x1_kp, y1_kp, w_kp, h_kp) # 执行手掌关键点检测 kpu 运行 以及 后处理过程 + + draw_img.draw_rectangle(x1, y1, w, h, color=(255, 0, 255, 0),thickness = 2) # 将得到的手掌检测结果 绘制到 display + display_draw(hk_results[0], x1_kp, y1_kp, w_kp, h_kp) # 将得到的手掌关键点检测结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + #gc.collect() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + hd_kpu_deinit(kpu_hand_detect) # 释放手掌检测 kpu + hk_kpu_deinit(kpu_hand_keypoint_detect) # 释放手掌关键点检测 kpu + gc.collect() + ret = media_deinit() # 释放 整个media + if ret: + print("hand_detect_test, buffer_deinit failed") + return ret + + print("hand_detect_test end") + return 0 + +if __name__ == '__main__': + hand_keypoint_detect_inference() diff --git a/tests/ai_demo/hand_recognition.py b/tests/ai_demo/hand_recognition.py new file mode 100644 index 0000000..6fb4c73 --- /dev/null +++ b/tests/ai_demo/hand_recognition.py @@ -0,0 +1,460 @@ +import aicube #aicube模块，封装检测分割等任务相关后处理 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 + +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 + +import time #时间统计 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 + +import gc #垃圾回收模块 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +##ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) +OUT_RGB888P_HEIGH = 1080 + +#--------for hand detection---------- +#kmodel输入shape +hd_kmodel_input_shape = (1,3,512,512) # 手掌检测kmodel输入分辨率 + +#kmodel相关参数设置 +confidence_threshold = 0.2 # 手掌检测阈值，用于过滤roi +nms_threshold = 0.5 # 手掌检测框阈值，用于过滤重复roi +hd_kmodel_frame_size = [512,512] # 手掌检测输入图片尺寸 +hd_frame_size = [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH] # 手掌检测直接输入图片尺寸 +strides = [8,16,32] # 输出特征图的尺寸与输入图片尺寸的比 +num_classes = 1 # 手掌检测模型输出类别数 +nms_option = False # 是否所有检测框一起做NMS，False则按照不同的类分别应用NMS + +root_dir = '/sdcard/app/tests/' +hd_kmodel_file = root_dir + 'kmodel/hand_det.kmodel' # 手掌检测kmodel文件的路径 +anchors = [26,27, 53,52, 75,71, 80,99, 106,82, 99,134, 140,113, 161,172, 245,276] #anchor设置 + +#--------for hand recognition---------- +#kmodel输入shape +hr_kmodel_input_shape = (1,3,224,224) # 手势识别kmodel输入分辨率 + +#kmodel相关参数设置 +hr_kmodel_frame_size = [224,224] # 手势识别输入图片尺寸 +labels = ["gun","other","yeah","five"] # 模型输出类别名称 + +hr_kmodel_file = root_dir + "kmodel/hand_reco.kmodel" # 手势识别kmodel文件的路径 + +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global hd_ai2d,hd_ai2d_input_tensor,hd_ai2d_output_tensor,hd_ai2d_builder # 定义手掌检测全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder +global hr_ai2d,hr_ai2d_input_tensor,hr_ai2d_output_tensor,hr_ai2d_builder # 定义手势识别全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + +#-------hand detect--------: +# 手掌检测 ai2d 初始化 +def hd_ai2d_init(): + with ScopedTiming("hd_ai2d_init",debug_mode > 0): + global hd_ai2d + global hd_ai2d_builder + global hd_ai2d_output_tensor + # 计算padding值 + ori_w = OUT_RGB888P_WIDTH + ori_h = OUT_RGB888P_HEIGH + width = hd_kmodel_frame_size[0] + height = hd_kmodel_frame_size[1] + ratiow = float(width) / ori_w + ratioh = float(height) / ori_h + if ratiow < ratioh: + ratio = ratiow + else: + ratio = ratioh + new_w = int(ratio * ori_w) + new_h = int(ratio * ori_h) + dw = float(width - new_w) / 2 + dh = float(height - new_h) / 2 + top = int(round(dh - 0.1)) + bottom = int(round(dh + 0.1)) + left = int(round(dw - 0.1)) + right = int(round(dw - 0.1)) + + # init kpu and load kmodel + hd_ai2d = nn.ai2d() + hd_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + hd_ai2d.set_pad_param(True, [0,0,0,0,top,bottom,left,right], 0, [114,114,114]) + hd_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + hd_ai2d_builder = hd_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,height,width]) + data = np.ones(hd_kmodel_input_shape, dtype=np.uint8) + hd_ai2d_output_tensor = nn.from_numpy(data) + +# 手掌检测 ai2d 运行 +def hd_ai2d_run(rgb888p_img): + with ScopedTiming("hd_ai2d_run",debug_mode > 0): + global hd_ai2d_input_tensor,hd_ai2d_output_tensor + hd_ai2d_input = rgb888p_img.to_numpy_ref() + hd_ai2d_input_tensor = nn.from_numpy(hd_ai2d_input) + + hd_ai2d_builder.run(hd_ai2d_input_tensor, hd_ai2d_output_tensor) + +# 手掌检测 ai2d 释放内存 +def hd_ai2d_release(): + with ScopedTiming("hd_ai2d_release",debug_mode > 0): + global hd_ai2d_input_tensor + del hd_ai2d_input_tensor + +# 手掌检测 kpu 初始化 +def hd_kpu_init(hd_kmodel_file): + # init kpu and load kmodel + with ScopedTiming("hd_kpu_init",debug_mode > 0): + hd_kpu_obj = nn.kpu() + hd_kpu_obj.load_kmodel(hd_kmodel_file) + + hd_ai2d_init() + return hd_kpu_obj + +# 手掌检测 kpu 输入预处理 +def hd_kpu_pre_process(rgb888p_img): + hd_ai2d_run(rgb888p_img) + with ScopedTiming("hd_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,hd_ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, hd_ai2d_output_tensor) + +# 手掌检测 kpu 获得 kmodel 输出 +def hd_kpu_get_output(): + with ScopedTiming("hd_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + result = result.reshape((result.shape[0]*result.shape[1]*result.shape[2]*result.shape[3])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# 手掌检测 kpu 运行 +def hd_kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1)原图预处理，并设置模型输入 + hd_kpu_pre_process(rgb888p_img) + # (2)手掌检测 kpu 运行 + with ScopedTiming("hd_kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3)释放手掌检测 ai2d 资源 + hd_ai2d_release() + # (4)获取手掌检测 kpu 输出 + results = hd_kpu_get_output() + # (5)手掌检测 kpu 结果后处理 + dets = aicube.anchorbasedet_post_process( results[0], results[1], results[2], hd_kmodel_frame_size, hd_frame_size, strides, num_classes, confidence_threshold, nms_threshold, anchors, nms_option) + # (6)返回手掌检测结果 + return dets + +# 手掌检测 kpu 释放内存 +def hd_kpu_deinit(kpu_obj): + with ScopedTiming("hd_kpu_deinit",debug_mode > 0): + global hd_ai2d, hd_ai2d_output_tensor + del kpu_obj + del hd_ai2d + del hd_ai2d_output_tensor + +#-------hand recognition--------: +# 手势识别 ai2d 初始化 +def hr_ai2d_init(): + with ScopedTiming("hr_ai2d_init",debug_mode > 0): + global hr_ai2d, hr_ai2d_output_tensor + hr_ai2d = nn.ai2d() + hr_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + data = np.ones(hr_kmodel_input_shape, dtype=np.uint8) + hr_ai2d_output_tensor = nn.from_numpy(data) + +# 手势识别 ai2d 运行 +def hr_ai2d_run(rgb888p_img, x, y, w, h): + with ScopedTiming("hr_ai2d_run",debug_mode > 0): + global hr_ai2d,hr_ai2d_input_tensor,hr_ai2d_output_tensor + hr_ai2d_input = rgb888p_img.to_numpy_ref() + hr_ai2d_input_tensor = nn.from_numpy(hr_ai2d_input) + + hr_ai2d.set_crop_param(True, x, y, w, h) + hr_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + + global hr_ai2d_builder + hr_ai2d_builder = hr_ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,hr_kmodel_frame_size[1],hr_kmodel_frame_size[0]]) + hr_ai2d_builder.run(hr_ai2d_input_tensor, hr_ai2d_output_tensor) + +# 手势识别 ai2d 释放内存 +def hr_ai2d_release(): + with ScopedTiming("hr_ai2d_release",debug_mode > 0): + global hr_ai2d_input_tensor + del hr_ai2d_input_tensor + +# 手势识别 kpu 初始化 +def hr_kpu_init(hr_kmodel_file): + # init kpu and load kmodel + with ScopedTiming("hr_kpu_init",debug_mode > 0): + hr_kpu_obj = nn.kpu() + hr_kpu_obj.load_kmodel(hr_kmodel_file) + + hr_ai2d_init() + return hr_kpu_obj + +# 手势识别 kpu 输入预处理 +def hr_kpu_pre_process(rgb888p_img, x, y, w, h): + hr_ai2d_run(rgb888p_img, x, y, w, h) + with ScopedTiming("hr_kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,hr_ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, hr_ai2d_output_tensor) + +# 手势识别 kpu 获得 kmodel 输出 +def hr_kpu_get_output(): + with ScopedTiming("hr_kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + + result = result.reshape((result.shape[0]*result.shape[1])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# softmax实现 +def softmax(x): + x -= np.max(x) + x = np.exp(x) / np.sum(np.exp(x)) + return x + +# 手势识别 kpu 输出后处理 +def hr_kpu_post_process(results): + x_softmax = softmax(results[0]) + result = np.argmax(x_softmax) + text = " " + labels[result] + ": " + str(round(x_softmax[result],2)) + return text + +# 手势识别 kpu 运行 +def hr_kpu_run(kpu_obj,rgb888p_img, x, y, w, h): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1)原图预处理，并设置模型输入 + hr_kpu_pre_process(rgb888p_img, x, y, w, h) + # (2)手势识别 kpu 运行 + with ScopedTiming("hr_kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3)释放手势识别 ai2d 资源 + hr_ai2d_release() + # (4)获取手势识别 kpu 输出 + results = hr_kpu_get_output() + # (5)手势识别 kpu 结果后处理 + result = hr_kpu_post_process(results) + # (6)返回手势识别结果 + return result + +# 手势识别 kpu 释放内存 +def hr_kpu_deinit(kpu_obj): + with ScopedTiming("hr_kpu_deinit",debug_mode > 0): + global hr_ai2d, hr_ai2d_output_tensor + del kpu_obj + del hr_ai2d + del hr_ai2d_output_tensor + +#media_utils.py +global draw_img,osd_img,masks #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#**********for hand_recognition.py********** +def hand_recognition_inference(): + print("hand_recognition start") + kpu_hand_detect = hd_kpu_init(hd_kmodel_file) # 创建手掌检测的 kpu 对象 + kpu_hand_recognition = hr_kpu_init(hr_kmodel_file) # 创建手势识别的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("hand_recognition_test, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("hand_recognition_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + dets = hd_kpu_run(kpu_hand_detect,rgb888p_img) # 执行手掌检测 kpu 运行 以及 后处理过程 + draw_img.clear() + + for det_box in dets: + x1, y1, x2, y2 = det_box[2],det_box[3],det_box[4],det_box[5] + w = int(float(x2 - x1) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + h = int(float(y2 - y1) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + x1 = int(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y1 = int(y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + x2 = int(x2 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y2 = int(y2 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + if (h<(0.1*DISPLAY_HEIGHT)): + continue + if (w<(0.25*DISPLAY_WIDTH) and ((x1<(0.03*DISPLAY_WIDTH)) or (x2>(0.97*DISPLAY_WIDTH)))): + continue + if (w<(0.15*DISPLAY_WIDTH) and ((x1<(0.01*DISPLAY_WIDTH)) or (x2>(0.99*DISPLAY_WIDTH)))): + continue + + length = max(w,h)/2 + cx = (x1+x2)/2 + cy = (y1+y2)/2 + ratio_num = 1.1*length + + x1_kp = int(max(0,cx-ratio_num)) + y1_kp = int(max(0,cy-ratio_num)) + x2_kp = int(min(DISPLAY_WIDTH-1, cx+ratio_num)) + y2_kp = int(min(DISPLAY_HEIGHT-1, cy+ratio_num)) + w_kp = int(x2_kp - x1_kp + 1) + h_kp = int(y2_kp - y1_kp + 1) + + hr_results = hr_kpu_run(kpu_hand_recognition,rgb888p_img, x1_kp, y1_kp, w_kp, h_kp) # 执行手势识别 kpu 运行 以及 后处理过程 + + draw_img.draw_rectangle(x1, y1, w, h, color=(255, 0, 255, 0),thickness = 2) # 将得到的检测结果 绘制到 display + draw_img.draw_string( x1 , y1-50, hr_results, color=(255,0, 255, 0), scale=4) # 将得到的识别结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + #gc.collect() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + hd_kpu_deinit(kpu_hand_detect) # 释放手掌检测 kpu + hr_kpu_deinit(kpu_hand_recognition) # 释放手势识别 kpu + gc.collect() + ret = media_deinit() # 释放 整个media + if ret: + print("hand_recognition_test, buffer_deinit failed") + return ret + + print("hand_recognition_test end") + return 0 + +if __name__ == '__main__': + hand_recognition_inference() diff --git a/tests/ai_demo/keyword_spotting.py b/tests/ai_demo/keyword_spotting.py new file mode 100644 index 0000000..416cac8 --- /dev/null +++ b/tests/ai_demo/keyword_spotting.py @@ -0,0 +1,168 @@ +from media.pyaudio import * # 音频模块 +from media.media import * # 软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import media.wave as wave # wav音频处理模块 +import nncase_runtime as nn # nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +import ulab.numpy as np # 类似python numpy操作，但也会有一些接口不同 +import aidemo # aidemo模块，封装ai demo相关前处理、后处理等操作 +import time # 时间统计 +import struct # 字节字符转换模块 +import gc # 垃圾回收模块 +import os # 操作系统接口模块 + +# key word spotting任务 +# 检测阈值 +THRESH = 0.5 +# 有关音频流的宏变量 +SAMPLE_RATE = 16000 # 采样率16000Hz,即每秒采样16000次 +CHANNELS = 1 # 通道数 1为单声道，2为立体声 +FORMAT = paInt16 # 音频输入输出格式 paInt16 +CHUNK = int(0.3 * 16000) # 每次读取音频数据的帧数，设置为0.3s的帧数16000*0.3=4800 + +root_dir='/sdcard/app/tests/' +kmodel_file_kws = root_dir+"kmodel/kws.kmodel" # kmodel加载路径 +reply_wav_file = root_dir+"utils/wozai.wav" # kws唤醒词回复音频路径 +debug_mode = 0 # 调试模式，大于0（调试）、 反之 （不调试） + + +# scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +global current_kmodel_obj # 定义全局kpu对象 +global p,cache_np,fp,input_stream,output_stream,audio_input_tensor,cache_input_tensor # 定义全局音频流对象，输入输出流对象，并且定义kws处理接口FeaturePipeline对象fp,输入输出tensor和缓冲cache_np + +# 初始化kws音频流相关变量 +def init_kws(): + with ScopedTiming("init_kws",debug_mode > 0): + global p,cache_np,fp,input_stream,output_stream,cache_input_tensor + # 初始化模型的cache输入 + cache_np = np.zeros((1, 256, 105), dtype=np.float) + cache_input_tensor = nn.from_numpy(cache_np) + # 初始化音频预处理接口 + fp = aidemo.kws_fp_create() + # 初始化音频流 + p = PyAudio() + p.initialize(CHUNK) + ret = media.buffer_init() + if ret: + print("record_audio, buffer_init failed") + # 用于采集实时音频数据 + input_stream = p.open( + format=FORMAT, + channels=CHANNELS, + rate=SAMPLE_RATE, + input=True, + frames_per_buffer=CHUNK + ) + + # 用于播放回复音频 + output_stream = p.open( + format=FORMAT, + channels=CHANNELS, + rate=SAMPLE_RATE, + output=True, + frames_per_buffer=CHUNK + ) + +# kws 初始化kpu +def kpu_init_kws(): + with ScopedTiming("init_kpu",debug_mode > 0): + # 初始化kpu并加载kmodel + kpu = nn.kpu() + kpu.load_kmodel(kmodel_file_kws) + return kpu + +# kws音频预处理 +def kpu_pre_process_kws(pcm_data_list): + global current_kmodel_obj + global fp,input_stream,audio_input_tensor,cache_input_tensor + with ScopedTiming("pre_process",debug_mode > 0): + # 将pcm数据处理为模型输入的特征向量 + mp_feats = aidemo.kws_preprocess(fp, pcm_data_list)[0] + mp_feats_np = np.array(mp_feats) + mp_feats_np = mp_feats_np.reshape((1, 30, 40)) + audio_input_tensor = nn.from_numpy(mp_feats_np) + cache_input_tensor = nn.from_numpy(cache_np) + current_kmodel_obj.set_input_tensor(0, audio_input_tensor) + current_kmodel_obj.set_input_tensor(1, cache_input_tensor) + +# kws任务kpu运行并完成后处理 +def kpu_run_kws(kpu_obj,pcm_data_list): + global current_kmodel_obj,cache_np,output_stream + current_kmodel_obj = kpu_obj + # （1）kws音频数据预处理 + kpu_pre_process_kws(pcm_data_list) + # （2）kpu推理 + with ScopedTiming("kpu_run",debug_mode > 0): + kpu_obj.run() + # （3）获取模型输出 + logits = kpu_obj.get_output_tensor(0) + cache_tensor = kpu_obj.get_output_tensor(1) # 更新缓存输入 + logits_np = logits.to_numpy() + cache_np=cache_tensor.to_numpy() + del logits + del cache_tensor + # （4）后处理argmax + max_logits = np.max(logits_np, axis=1)[0] + max_p = np.max(max_logits) + idx = np.argmax(max_logits) + # 如果分数大于阈值，且idx==1(即包含唤醒词)，播放回复音频 + if max_p > THRESH and idx == 1: + print("====Detected XiaonanXiaonan!====") + wf = wave.open(reply_wav_file, "rb") + wav_data = wf.read_frames(CHUNK) + while wav_data: + output_stream.write(wav_data) + wav_data = wf.read_frames(CHUNK) + time.sleep(1) # 时间缓冲，用于播放声音 + wf.close() + else: + print("Deactivated!") + + +# kws推理过程 +def kws_inference(): + # 记录音频帧帧数 + global p,fp,input_stream,output_stream + # 初始化 + init_kws() + kpu_kws=kpu_init_kws() + pcm_data_list = [] + try: + while True: + with ScopedTiming("total", 1): + pcm_data_list.clear() + # 对实时音频流进行推理 + pcm_data = input_stream.read() # 获取的音频流数据字节数，len(pcm_data)=0.3*16000*2=9600，即以16000Hz的采样率采样0.3s，每次采样数据为paInt16格式占2个字节 + # 获取音频流数据 + for i in range(0, len(pcm_data), 2): + # 每两个字节组织成一个有符号整数，然后将其转换为浮点数，即为一次采样的数据，加入到当前一帧（0.3s）的数据列表中 + int_pcm_data = struct.unpack(" 0): + results = aidemo.licence_det_postprocess(output_data,[OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH],[kmodel_input_shape[2],kmodel_input_shape[3]],obj_thresh,nms_thresh) + return results + +# ai2d 初始化 +def ai2d_init(): + with ScopedTiming("ai2d_init",debug_mode > 0): + global ai2d + ai2d = nn.ai2d() + ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + global ai2d_out_tensor + data = np.ones(kmodel_input_shape, dtype=np.uint8) + ai2d_out_tensor = nn.from_numpy(data) + + global ai2d_builder + ai2d_builder = ai2d.build([1,3,OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH], kmodel_input_shape) + +# ai2d 运行 +def ai2d_run(rgb888p_img): + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor,ai2d_out_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + ai2d_input_tensor = nn.from_numpy(ai2d_input) + + ai2d_builder.run(ai2d_input_tensor, ai2d_out_tensor) + +# ai2d 释放内存 +def ai2d_release(): + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor + del ai2d_input_tensor + +# kpu 初始化 +def kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + ai2d_init() + return kpu_obj + +# kpu 输入预处理 +def kpu_pre_process(rgb888p_img): + ai2d_run(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_out_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_out_tensor) + +# kpu 获得 kmodel 输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + tmp2 = result.copy() + del data + results.append(tmp2) + return results + +# kpu 运行 +def kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1) 原图预处理，并设置模型输入 + kpu_pre_process(rgb888p_img) + # (2) kpu 运行 + with ScopedTiming("kpu_run",debug_mode > 0): + kpu_obj.run() + # (3) 释放ai2d资源 + ai2d_release() + # (4) 获取kpu输出 + results = kpu_get_output() + # (5) kpu结果后处理 + dets = kpu_post_process(results) + # (6) 返回 车牌检测框 结果 + return dets + +# kpu 释放内存 +def kpu_deinit(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d,ai2d_out_tensor + del kpu_obj + del ai2d + del ai2d_out_tensor + +#media_utils.py +global draw_img,osd_img #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 将所有车牌检测框绘制到屏幕上 +def display_draw(dets): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if dets: + draw_img.clear() + point_8 = np.zeros((8),dtype=np.int16) + for det in dets: + for i in range(4): + x = det[i * 2 + 0]/OUT_RGB888P_WIDTH*DISPLAY_WIDTH + y = det[i * 2 + 1]/OUT_RGB888P_HEIGHT*DISPLAY_HEIGHT + point_8[i * 2 + 0] = int(x) + point_8[i * 2 + 1] = int(y) + for i in range(4): + draw_img.draw_line(point_8[i * 2 + 0],point_8[i * 2 + 1],point_8[(i+1) % 4 * 2 + 0],point_8[(i+1) % 4 * 2 + 1],color=(255, 0, 255, 0),thickness=2) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_BGR_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + + +#**********for licence_det.py********** +def licence_det_inference(): + print("licence_det start") + kpu_licence_det = kpu_init(kmodel_file) # 创建车牌检测的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("licence_det, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("licence_det, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + dets = kpu_run(kpu_licence_det,rgb888p_img) # 执行车牌检测 kpu 运行 以及后处理过程 + display_draw(dets) # 将得到的 检测结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + # gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + kpu_deinit(kpu_licence_det) # 释放 kpu + gc.collect() + time.sleep(1) + ret = media_deinit() # 释放整个media + if ret: + print("licence_det, buffer_deinit failed") + return ret + + print("licence_det end") + return 0 + +if __name__ == '__main__': + licence_det_inference() + + diff --git a/tests/ai_demo/licence_det_rec.py b/tests/ai_demo/licence_det_rec.py new file mode 100644 index 0000000..1654084 --- /dev/null +++ b/tests/ai_demo/licence_det_rec.py @@ -0,0 +1,445 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 +import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +#ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(640, 16) +OUT_RGB888P_HEIGHT = 480 + +#车牌检测 和 车牌识别 kmodel输入shape +det_kmodel_input_shape = (1,3,640,640) +rec_kmodel_input_shape = (1,1,32,220) + +#车牌检测 相关参数设置 +obj_thresh = 0.2 #车牌检测分数阈值 +nms_thresh = 0.2 #检测框 非极大值抑制 阈值 + +#文件配置 +root_dir = '/sdcard/app/tests/' +det_kmodel_file = root_dir + 'kmodel/LPD_640.kmodel' # 车牌检测 kmodel 文件路径 +rec_kmodel_file = root_dir + 'kmodel/licence_reco.kmodel' # 车牌识别 kmodel 文件路径 +#dict_rec = ["挂", "使", "领", "澳", "港", "皖", "沪", "津", "渝", "冀", "晋", "蒙", "辽", "吉", "黑", "苏", "浙", "京", "闽", "赣", "鲁", "豫", "鄂", "湘", "粤", "桂", "琼", "川", "贵", "云", "藏", "陕", "甘", "青", "宁", "新", "警", "学", "0", "1", "2", "3", "4", "5", "6", "7", "8", "9", "A", "B", "C", "D", "E", "F", "G", "H", "J", "K", "L", "M", "N", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z", "_", "-"] +dict_rec = ["gua","shi","ling","ao","gang","wan","hu","jin","yu","ji","jin","meng","liao","ji","hei","su","zhe","jing","min","gan","lu","yu","e","xiang","yue","gui","qiong","chuan","gui","yun","zang","shan","gan","qing","ning","xin","jing","xue","0", "1", "2", "3", "4", "5", "6", "7", "8", "9", "A", "B", "C", "D", "E", "F", "G", "H", "J", "K", "L", "M", "N", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z", "_", "-"] +dict_size = len(dict_rec) +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + + +#ai_utils.py +global det_current_kmodel_obj,rec_current_kmodel_obj # 定义全局的 kpu 对象 +global det_ai2d,det_ai2d_input_tensor,det_ai2d_output_tensor,det_ai2d_builder # 定义车牌检测 ai2d 对象 ，并且定义 ai2d 的输入、输出 以及 builder +global rec_ai2d,rec_ai2d_input_tensor,rec_ai2d_output_tensor,rec_ai2d_builder # 定义车牌识别 ai2d 对象 ，并且定义 ai2d 的输入、输出 以及 builder + +# 车牌检测 接收kmodel输出的后处理方法 +def det_kpu_post_process(output_data): + with ScopedTiming("det_kpu_post_process", debug_mode > 0): + results = aidemo.licence_det_postprocess(output_data,[OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH],[det_kmodel_input_shape[2],det_kmodel_input_shape[3]],obj_thresh,nms_thresh) + return results + +# 车牌识别 接收kmodel输出的后处理方法 +def rec_kpu_post_process(output_data): + with ScopedTiming("rec_kpu_post_process", debug_mode > 0): + size = rec_kmodel_input_shape[3] / 4 + result = [] + for i in range(size): + maxs = float("-inf") + index = -1 + for j in range(dict_size): + if (maxs < float(output_data[i * dict_size +j])): + index = j + maxs = output_data[i * dict_size +j] + result.append(index) + + result_str = "" + for i in range(size): + if (result[i] >= 0 and result[i] != 0 and not(i > 0 and result[i-1] == result[i])): + result_str += dict_rec[result[i]-1] + return result_str + +# 车牌检测 ai2d 初始化 +def det_ai2d_init(): + with ScopedTiming("det_ai2d_init",debug_mode > 0): + global det_ai2d + det_ai2d = nn.ai2d() + det_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + det_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + global det_ai2d_out_tensor + data = np.ones(det_kmodel_input_shape, dtype=np.uint8) + det_ai2d_out_tensor = nn.from_numpy(data) + + global det_ai2d_builder + det_ai2d_builder = det_ai2d.build([1,3,OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH], det_kmodel_input_shape) + +# 车牌识别 ai2d 初始化 +def rec_ai2d_init(): + with ScopedTiming("rec_ai2d_init",debug_mode > 0): + global rec_ai2d + rec_ai2d = nn.ai2d() + rec_ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + + global rec_ai2d_out_tensor + data = np.ones(rec_kmodel_input_shape, dtype=np.uint8) + rec_ai2d_out_tensor = nn.from_numpy(data) + + rec_ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + +# 车牌检测 ai2d 运行 +def det_ai2d_run(rgb888p_img): + with ScopedTiming("det_ai2d_run",debug_mode > 0): + global det_ai2d_input_tensor,det_ai2d_out_tensor,det_ai2d_builder + det_ai2d_input = rgb888p_img.to_numpy_ref() + det_ai2d_input_tensor = nn.from_numpy(det_ai2d_input) + + det_ai2d_builder.run(det_ai2d_input_tensor, det_ai2d_out_tensor) + +# 车牌识别 ai2d 运行 +def rec_ai2d_run(img_array): + with ScopedTiming("rec_ai2d_run",debug_mode > 0): + global rec_ai2d_input_tensor,rec_ai2d_out_tensor,rec_ai2d_builder + rec_ai2d_builder = rec_ai2d.build([1,1,img_array.shape[2],img_array.shape[3]], rec_kmodel_input_shape) + rec_ai2d_input_tensor = nn.from_numpy(img_array) + + rec_ai2d_builder.run(rec_ai2d_input_tensor, rec_ai2d_out_tensor) + +# 车牌检测 ai2d 释放内存 +def det_ai2d_release(): + with ScopedTiming("det_ai2d_release",debug_mode > 0): + global det_ai2d_input_tensor + del det_ai2d_input_tensor + +# 车牌识别 ai2d 释放内存 +def rec_ai2d_release(): + with ScopedTiming("rec_ai2d_release",debug_mode > 0): + global rec_ai2d_input_tensor, rec_ai2d_builder + del rec_ai2d_input_tensor + del rec_ai2d_builder + +# 车牌检测 kpu 初始化 +def det_kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("det_kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + det_ai2d_init() + return kpu_obj + +# 车牌识别 kpu 初始化 +def rec_kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("rec_kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + rec_ai2d_init() + return kpu_obj + +# 车牌检测 kpu 输入预处理 +def det_kpu_pre_process(rgb888p_img): + det_ai2d_run(rgb888p_img) + with ScopedTiming("det_kpu_pre_process",debug_mode > 0): + global det_current_kmodel_obj,det_ai2d_out_tensor + # set kpu input + det_current_kmodel_obj.set_input_tensor(0, det_ai2d_out_tensor) + +# 车牌识别 kpu 输入预处理 +def rec_kpu_pre_process(img_array): + rec_ai2d_run(img_array) + with ScopedTiming("rec_kpu_pre_process",debug_mode > 0): + global rec_current_kmodel_obj,rec_ai2d_out_tensor + # set kpu input + rec_current_kmodel_obj.set_input_tensor(0, rec_ai2d_out_tensor) + +# 车牌识别 抠图 +def rec_array_pre_process(rgb888p_img,dets): + with ScopedTiming("rec_array_pre_process",debug_mode > 0): + isp_image = rgb888p_img.to_numpy_ref() + imgs_array_boxes = aidemo.ocr_rec_preprocess(isp_image,[OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH],dets) + return imgs_array_boxes + +# 车牌检测 获取 kmodel 输出 +def det_kpu_get_output(): + with ScopedTiming("det_kpu_get_output",debug_mode > 0): + global det_current_kmodel_obj + results = [] + for i in range(det_current_kmodel_obj.outputs_size()): + data = det_current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + tmp2 = result.copy() + del data + results.append(tmp2) + return results + +# 车牌识别 获取 kmodel 输出 +def rec_kpu_get_output(): + with ScopedTiming("rec_kpu_get_output",debug_mode > 0): + global rec_current_kmodel_obj + data = rec_current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + result = result.reshape((result.shape[0] * result.shape[1] * result.shape[2])) + tmp = result.copy() + del data + return tmp + +# 车牌检测 kpu 运行 +def det_kpu_run(kpu_obj,rgb888p_img): + global det_current_kmodel_obj + det_current_kmodel_obj = kpu_obj + # (1) 原图预处理，并设置模型输入 + det_kpu_pre_process(rgb888p_img) + # (2) kpu 运行 + with ScopedTiming("det_kpu_run",debug_mode > 0): + kpu_obj.run() + # (3) 释放ai2d资源 + det_ai2d_release() + # (4) 获取kpu输出 + results = det_kpu_get_output() + # (5) kpu结果后处理 + dets = det_kpu_post_process(results) + # 返回 车牌检测结果 + return dets + +# 车牌识别 kpu 运行 +def rec_kpu_run(kpu_obj,rgb888p_img,dets): + global rec_current_kmodel_obj + if (len(dets) == 0): + return [] + rec_current_kmodel_obj = kpu_obj + # (1) 原始图像抠图，车牌检测结果 points 排序 + imgs_array_boxes = rec_array_pre_process(rgb888p_img,dets) + imgs_array = imgs_array_boxes[0] + boxes = imgs_array_boxes[1] + recs = [] + for img_array in imgs_array: + # (2) 抠出后的图像 进行预处理，设置模型输入 + rec_kpu_pre_process(img_array) + # (3) kpu 运行 + with ScopedTiming("rec_kpu_run",debug_mode > 0): + kpu_obj.run() + # (4) 释放ai2d资源 + rec_ai2d_release() + # (5) 获取 kpu 输出 + result = rec_kpu_get_output() + # (6) kpu 结果后处理 + rec = rec_kpu_post_process(result) + recs.append(rec) + # (7) 返回 车牌检测 和 识别结果 + return [boxes,recs] + + +# 车牌检测 kpu 释放内存 +def det_kpu_deinit(kpu_obj): + with ScopedTiming("det_kpu_deinit",debug_mode > 0): + global det_ai2d, det_ai2d_builder, det_ai2d_out_tensor + del kpu_obj + del det_ai2d + del det_ai2d_builder + del det_ai2d_out_tensor + +# 车牌识别 kpu 释放内存 +def rec_kpu_deinit(kpu_obj): + with ScopedTiming("rec_kpu_deinit",debug_mode > 0): + global rec_ai2d, rec_ai2d_out_tensor + del kpu_obj + del rec_ai2d + del rec_ai2d_out_tensor + +#media_utils.py +global draw_img,osd_img #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 将所有车牌检测框 和 识别结果绘制到屏幕 +def display_draw(dets_recs): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if dets_recs: + dets = dets_recs[0] + recs = dets_recs[1] + draw_img.clear() + point_8 = np.zeros((8),dtype=np.int16) + for det_index in range(len(dets)): + for i in range(4): + x = dets[det_index][i * 2 + 0]/OUT_RGB888P_WIDTH*DISPLAY_WIDTH + y = dets[det_index][i * 2 + 1]/OUT_RGB888P_HEIGHT*DISPLAY_HEIGHT + point_8[i * 2 + 0] = int(x) + point_8[i * 2 + 1] = int(y) + for i in range(4): + draw_img.draw_line(point_8[i * 2 + 0],point_8[i * 2 + 1],point_8[(i+1) % 4 * 2 + 0],point_8[(i+1) % 4 * 2 + 1],color=(255, 0, 255, 0),thickness=2) + draw_img.draw_string( point_8[6], point_8[7] + 20, recs[det_index] , color=(255,255,153,18) , scale=4) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_BGR_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + + +#**********for licence_det_rec.py********** +def licence_det_rec_inference(): + print("licence_det_rec start") + kpu_licence_det = det_kpu_init(det_kmodel_file) # 创建车牌检测的 kpu 对象 + kpu_licence_rec = rec_kpu_init(rec_kmodel_file) # 创建车牌识别的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("licence_det_rec, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("licence_det_rec, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + dets = det_kpu_run(kpu_licence_det,rgb888p_img) # 执行车牌检测 kpu 运行 以及 后处理过程 + dets_recs = rec_kpu_run(kpu_licence_rec,rgb888p_img,dets) # 执行车牌识别 kpu 运行 以及 后处理过程 + display_draw(dets_recs) # 将得到的检测结果和识别结果 绘制到display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + # gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + det_kpu_deinit(kpu_licence_det) # 释放 车牌检测 kpu + rec_kpu_deinit(kpu_licence_rec) # 释放 车牌识别 kpu + gc.collect() + time.sleep(1) + ret = media_deinit() # 释放 整个media + if ret: + print("licence_det_rec, buffer_deinit failed") + return ret + + print("licence_det_rec end") + return 0 + +if __name__ == '__main__': + licence_det_rec_inference() + + diff --git a/tests/ai_demo/object_detect_yolov8n.py b/tests/ai_demo/object_detect_yolov8n.py new file mode 100644 index 0000000..5ceb0a9 --- /dev/null +++ b/tests/ai_demo/object_detect_yolov8n.py @@ -0,0 +1,425 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +#ai 原图输入分辨率 +OUT_RGB888P_WIDTH = ALIGN_UP(320, 16) +OUT_RGB888P_HEIGHT = 320 + +#多目标检测 kmodel 输入 shape +kmodel_input_shape = (1,3,320,320) + +#多目标检测 相关参数设置 +confidence_threshold = 0.2 # 多目标检测分数阈值 +nms_threshold = 0.2 # 非最大值抑制阈值 +x_factor = float(OUT_RGB888P_WIDTH)/kmodel_input_shape[3] # 原始图像分辨率宽与kmodel宽输入大小比值 +y_factor = float(OUT_RGB888P_HEIGHT)/kmodel_input_shape[2] # 原始图像分辨率高与kmodel高输入大小比值 +keep_top_k = 50 # 最大输出检测框的数量 + +#文件配置 +root_dir = '/sdcard/app/tests/' +kmodel_file = root_dir + 'kmodel/yolov8n_320.kmodel' # kmodel文件的路径 +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +#颜色板 用于作图 +color_four = [(255, 220, 20, 60), (255, 119, 11, 32), (255, 0, 0, 142), (255, 0, 0, 230), + (255, 106, 0, 228), (255, 0, 60, 100), (255, 0, 80, 100), (255, 0, 0, 70), + (255, 0, 0, 192), (255, 250, 170, 30), (255, 100, 170, 30), (255, 220, 220, 0), + (255, 175, 116, 175), (255, 250, 0, 30), (255, 165, 42, 42), (255, 255, 77, 255), + (255, 0, 226, 252), (255, 182, 182, 255), (255, 0, 82, 0), (255, 120, 166, 157), + (255, 110, 76, 0), (255, 174, 57, 255), (255, 199, 100, 0), (255, 72, 0, 118), + (255, 255, 179, 240), (255, 0, 125, 92), (255, 209, 0, 151), (255, 188, 208, 182), + (255, 0, 220, 176), (255, 255, 99, 164), (255, 92, 0, 73), (255, 133, 129, 255), + (255, 78, 180, 255), (255, 0, 228, 0), (255, 174, 255, 243), (255, 45, 89, 255), + (255, 134, 134, 103), (255, 145, 148, 174), (255, 255, 208, 186), + (255, 197, 226, 255), (255, 171, 134, 1), (255, 109, 63, 54), (255, 207, 138, 255), + (255, 151, 0, 95), (255, 9, 80, 61), (255, 84, 105, 51), (255, 74, 65, 105), + (255, 166, 196, 102), (255, 208, 195, 210), (255, 255, 109, 65), (255, 0, 143, 149), + (255, 179, 0, 194), (255, 209, 99, 106), (255, 5, 121, 0), (255, 227, 255, 205), + (255, 147, 186, 208), (255, 153, 69, 1), (255, 3, 95, 161), (255, 163, 255, 0), + (255, 119, 0, 170), (255, 0, 182, 199), (255, 0, 165, 120), (255, 183, 130, 88), + (255, 95, 32, 0), (255, 130, 114, 135), (255, 110, 129, 133), (255, 166, 74, 118), + (255, 219, 142, 185), (255, 79, 210, 114), (255, 178, 90, 62), (255, 65, 70, 15), + (255, 127, 167, 115), (255, 59, 105, 106), (255, 142, 108, 45), (255, 196, 172, 0), + (255, 95, 54, 80), (255, 128, 76, 255), (255, 201, 57, 1), (255, 246, 0, 122), + (255, 191, 162, 208)] + +#标签 多目标检测的所有可识别类别 +labels = ["person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"] + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global ai2d,ai2d_input_tensor,ai2d_output_tensor,ai2d_builder # 定义全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + + +# 多目标检测 非最大值抑制方法实现 +def py_cpu_nms(boxes,scores,thresh): + """Pure Python NMS baseline.""" + x1 = boxes[:, 0] + y1 = boxes[:, 1] + x2 = boxes[:, 2] + y2 = boxes[:, 3] + + areas = (x2 - x1 + 1) * (y2 - y1 + 1) + order = np.argsort(scores,axis = 0)[::-1] + + keep = [] + while order.size > 0: + i = order[0] + keep.append(i) + new_x1 = [] + new_x2 = [] + new_y1 = [] + new_y2 = [] + new_areas = [] + for order_i in order: + new_x1.append(x1[order_i]) + new_x2.append(x2[order_i]) + new_y1.append(y1[order_i]) + new_y2.append(y2[order_i]) + new_areas.append(areas[order_i]) + new_x1 = np.array(new_x1) + new_x2 = np.array(new_x2) + new_y1 = np.array(new_y1) + new_y2 = np.array(new_y2) + xx1 = np.maximum(x1[i], new_x1) + yy1 = np.maximum(y1[i], new_y1) + xx2 = np.minimum(x2[i], new_x2) + yy2 = np.minimum(y2[i], new_y2) + + w = np.maximum(0.0, xx2 - xx1 + 1) + h = np.maximum(0.0, yy2 - yy1 + 1) + inter = w * h + + new_areas = np.array(new_areas) + ovr = inter / (areas[i] + new_areas - inter) + new_order = [] + for ovr_i,ind in enumerate(ovr): + if ind < thresh: + new_order.append(order[ovr_i]) + order = np.array(new_order,dtype=np.uint8) + return keep + +# 多目标检测 接收kmodel输出的后处理方法 +def kpu_post_process(output_data): + with ScopedTiming("kpu_post_process", debug_mode > 0): + boxes_ori = output_data[:,0:4] + scores_ori = output_data[:,4:] + confs_ori = np.max(scores_ori,axis=-1) + inds_ori = np.argmax(scores_ori,axis=-1) + + boxes = [] + scores = [] + inds = [] + + for i in range(len(boxes_ori)): + if confs_ori[i] > confidence_threshold: + scores.append(confs_ori[i]) + inds.append(inds_ori[i]) + x = boxes_ori[i,0] + y = boxes_ori[i,1] + w = boxes_ori[i,2] + h = boxes_ori[i,3] + left = int((x - 0.5 * w) * x_factor) + top = int((y - 0.5 * h) * y_factor) + right = int((x + 0.5 * w) * x_factor) + bottom = int((y + 0.5 * h) * y_factor) + boxes.append([left,top,right,bottom]) + + if len(boxes)==0: + return [] + + boxes = np.array(boxes) + scores = np.array(scores) + inds = np.array(inds) + + # do NMS + keep = py_cpu_nms(boxes,scores,nms_threshold) + dets = np.concatenate((boxes, scores.reshape((len(boxes),1)), inds.reshape((len(boxes),1))), axis=1) + + dets_out = [] + for keep_i in keep: + dets_out.append(dets[keep_i]) + dets_out = np.array(dets_out) + + # keep top-K faster NMS + dets_out = dets_out[:keep_top_k, :] + return dets_out + +# ai2d 初始化 +def ai2d_init(): + with ScopedTiming("ai2d_init",debug_mode > 0): + global ai2d + ai2d = nn.ai2d() + ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + global ai2d_out_tensor + data = np.ones(kmodel_input_shape, dtype=np.uint8) + ai2d_out_tensor = nn.from_numpy(data) + + global ai2d_builder + ai2d_builder = ai2d.build([1,3,OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH], kmodel_input_shape) + +# ai2d 运行 +def ai2d_run(rgb888p_img): + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor,ai2d_out_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + ai2d_input_tensor = nn.from_numpy(ai2d_input) + + ai2d_builder.run(ai2d_input_tensor, ai2d_out_tensor) + +# ai2d 释放内存 +def ai2d_release(): + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor + del ai2d_input_tensor + +# kpu 初始化 +def kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + ai2d_init() + return kpu_obj + +# kpu 输入预处理 +def kpu_pre_process(rgb888p_img): + ai2d_run(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_out_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_out_tensor) + +# kpu 获得 kmodel 输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + + result = result.reshape((result.shape[0] * result.shape[1], result.shape[2])) + result = result.transpose() + tmp2 = result.copy() + del data + results.append(tmp2) + return results + +# kpu 运行 +def kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1) 原图预处理，并设置模型输入 + kpu_pre_process(rgb888p_img) + # (2) kpu运行 + with ScopedTiming("kpu_run",debug_mode > 0): + kpu_obj.run() + # (3) 释放ai2d资源 + ai2d_release() + # (4) 获取kpu输出 + results = kpu_get_output() + # (5) kpu结果后处理 + dets = kpu_post_process(results[0]) + # (6) 返回多目标检测结果 + return dets + +# kpu 释放内存 +def kpu_deinit(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d,ai2d_out_tensor + del kpu_obj + del ai2d + del ai2d_out_tensor + +#media_utils.py +global draw_img,osd_img #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 将所有目标检测框以及类别、分数值的作图 +def display_draw(dets): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if dets: + draw_img.clear() + for det in dets: + x1, y1, x2, y2 = map(lambda x: int(round(x, 0)), det[:4]) + w = (x2 - x1) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + h = (y2 - y1) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGHT + draw_img.draw_rectangle(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH, + y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGHT, w, h, color=color_four[int(det[5])],thickness=2) + draw_img.draw_string( int(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) , int(y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGHT)-50, + " " + labels[int(det[5])] + " " + str(round(det[4],2)) , color=color_four[int(det[5])] , scale=4) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + + +#**********for ob_detect.py********** +def ob_detect_inference(): + print("ob_detect start") + kpu_ob_detect = kpu_init(kmodel_file) # 创建多目标检测的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("ob_detect, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("ob_detect, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + dets = kpu_run(kpu_ob_detect,rgb888p_img) # 执行多目标检测 kpu运行 以及 后处理过程 + display_draw(dets) # 将得到的检测结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + # gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止camera + display_deinit() # 释放 display + kpu_deinit(kpu_ob_detect) # 释放 kpu + gc.collect() + time.sleep(1) + ret = media_deinit() # 释放 整个media + if ret: + print("ob_detect, buffer_deinit failed") + return ret + + print("ob_detect_test end") + return 0 + +if __name__ == '__main__': + ob_detect_inference() diff --git a/tests/ai_demo/ocr_det.py b/tests/ai_demo/ocr_det.py new file mode 100644 index 0000000..e1e0fd3 --- /dev/null +++ b/tests/ai_demo/ocr_det.py @@ -0,0 +1,351 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 +import os #操作系统接口模块 +import aicube #aicube模块，封装检测分割等任务相关后处理 + +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(640, 16) +OUT_RGB888P_HEIGH = 360 + +# kmodel输入参数配置 +kmodel_input_shape_det = (1,3,640,640) # kmodel输入分辨率 +rgb_mean = [0,0,0] # ai2d padding的值 + +# kmodel相关参数设置 +mask_threshold = 0.25 # 二值化mask阈值 +box_threshold = 0.3 # 检测框分数阈值 + +# 文件配置 +root_dir = '/sdcard/app/tests/' +kmodel_file_det = root_dir + 'kmodel/ocr_det_int16.kmodel' # kmodel加载路径 +debug_mode = 0 # 调试模式 大于0（调试）、 反之 （不调试） + +# scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +# ai utils +global current_kmodel_obj # 定义全局kpu对象 +global ai2d_det,ai2d_input_tensor_det,ai2d_output_tensor_det,ai2d_builder_det,ai2d_input_det # 定义全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + +# padding方法，一边padding，右padding或者下padding +def get_pad_one_side_param(out_img_size,input_img_size): + # 右padding或下padding + dst_w = out_img_size[0] + dst_h = out_img_size[1] + + input_width = input_img_size[0] + input_high = input_img_size[1] + + ratio_w = dst_w / input_width + ratio_h = dst_h / input_high + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + + new_w = (int)(ratio * input_width) + new_h = (int)(ratio * input_high) + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + + +# ai2d 初始化，用于实现输入的预处理 +def ai2d_init_det(): + with ScopedTiming("ai2d_init",debug_mode > 0): + global ai2d_det + ai2d_det = nn.ai2d() + ai2d_det.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d_det.set_pad_param(True, get_pad_one_side_param([kmodel_input_shape_det[3],kmodel_input_shape_det[2]], [OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH]), 0, [0, 0, 0]) + ai2d_det.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + global ai2d_output_tensor_det + data = np.ones(kmodel_input_shape_det, dtype=np.uint8) + ai2d_output_tensor_det = nn.from_numpy(data) + global ai2d_builder_det + ai2d_builder_det = ai2d_det.build([1, 3, OUT_RGB888P_HEIGH, OUT_RGB888P_WIDTH], [1, 3, kmodel_input_shape_det[2], kmodel_input_shape_det[3]]) + + +# ai2d 运行，完成ai2d_init_det设定的预处理 +def ai2d_run_det(rgb888p_img): + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor_det,ai2d_builder_det,ai2d_input_det + ai2d_input_det = rgb888p_img.to_numpy_ref() + ai2d_input_tensor_det = nn.from_numpy(ai2d_input_det) + global ai2d_output_tensor_det + ai2d_builder_det.run(ai2d_input_tensor_det, ai2d_output_tensor_det) + + +# ai2d 释放输入tensor +def ai2d_release_det(): + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor_det + del ai2d_input_tensor_det + +# kpu 初始化 +def kpu_init_det(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + ai2d_init_det() + return kpu_obj + +# 预处理方法 +def kpu_pre_process_det(rgb888p_img): + # 运行ai2d，将ai2d预处理的输出设置为kmodel的输入tensor + ai2d_run_det(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_output_tensor_det + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_output_tensor_det) + +# 获取kmodel的推理输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +# kpu 运行 +def kpu_run_det(kpu_obj,rgb888p_img): + # kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + #（1）原图像预处理并设置模型输入 + kpu_pre_process_det(rgb888p_img) + #（2）kpu推理 + with ScopedTiming("kpu_run",debug_mode > 0): + kpu_obj.run() + #（3）释放ai2d资源 + ai2d_release_det() + #（4）获取kpu输出 + results = kpu_get_output() + #（5）CHW转HWC + global ai2d_input_det + tmp = (ai2d_input_det.shape[0], ai2d_input_det.shape[1], ai2d_input_det.shape[2]) + ai2d_input_det = ai2d_input_det.reshape((ai2d_input_det.shape[0], ai2d_input_det.shape[1] * ai2d_input_det.shape[2])) + ai2d_input_det = ai2d_input_det.transpose() + tmp2 = ai2d_input_det.copy() + tmp2 = tmp2.reshape((tmp[1], tmp[2], tmp[0])) + #（6）后处理，aicube.ocr_post_process接口说明： + # 接口：aicube.ocr_post_process(threshold_map,ai_isp,kmodel_input_shape,isp_shape,mask_threshold,box_threshold); + # 参数说明： + # threshold_map: DBNet模型的输出为（N,kmodel_input_shape_det[2],kmodel_input_shape_det[3],2），两个通道分别为threshold map和segmentation map + # 后处理过程只使用threshold map，因此将results[0][:,:,:,0] reshape成一维传给接口使用。 + # ai_isp：后处理还会返回基于原图的检测框裁剪数据，因此要将原图数据reshape为一维传给接口处理。 + # kmodel_input_shape：kmodel输入分辨率。 + # isp_shape：AI原图分辨率。要将kmodel输出分辨率的检测框坐标映射到原图分辨率上，需要使用这两个分辨率的值。 + # mask_threshold：用于二值化图像获得文本区域。 + # box_threshold：检测框分数阈值，低于该阈值的检测框不计入结果。 + with ScopedTiming("kpu_post",debug_mode > 0): + # 调用aicube模块的ocr_post_process完成ocr检测的后处理 + # det_results结构为[[crop_array_nhwc,[p1_x,p1_y,p2_x,p2_y,p3_x,p3_y,p4_x,p4_y]],...] + det_results = aicube.ocr_post_process(results[0][:, :, :, 0].reshape(-1), tmp2.reshape(-1), + [kmodel_input_shape_det[3], kmodel_input_shape_det[2]], + [OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH], mask_threshold, box_threshold) + return det_results + + +# kpu 释放内存 +def kpu_deinit_det(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d_det,ai2d_output_tensor_det,ai2d_input_tensor_det + del kpu_obj + del ai2d_det + del ai2d_output_tensor_det + #del ai2d_input_tensor_det + +#********************for media_utils.py******************** + +global draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +#display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程，将OCR检测后处理得到的框绘制到OSD上并显示 +def display_draw(det_results): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if det_results: + draw_img.clear() + # 循环绘制所有检测到的框 + for j in det_results: + # 将原图的坐标点转换成显示的坐标点，循环绘制四条直线，得到一个矩形框 + for i in range(4): + x1 = j[1][(i * 2)] / OUT_RGB888P_WIDTH * DISPLAY_WIDTH + y1 = j[1][(i * 2 + 1)] / OUT_RGB888P_HEIGH * DISPLAY_HEIGHT + x2 = j[1][((i + 1) * 2) % 8] / OUT_RGB888P_WIDTH * DISPLAY_WIDTH + y2 = j[1][((i + 1) * 2 + 1) % 8] / OUT_RGB888P_HEIGH * DISPLAY_HEIGHT + draw_img.draw_line((int(x1), int(y1), int(x2), int(y2)), color=(255, 0, 0, 255), + thickness=5) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 启动视频流 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 捕获一帧图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 释放内存 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# 停止视频流 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放buffer，销毁link +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +# +def ocr_det_inference(): + print("ocr_det_test start") + kpu_ocr_det = kpu_init_det(kmodel_file_det) # 创建ocr检测任务的kpu对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + rgb888p_img = None + try: + ret = media_init() + if ret: + print("ocr_det_test, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图像 + if rgb888p_img == -1: + print("ocr_det_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + det_results = kpu_run_det(kpu_ocr_det,rgb888p_img) # kpu运行获取kmodel的推理输出 + display_draw(det_results) # 绘制检测结果，并显示 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # 释放内存 + rgb888p_img = None + # gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止camera + display_deinit() # 释放display + kpu_deinit_det(kpu_ocr_det) # 释放kpu + gc.collect() + time.sleep(1) + ret = media_deinit() # 释放整个media + if ret: + print("ocr_det_test, buffer_deinit failed") + return ret + + print("ocr_det_test end") + return 0 + +if __name__ == '__main__': + ocr_det_inference() diff --git a/tests/ai_demo/ocr_rec.py b/tests/ai_demo/ocr_rec.py new file mode 100644 index 0000000..a5d742a --- /dev/null +++ b/tests/ai_demo/ocr_rec.py @@ -0,0 +1,441 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 +import aicube #aicube模块，封装检测分割等任务相关后处理 + +# display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +# ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(640, 16) +OUT_RGB888P_HEIGH = 360 + +#kmodel输入参数设置 +kmodel_input_shape_det = (1,3,640,640) # OCR检测模型的kmodel输入分辨率 +kmodel_input_shape_rec = (1,3,32,512) # OCR识别模型的kmodel输入分辨率 +rgb_mean = [0,0,0] # ai2d padding的值 + +#检测步骤kmodel相关参数设置 +mask_threshold = 0.25 # 二值化mask阈值 +box_threshold = 0.3 # 检测框分数阈值 + +#文件配置 +root_dir = '/sdcard/app/tests/' +kmodel_file_det = root_dir + 'kmodel/ocr_det_int16.kmodel' # 检测模型路径 +kmodel_file_rec = root_dir + "kmodel/ocr_rec_int16.kmodel" # 识别模型路径 +dict_path = root_dir + 'utils/dict.txt' # 调试模式 大于0（调试）、 反之 （不调试） +debug_mode = 0 + +# OCR字典读取 +with open(dict_path, 'r') as file: + line_one = file.read(100000) + line_list = line_one.split("\r\n") +DICT = {num: char.replace("\r", "").replace("\n", "") for num, char in enumerate(line_list)} + +# scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +# utils 设定全局变量 +global current_kmodel_obj # 设置全局kpu对象 +global ai2d_det,ai2d_input_tensor_det,ai2d_output_tensor_det,ai2d_builder_det,ai2d_input_det # 设置检测模型的ai2d对象，并定义ai2d的输入、输出和builder +global ai2d_rec,ai2d_input_tensor_rec,ai2d_output_tensor_rec,ai2d_builder_rec # 设置识别模型的ai2d对象，并定义ai2d的输入、输出和builder + +# padding方法，一边padding，右padding或者下padding +def get_pad_one_side_param(out_img_size,input_img_size): + dst_w = out_img_size[0] + dst_h = out_img_size[1] + + input_width = input_img_size[0] + input_high = input_img_size[1] + + ratio_w = dst_w / input_width + ratio_h = dst_h / input_high + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + + new_w = (int)(ratio * input_width) + new_h = (int)(ratio * input_high) + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + + top = (int)(round(0)) + bottom = (int)(round(dh * 2 + 0.1)) + left = (int)(round(0)) + right = (int)(round(dw * 2 - 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +# 检测步骤ai2d初始化 +def ai2d_init_det(): + with ScopedTiming("ai2d_init_det",debug_mode > 0): + global ai2d_det + ai2d_det = nn.ai2d() + ai2d_det.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d_det.set_pad_param(True, get_pad_one_side_param([kmodel_input_shape_det[3],kmodel_input_shape_det[2]], [OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH]), 0, [0, 0, 0]) + ai2d_det.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + global ai2d_output_tensor_det + data = np.ones(kmodel_input_shape_det, dtype=np.uint8) + ai2d_output_tensor_det = nn.from_numpy(data) + global ai2d_builder_det + ai2d_builder_det = ai2d_det.build([1, 3, OUT_RGB888P_HEIGH, OUT_RGB888P_WIDTH], [1, 3, kmodel_input_shape_det[2], kmodel_input_shape_det[3]]) + + +# 检测步骤的ai2d 运行，完成ai2d_init_det预设的预处理 +def ai2d_run_det(rgb888p_img): + with ScopedTiming("ai2d_run_det",debug_mode > 0): + global ai2d_input_tensor_det,ai2d_builder_det,ai2d_input_det + ai2d_input_det = rgb888p_img.to_numpy_ref() + ai2d_input_tensor_det = nn.from_numpy(ai2d_input_det) + global ai2d_output_tensor_det + ai2d_builder_det.run(ai2d_input_tensor_det, ai2d_output_tensor_det) + +# 识别步骤ai2d初始化 +def ai2d_init_rec(): + with ScopedTiming("ai2d_init_res",debug_mode > 0): + global ai2d_rec,ai2d_output_tensor_rec + ai2d_rec = nn.ai2d() + ai2d_rec.set_dtype(nn.ai2d_format.RGB_packed, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d_out_data = np.ones((1, 3, kmodel_input_shape_rec[2], kmodel_input_shape_rec[3]), dtype=np.uint8) + ai2d_output_tensor_rec = nn.from_numpy(ai2d_out_data) + + +# 识别步骤ai2d运行 +def ai2d_run_rec(rgb888p_img): + with ScopedTiming("ai2d_run_rec",debug_mode > 0): + global ai2d_rec,ai2d_builder_rec,ai2d_input_tensor_rec,ai2d_output_tensor_rec + ai2d_rec.set_pad_param(True, get_pad_one_side_param([kmodel_input_shape_rec[3],kmodel_input_shape_rec[2]],[rgb888p_img.shape[2],rgb888p_img.shape[1]]), 0, [0, 0, 0]) + ai2d_rec.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + ai2d_builder_rec = ai2d_rec.build([rgb888p_img.shape[0], rgb888p_img.shape[1], rgb888p_img.shape[2],rgb888p_img.shape[3]], + [1, 3, kmodel_input_shape_rec[2], kmodel_input_shape_rec[3]]) + ai2d_input_tensor_rec = nn.from_numpy(rgb888p_img) + ai2d_builder_rec.run(ai2d_input_tensor_rec, ai2d_output_tensor_rec) + +# 检测步骤ai2d释放内存 +def ai2d_release_det(): + with ScopedTiming("ai2d_release_det",debug_mode > 0): + global ai2d_input_tensor_det + del ai2d_input_tensor_det + +# 识别步骤ai2d释放内存 +def ai2d_release_rec(): + with ScopedTiming("ai2d_release_rec",debug_mode > 0): + global ai2d_input_tensor_rec + del ai2d_input_tensor_rec + +# 检测步骤kpu初始化 +def kpu_init_det(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init_det",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + ai2d_init_det() + return kpu_obj + +# 识别步骤kpu初始化 +def kpu_init_rec(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init_rec",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + ai2d_init_rec() + return kpu_obj + +# 检测步骤预处理，调用ai2d_run_det实现，并将ai2d的输出设置为kmodel的输入 +def kpu_pre_process_det(rgb888p_img): + ai2d_run_det(rgb888p_img) + with ScopedTiming("kpu_pre_process_det",debug_mode > 0): + global current_kmodel_obj,ai2d_output_tensor_det + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_output_tensor_det) + +# 识别步骤预处理，调用ai2d_init_run_rec实现，并将ai2d的输出设置为kmodel的输入 +def kpu_pre_process_rec(rgb888p_img): + ai2d_run_rec(rgb888p_img) + with ScopedTiming("kpu_pre_process_rec",debug_mode > 0): + global current_kmodel_obj,ai2d_output_tensor_rec + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_output_tensor_rec) + + +# 获取kmodel的输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + del data + results.append(result) + return results + +# 检测步骤kpu运行 +def kpu_run_det(kpu_obj,rgb888p_img): + # kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + #（1）原图像预处理并设置模型输入 + kpu_pre_process_det(rgb888p_img) + #（2）kpu推理 + with ScopedTiming("kpu_run_det",debug_mode > 0): + # 检测运行 + kpu_obj.run() + #（3）检测释放ai2d资源 + ai2d_release_det() + #（4）获取检测kpu输出 + results = kpu_get_output() + #（5）CHW转HWC + global ai2d_input_det + tmp = (ai2d_input_det.shape[0], ai2d_input_det.shape[1], ai2d_input_det.shape[2]) + ai2d_input_det = ai2d_input_det.reshape((ai2d_input_det.shape[0], ai2d_input_det.shape[1] * ai2d_input_det.shape[2])) + ai2d_input_det = ai2d_input_det.transpose() + tmp2 = ai2d_input_det.copy() + tmp2 = tmp2.reshape((tmp[1], tmp[2], tmp[0])) + #（6）后处理，aicube.ocr_post_process接口说明： + # 接口：aicube.ocr_post_process(threshold_map,ai_isp,kmodel_input_shape,isp_shape,mask_threshold,box_threshold); + # 参数说明： + # threshold_map: DBNet模型的输出为（N,kmodel_input_shape_det[2],kmodel_input_shape_det[3],2），两个通道分别为threshold map和segmentation map + # 后处理过程只使用threshold map，因此将results[0][:,:,:,0] reshape成一维传给接口使用。 + # ai_isp：后处理还会返回基于原图的检测框裁剪数据，因此要将原图数据reshape为一维传给接口处理。 + # kmodel_input_shape：kmodel输入分辨率。 + # isp_shape：AI原图分辨率。要将kmodel输出分辨率的检测框坐标映射到原图分辨率上，需要使用这两个分辨率的值。 + # mask_threshold：用于二值化图像获得文本区域。 + # box_threshold：检测框分数阈值，低于该阈值的检测框不计入结果。 + with ScopedTiming("kpu_post",debug_mode > 0): + # 调用aicube模块的ocr_post_process完成ocr检测的后处理 + # det_results结构为[[crop_array_nhwc,[p1_x,p1_y,p2_x,p2_y,p3_x,p3_y,p4_x,p4_y]],...] + det_results = aicube.ocr_post_process(results[0][:, :, :, 0].reshape(-1), tmp2.reshape(-1), + [kmodel_input_shape_det[3], kmodel_input_shape_det[2]], + [OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH], mask_threshold, box_threshold) + return det_results + +# 识别步骤后处理 +def kpu_run_rec(kpu_obj,rgb888p_img): + # kpu推理 + global current_kmodel_obj + current_kmodel_obj = kpu_obj + #（1）识别预处理并设置模型输入 + kpu_pre_process_rec(rgb888p_img) + #（2）kpu推理 + with ScopedTiming("kpu_run_rec",debug_mode > 0): + # 识别运行 + kpu_obj.run() + #（3）识别释放ai2d资源 + ai2d_release_rec() + #（4）获取识别kpu输出 + results = kpu_get_output() + #（5）识别后处理，results结构为[(N,MAX_LENGTH,DICT_LENGTH),...],在axis=2维度上取argmax获取当前识别字符在字典中的索引 + preds = np.argmax(results[0], axis=2).reshape((-1)) + output_txt = "" + for i in range(len(preds)): + # 当前识别字符不是字典的最后一个字符并且和前一个字符不重复（去重），加入识别结果字符串 + if preds[i] != (len(DICT) - 1) and (not (i > 0 and preds[i - 1] == preds[i])): + output_txt = output_txt + DICT[preds[i]] + return output_txt + +# 释放检测步骤kpu、ai2d以及ai2d相关的tensor +def kpu_deinit_det(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d_det,ai2d_output_tensor_det + del kpu_obj + del ai2d_det + del ai2d_output_tensor_det + +# 释放识别步骤kpu +def kpu_deinit_rec(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d_rec,ai2d_output_tensor_rec + del kpu_obj + del ai2d_rec + del ai2d_output_tensor_rec + + +#********************for media_utils.py******************** + +global draw_img,osd_img #for display +global buffer,media_source,media_sink #for media + +# display初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# 释放display +def display_deinit(): + display.deinit() + +# display显示检测识别框 +def display_draw(det_results): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if det_results: + draw_img.clear() + # 循环绘制所有检测到的框 + for j in det_results: + # 将原图的坐标点转换成显示的坐标点，循环绘制四条直线，得到一个矩形框 + for i in range(4): + x1 = j[1][(i * 2)] / OUT_RGB888P_WIDTH * DISPLAY_WIDTH + y1 = j[1][(i * 2 + 1)] / OUT_RGB888P_HEIGH * DISPLAY_HEIGHT + x2 = j[1][((i + 1) * 2) % 8] / OUT_RGB888P_WIDTH * DISPLAY_WIDTH + y2 = j[1][((i + 1) * 2 + 1) % 8] / OUT_RGB888P_HEIGH * DISPLAY_HEIGHT + draw_img.draw_line((int(x1), int(y1), int(x2), int(y2)), color=(255, 0, 0, 255), + thickness=5) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +# camera初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + # camera获取的通道0图像送display显示 + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # camera获取的通道2图像送ai处理 + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 启动视频流 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 捕获一帧图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 释放内存 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 停止视频流 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放buffer，销毁link +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +def ocr_rec_inference(): + print("ocr_rec_test start") + kpu_ocr_det = kpu_init_det(kmodel_file_det) # 创建OCR检测kpu对象 + kpu_ocr_rec = kpu_init_rec(kmodel_file_rec) # 创建OCR识别kpu对象 + camera_init(CAM_DEV_ID_0) # camera初始化 + display_init() # display初始化 + rgb888p_img = None + try: + ret = media_init() + if ret: + print("ocr_rec_test, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图像 + if rgb888p_img == -1: + print("ocr_rec_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + det_results = kpu_run_det(kpu_ocr_det,rgb888p_img) # kpu运行获取OCR检测kmodel的推理输出 + ocr_results="" + if det_results: + for j in det_results: + ocr_result = kpu_run_rec(kpu_ocr_rec,j[0]) # j[0]为检测框的裁剪部分，kpu运行获取OCR识别kmodel的推理输出 + ocr_results = ocr_results+" ["+ocr_result+"] " + print("\n"+ocr_results) + display_draw(det_results) + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + # gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止camera + display_deinit() # 释放display + kpu_deinit_det(kpu_ocr_det) # 释放OCR检测步骤kpu + kpu_deinit_rec(kpu_ocr_rec) # 释放OCR识别步骤kpu + gc.collect() + time.sleep(1) + ret = media_deinit() # 释放整个media + if ret: + print("ocr_rec_test, buffer_deinit failed") + return ret + + print("ocr_rec_test end") + return 0 + +if __name__ == '__main__': + ocr_rec_inference() diff --git a/tests/ai_demo/person_detection.py b/tests/ai_demo/person_detection.py new file mode 100644 index 0000000..a99f643 --- /dev/null +++ b/tests/ai_demo/person_detection.py @@ -0,0 +1,341 @@ +import aicube #aicube模块，封装检测分割等任务相关后处理 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 + +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 + +import time #时间统计 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 + +import gc #垃圾回收模块 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +##ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) +OUT_RGB888P_HEIGH = 1080 + +#kmodel输入shape +kmodel_input_shape = (1,3,640,640) # kmodel输入分辨率 + +#kmodel相关参数设置 +confidence_threshold = 0.2 # 行人检测阈值，用于过滤roi +nms_threshold = 0.6 # 行人检测框阈值，用于过滤重复roi +kmodel_frame_size = [640,640] # 行人检测输入图片尺寸 +frame_size = [OUT_RGB888P_WIDTH,OUT_RGB888P_HEIGH] # 直接输入图片尺寸 +strides = [8,16,32] # 输出特征图的尺寸与输入图片尺寸的比 +num_classes = 1 # 模型输出类别数 +nms_option = False # 是否所有检测框一起做NMS，False则按照不同的类分别应用NMS +labels = ["person"] # 模型输出类别名称 + +root_dir = '/sdcard/app/tests/' +kmodel_file = root_dir + 'kmodel/person_detect_yolov5n.kmodel' # kmodel文件的路径 +anchors = [10, 13, 16, 30, 33, 23, 30, 61, 62, 45, 59, 119, 116, 90, 156, 198, 373, 326] #anchor设置 + +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） +total_debug_mode = 1 + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global ai2d,ai2d_input_tensor,ai2d_output_tensor,ai2d_builder # 定义全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + + +# ai2d 初始化 +def ai2d_init(): + with ScopedTiming("ai2d_init",debug_mode > 0): + global ai2d + global ai2d_builder + global ai2d_output_tensor + # 计算padding值 + ori_w = OUT_RGB888P_WIDTH + ori_h = OUT_RGB888P_HEIGH + width = kmodel_frame_size[0] + height = kmodel_frame_size[1] + ratiow = float(width) / ori_w + ratioh = float(height) / ori_h + if ratiow < ratioh: + ratio = ratiow + else: + ratio = ratioh + new_w = int(ratio * ori_w) + new_h = int(ratio * ori_h) + dw = float(width - new_w) / 2 + dh = float(height - new_h) / 2 + top = int(round(dh - 0.1)) + bottom = int(round(dh + 0.1)) + left = int(round(dw - 0.1)) + right = int(round(dw - 0.1)) + + ai2d = nn.ai2d() + ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d.set_pad_param(True, [0,0,0,0,top,bottom,left,right], 0, [114,114,114]) + ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) + ai2d_builder = ai2d.build([1,3,OUT_RGB888P_HEIGH,OUT_RGB888P_WIDTH], [1,3,height,width]) + data = np.ones(kmodel_input_shape, dtype=np.uint8) + ai2d_output_tensor = nn.from_numpy(data) + +# ai2d 运行 +def ai2d_run(rgb888p_img): + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor,ai2d_output_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + ai2d_input_tensor = nn.from_numpy(ai2d_input) + ai2d_builder.run(ai2d_input_tensor, ai2d_output_tensor) + +# ai2d 释放内存 +def ai2d_release(): + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor + del ai2d_input_tensor + +# kpu 初始化 +def kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + ai2d_init() + return kpu_obj + +# kpu 输入预处理 +def kpu_pre_process(rgb888p_img): + ai2d_run(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_output_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_output_tensor) + +# kpu 获得 kmodel 输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + for i in range(current_kmodel_obj.outputs_size()): + data = current_kmodel_obj.get_output_tensor(i) + result = data.to_numpy() + + result = result.reshape((result.shape[0]*result.shape[1]*result.shape[2]*result.shape[3])) + tmp2 = result.copy() + del result + results.append(tmp2) + return results + +# kpu 运行 +def kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1)原图预处理，并设置模型输入 + kpu_pre_process(rgb888p_img) + # (2)行人检测 kpu 运行 + with ScopedTiming("kpu_run",debug_mode > 0): + current_kmodel_obj.run() + # (3)释放行人检测 ai2d 资源 + ai2d_release() + # (4)获取行人检测 kpu 输出 + results = kpu_get_output() + # (5)行人检测 kpu 结果后处理 + with ScopedTiming("kpu_post_process",debug_mode > 0): + dets = aicube.anchorbasedet_post_process( results[0], results[1], results[2], kmodel_frame_size, frame_size, strides, num_classes, confidence_threshold, nms_threshold, anchors, nms_option) + # (6)返回行人检测结果 + return dets + +# kpu 释放内存 +def kpu_deinit(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d, ai2d_output_tensor + del kpu_obj + del ai2d + del ai2d_output_tensor + +#media_utils.py +global draw_img,osd_img,masks #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 框出所有检测到的人以及标出得分 +def display_draw(dets): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + + if dets: + draw_img.clear() + for det_box in dets: + x1, y1, x2, y2 = det_box[2],det_box[3],det_box[4],det_box[5] + w = float(x2 - x1) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH + h = float(y2 - y1) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH + + x1 = int(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y1 = int(y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + x2 = int(x2 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + y2 = int(y2 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH) + + if (h<(0.1*DISPLAY_HEIGHT)): + continue + if (w<(0.25*DISPLAY_WIDTH) and ((x1<(0.03*DISPLAY_WIDTH)) or (x2>(0.97*DISPLAY_WIDTH)))): + continue + if (w<(0.15*DISPLAY_WIDTH) and ((x1<(0.01*DISPLAY_WIDTH)) or (x2>(0.99*DISPLAY_WIDTH)))): + continue + draw_img.draw_rectangle(x1 , y1 , int(w) , int(h) , color=(255, 0, 255, 0),thickness = 2) + draw_img.draw_string( x1 , y1-50, " " + labels[det_box[0]] + " " + str(round(det_box[1],2)) , color=(255,0, 255, 0), scale=4) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + +#**********for person_detect.py********** +def person_detect_inference(): + print("person_detect_test start") + kpu_person_detect = kpu_init(kmodel_file) # 创建行人检测的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("person_detect_test, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + while True: + with ScopedTiming("total",total_debug_mode): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("person_detect_test, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + dets = kpu_run(kpu_person_detect,rgb888p_img) # 执行行人检测 kpu 运行 以及 后处理过程 + display_draw(dets) # 将得到的检测结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + # gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + kpu_deinit(kpu_person_detect) # 释放 kpu + gc.collect() + ret = media_deinit() # 释放 整个media + if ret: + print("person_detect_test, buffer_deinit failed") + return ret + + print("person_detect_test end") + return 0 + +if __name__ == '__main__': + person_detect_inference() + diff --git a/tests/ai_demo/person_kp_detect.py b/tests/ai_demo/person_kp_detect.py new file mode 100644 index 0000000..f6d549d --- /dev/null +++ b/tests/ai_demo/person_kp_detect.py @@ -0,0 +1,358 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 +import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +#ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(1920, 16) +OUT_RGB888P_HEIGHT = 1080 + +#人体关键点检测 kmodel 输入参数配置 +kmodel_input_shape = (1,3,640,640) # kmodel输入分辨率 +rgb_mean = [114,114,114] # ai2d padding 值 + +#人体关键点 相关参数设置 +confidence_threshold = 0.2 # 人体关键点检测分数阈值 +nms_threshold = 0.5 # 非最大值抑制阈值 + +#文件配置 +root_dir = '/sdcard/app/tests/' +kmodel_file = root_dir + 'kmodel/yolov8n-pose.kmodel' # kmodel文件的路径 +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +#骨骼信息 +SKELETON = [(16, 14),(14, 12),(17, 15),(15, 13),(12, 13),(6, 12),(7, 13),(6, 7),(6, 8),(7, 9),(8, 10),(9, 11),(2, 3),(1, 2),(1, 3),(2, 4),(3, 5),(4, 6),(5, 7)] +#肢体颜色 +LIMB_COLORS = [(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 255, 51, 255),(255, 255, 51, 255),(255, 255, 51, 255),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0)] +#关键点颜色 +KPS_COLORS = [(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 0, 255, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 255, 128, 0),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255),(255, 51, 153, 255)] + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global ai2d,ai2d_input_tensor,ai2d_output_tensor,ai2d_builder # 定义全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + +# 人体关键点检测 接收kmodel输出的后处理方法 +def kpu_post_process(output_datas): + with ScopedTiming("kpu_post_process", debug_mode > 0): + results = aidemo.person_kp_postprocess(output_datas,[OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH],[kmodel_input_shape[2],kmodel_input_shape[3]],confidence_threshold,nms_threshold) + return results + +# 获取kmodel输入图像resize比例 以及 padding的上下左右像素数量 +def get_pad_param(): + #右padding或下padding + dst_w = kmodel_input_shape[3] + dst_h = kmodel_input_shape[2] + + ratio_w = float(dst_w) / OUT_RGB888P_WIDTH + ratio_h = float(dst_h) / OUT_RGB888P_HEIGHT + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGHT) + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + + top = (int)(round(dh)) + bottom = (int)(round(dh)) + left = (int)(round(dw)) + right = (int)(round(dw)) + return [0, 0, 0, 0, top, bottom, left, right] + +# ai2d 初始化 +def ai2d_init(): + with ScopedTiming("ai2d_init",debug_mode > 0): + global ai2d + ai2d = nn.ai2d() + ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d.set_pad_param(True, get_pad_param(), 0, rgb_mean) + ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + global ai2d_out_tensor + data = np.ones(kmodel_input_shape, dtype=np.uint8) + ai2d_out_tensor = nn.from_numpy(data) + + global ai2d_builder + ai2d_builder = ai2d.build([1,3,OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH], kmodel_input_shape) + +# ai2d 运行 +def ai2d_run(rgb888p_img): + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor,ai2d_out_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + ai2d_input_tensor = nn.from_numpy(ai2d_input) + + ai2d_builder.run(ai2d_input_tensor, ai2d_out_tensor) + +# ai2d 释放内存 +def ai2d_release(): + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor + del ai2d_input_tensor + +# kpu 初始化 +def kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + ai2d_init() + return kpu_obj + +# kpu 输入预处理 +def kpu_pre_process(rgb888p_img): + ai2d_run(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_out_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_out_tensor) + +# kpu 获得 kmodel 输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + data = current_kmodel_obj.get_output_tensor(0) + result = data.to_numpy() + del data + + return result + +# kpu 运行 +def kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1) 原图预处理，并设置模型输入 + kpu_pre_process(rgb888p_img) + # (2) kpu 运行 + with ScopedTiming("kpu_run",debug_mode > 0): + kpu_obj.run() + # (3) 释放ai2d资源 + ai2d_release() + # (4) 获取kpu输出 + results = kpu_get_output() + # (5) kpu结果后处理 + kp_res = kpu_post_process(results) + # (6) 返回 人体关键点检测 结果 + return kp_res + +# kpu 释放内存 +def kpu_deinit(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d,ai2d_out_tensor + del kpu_obj + del ai2d + del ai2d_out_tensor + +#media_utils.py +global draw_img,osd_img #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 将所有目标关键点作图 +def display_draw(res): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img + if res[0]: + draw_img.clear() + kpses = res[1] + for i in range(len(res[0])): + for k in range(17+2): + if (k < 17): + kps_x = round(kpses[i][k][0]) + kps_y = round(kpses[i][k][1]) + kps_s = kpses[i][k][2] + + kps_x1 = int(float(kps_x) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + kps_y1 = int(float(kps_y) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGHT) + + if (kps_s > 0): + draw_img.draw_circle(kps_x1,kps_y1,5,KPS_COLORS[k],4) + ske = SKELETON[k] + pos1_x = round(kpses[i][ske[0]-1][0]) + pos1_y = round(kpses[i][ske[0]-1][1]) + + pos1_x_ = int(float(pos1_x) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + pos1_y_ = int(float(pos1_y) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGHT) + + pos2_x = round(kpses[i][(ske[1] -1)][0]) + pos2_y = round(kpses[i][(ske[1] -1)][1]) + + pos2_x_ = int(float(pos2_x) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH) + pos2_y_ = int(float(pos2_y) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGHT) + + pos1_s = kpses[i][(ske[0] -1)][2] + pos2_s = kpses[i][(ske[1] -1)][2] + + if (pos1_s > 0.0 and pos2_s >0.0): + draw_img.draw_line(pos1_x,pos1_y,pos2_x,pos2_y,LIMB_COLORS[k],4) + + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + + +#**********for person_kp_detect.py********** +def person_kp_detect_inference(): + print("person_kp_detect start") + kpu_person_kp_detect = kpu_init(kmodel_file) # 创建人体关键点检测的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("person_kp_detect, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("person_kp_detect, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + person_kp_detect_res = kpu_run(kpu_person_kp_detect,rgb888p_img) # 执行人体关键点检测 kpu 运行 以及 后处理过程 + display_draw(person_kp_detect_res) # 将得到的人体关键点结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + #gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + kpu_deinit(kpu_person_kp_detect) # 释放 kpu + gc.collect() + time.sleep(1) + ret = media_deinit() # 释放 整个media + if ret: + print("person_kp_detect, buffer_deinit failed") + return ret + + print("person_kp_detect end") + return 0 + +if __name__ == '__main__': + person_kp_detect_inference() diff --git a/tests/ai_demo/segment_yolov8n.py b/tests/ai_demo/segment_yolov8n.py new file mode 100644 index 0000000..6a6b9df --- /dev/null +++ b/tests/ai_demo/segment_yolov8n.py @@ -0,0 +1,340 @@ +import ulab.numpy as np #类似python numpy操作，但也会有一些接口不同 +import nncase_runtime as nn #nncase运行模块，封装了kpu（kmodel推理）和ai2d（图片预处理加速）操作 +from media.camera import * #摄像头模块 +from media.display import * #显示模块 +from media.media import * #软件抽象模块，主要封装媒体数据链路以及媒体缓冲区 +import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 +import time #时间统计 +import gc #垃圾回收模块 +import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 + +##config.py +#display分辨率 +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +#ai原图分辨率输入 +OUT_RGB888P_WIDTH = ALIGN_UP(320, 16) +OUT_RGB888P_HEIGHT = 320 + +#多目标分割 kmodel 输入参数配置 +kmodel_input_shape = (1,3,320,320) # kmodel输入分辨率 +rgb_mean = [114,114,114] # ai2d padding 值 + +#多目标分割 相关参数设置 +confidence_threshold = 0.2 # 多目标分割分数阈值 +nms_threshold = 0.5 # 非最大值抑制阈值 +mask_thres = 0.5 # 多目标分割掩码阈值 + +#文件配置 +root_dir = '/sdcard/app/tests/' +kmodel_file = root_dir + 'kmodel/yolov8n_seg_320.kmodel' # kmodel文件的路径 +debug_mode = 0 # debug模式 大于0（调试）、 反之 （不调试） + +#标签 多目标分割的所有可识别类别 +labels = ["person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"] + +#scoped_timing.py 用于debug模式输出程序块运行时间 +class ScopedTiming: + def __init__(self, info="", enable_profile=True): + self.info = info + self.enable_profile = enable_profile + + def __enter__(self): + if self.enable_profile: + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_value, traceback): + if self.enable_profile: + elapsed_time = time.time_ns() - self.start_time + print(f"{self.info} took {elapsed_time / 1000000:.2f} ms") + + +#ai_utils.py +global current_kmodel_obj # 定义全局的 kpu 对象 +global ai2d,ai2d_input_tensor,ai2d_output_tensor,ai2d_builder # 定义全局 ai2d 对象，并且定义 ai2d 的输入、输出 以及 builder + +# 多目标分割 接收kmodel输出的后处理方法 +def kpu_post_process(output_datas): + with ScopedTiming("kpu_post_process", debug_mode > 0): + global masks + mask_dets = aidemo.segment_postprocess(output_datas,[OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH],[kmodel_input_shape[2],kmodel_input_shape[3]],[DISPLAY_HEIGHT,DISPLAY_WIDTH],confidence_threshold,nms_threshold,mask_thres,masks) + return mask_dets + +# 获取kmodel输入图像resize比例 以及 padding的上下左右像素数量 +def get_pad_param(): + #右padding或下padding + dst_w = kmodel_input_shape[3] + dst_h = kmodel_input_shape[2] + + ratio_w = float(dst_w) / OUT_RGB888P_WIDTH + ratio_h = float(dst_h) / OUT_RGB888P_HEIGHT + if ratio_w < ratio_h: + ratio = ratio_w + else: + ratio = ratio_h + + new_w = (int)(ratio * OUT_RGB888P_WIDTH) + new_h = (int)(ratio * OUT_RGB888P_HEIGHT) + dw = (dst_w - new_w) / 2 + dh = (dst_h - new_h) / 2 + + top = (int)(round(dh - 0.1)) + bottom = (int)(round(dh + 0.1)) + left = (int)(round(dw - 0.1)) + right = (int)(round(dw + 0.1)) + return [0, 0, 0, 0, top, bottom, left, right] + +# ai2d 初始化 +def ai2d_init(): + with ScopedTiming("ai2d_init",debug_mode > 0): + global ai2d + ai2d = nn.ai2d() + ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, + nn.ai2d_format.NCHW_FMT, + np.uint8, np.uint8) + ai2d.set_pad_param(True, get_pad_param(), 0, rgb_mean) + ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel) + + global ai2d_out_tensor + data = np.ones(kmodel_input_shape, dtype=np.uint8) + ai2d_out_tensor = nn.from_numpy(data) + + global ai2d_builder + ai2d_builder = ai2d.build([1,3,OUT_RGB888P_HEIGHT,OUT_RGB888P_WIDTH], kmodel_input_shape) + +# ai2d 运行 +def ai2d_run(rgb888p_img): + with ScopedTiming("ai2d_run",debug_mode > 0): + global ai2d_input_tensor,ai2d_out_tensor + ai2d_input = rgb888p_img.to_numpy_ref() + ai2d_input_tensor = nn.from_numpy(ai2d_input) + + ai2d_builder.run(ai2d_input_tensor, ai2d_out_tensor) + +# ai2d 释放内存 +def ai2d_release(): + with ScopedTiming("ai2d_release",debug_mode > 0): + global ai2d_input_tensor + del ai2d_input_tensor + +# kpu 初始化 +def kpu_init(kmodel_file): + # init kpu and load kmodel + with ScopedTiming("kpu_init",debug_mode > 0): + kpu_obj = nn.kpu() + kpu_obj.load_kmodel(kmodel_file) + + ai2d_init() + return kpu_obj + +# kpu 输入预处理 +def kpu_pre_process(rgb888p_img): + ai2d_run(rgb888p_img) + with ScopedTiming("kpu_pre_process",debug_mode > 0): + global current_kmodel_obj,ai2d_out_tensor + # set kpu input + current_kmodel_obj.set_input_tensor(0, ai2d_out_tensor) + +# kpu 获得 kmodel 输出 +def kpu_get_output(): + with ScopedTiming("kpu_get_output",debug_mode > 0): + global current_kmodel_obj + results = [] + data_0 = current_kmodel_obj.get_output_tensor(0) + result_0 = data_0.to_numpy() + del data_0 + results.append(result_0) + + data_1 = current_kmodel_obj.get_output_tensor(1) + result_1 = data_1.to_numpy() + del data_1 + results.append(result_1) + + return results + +# kpu 运行 +def kpu_run(kpu_obj,rgb888p_img): + global current_kmodel_obj + current_kmodel_obj = kpu_obj + # (1) 原图预处理，并设置模型输入 + kpu_pre_process(rgb888p_img) + # (2) kpu 运行 + with ScopedTiming("kpu_run",debug_mode > 0): + kpu_obj.run() + # (3) 释放ai2d资源 + ai2d_release() + # (4) 获取kpu输出 + results = kpu_get_output() + # (5) kpu结果后处理 + seg_res = kpu_post_process(results) + # (6) 返回 分割 mask 结果 + return seg_res + +# kpu 释放内存 +def kpu_deinit(kpu_obj): + with ScopedTiming("kpu_deinit",debug_mode > 0): + global ai2d,ai2d_out_tensor + del kpu_obj + del ai2d + del ai2d_out_tensor + +#media_utils.py +global draw_img,osd_img,masks #for display 定义全局 作图image对象 +global buffer,media_source,media_sink #for media 定义 media 程序中的中间存储对象 + +#for display 初始化 +def display_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + +# display 释放内存 +def display_deinit(): + display.deinit() + +# display 作图过程 将所有目标分割对象以及类别、分数值的作图 +def display_draw(seg_res): + with ScopedTiming("display_draw",debug_mode >0): + global draw_img,osd_img,masks + if seg_res[0]: + dets = seg_res[0] + ids = seg_res[1] + scores = seg_res[2] + + for i, det in enumerate(dets): + x1, y1, w, h = map(lambda x: int(round(x, 0)), det) + draw_img.draw_string( int(x1) , int(y1)-50, " " + labels[int(ids[i])] + " " + str(round(scores[i],2)) , color=(255,0,0,0), scale=4) + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + else: + draw_img.clear() + draw_img.copy_to(osd_img) + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) + +#for camera 初始化 +def camera_init(dev_id): + camera.sensor_init(dev_id, CAM_DEFAULT_SENSOR) + + # set chn0 output yuv420sp + camera.set_outsize(dev_id, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + # set chn2 output rgb88planar + camera.set_outsize(dev_id, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGHT) + camera.set_outfmt(dev_id, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + +# camera 开启 +def camera_start(dev_id): + camera.start_stream(dev_id) + +# camera 读取图像 +def camera_read(dev_id): + with ScopedTiming("camera_read",debug_mode >0): + rgb888p_img = camera.capture_image(dev_id, CAM_CHN_ID_2) + return rgb888p_img + +# camera 图像释放 +def camera_release_image(dev_id,rgb888p_img): + with ScopedTiming("camera_release_image",debug_mode >0): + camera.release_image(dev_id, CAM_CHN_ID_2, rgb888p_img) + +# camera 结束 +def camera_stop(dev_id): + camera.stop_stream(dev_id) + +#for media 初始化 +def media_init(): + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4 * DISPLAY_WIDTH * DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + + ret = media.buffer_config(config) + + global media_source, media_sink + media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + media_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(media_source, media_sink) + + # 初始化多媒体buffer + ret = media.buffer_init() + if ret: + return ret + global buffer, draw_img, osd_img, masks + buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # 图层1，用于画框 + masks = np.zeros((1,DISPLAY_HEIGHT,DISPLAY_WIDTH,4)) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888,alloc=image.ALLOC_REF,data=masks) + # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, + phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) + return ret + +# media 释放内存 +def media_deinit(): + global buffer,media_source, media_sink + media.release_buffer(buffer) + media.destroy_link(media_source, media_sink) + + ret = media.buffer_deinit() + return ret + + +#**********for seg.py********** +def seg_inference(): + print("seg start") + kpu_seg = kpu_init(kmodel_file) # 创建多目标分割的 kpu 对象 + camera_init(CAM_DEV_ID_0) # 初始化 camera + display_init() # 初始化 display + + rgb888p_img = None + try: + ret = media_init() + if ret: + print("seg, buffer init failed") + return ret + + camera_start(CAM_DEV_ID_0) + time.sleep(5) + while True: + with ScopedTiming("total",1): + rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 + if rgb888p_img == -1: + print("seg, capture_image failed") + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + rgb888p_img = None + continue + + # for rgb888planar + if rgb888p_img.format() == image.RGBP888: + seg_res = kpu_run(kpu_seg,rgb888p_img) # 执行多目标分割 kpu 运行 以及 后处理过程 + display_draw(seg_res) # 将得到的分割结果 绘制到 display + + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 + rgb888p_img = None + #gc.collect() + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + if rgb888p_img is not None: + #先release掉申请的内存再stop + camera_release_image(CAM_DEV_ID_0,rgb888p_img) + + camera_stop(CAM_DEV_ID_0) # 停止 camera + display_deinit() # 释放 display + kpu_deinit(kpu_seg) # 释放 kpu + gc.collect() + time.sleep(1) + ret = media_deinit() # 释放 整个media + if ret: + print("seg, buffer_deinit failed") + return ret + + print("seg end") + return 0 + +if __name__ == '__main__': + seg_inference() diff --git a/tests/demo/face_detection.py b/tests/demo/face_detection.py index de0f72a..492f8f9 100755 --- a/tests/demo/face_detection.py +++ b/tests/demo/face_detection.py @@ -1,3 +1,9 @@ +# Face detection Example +# +# Note: You will need an SD card to run this example. +# +# You can start camera preview and get face detection result. + import os from media.camera import * @@ -227,52 +233,63 @@ def face_detect_test(): # use hdmi for display display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer config = k_vb_config() config.max_pool_cnt = 1 config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - + # meida buffer config ret = media.buffer_config(config) - + # init default sensor camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) - # set chn0 output yuv420sp + # set chn0 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device meida_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device meida_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link media.create_link(meida_source, meida_sink) - + # set display plane with video channel display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) # set chn1 output rgb888 #camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) #camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) - # set chn2 output rgb88planar + # set chn2 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_2, OUT_RGB888P_WIDTH, OUT_RGB888P_HEIGH) - camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_2, PIXEL_FORMAT_BGR_888_PLANAR) + # set chn2 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) try: + # media buffer init ret = media.buffer_init() if ret: print("face_detect_test, buffer init failed") return ret - + # request media buffer for osd image buffer = media.request_buffer(4*DISPLAY_WIDTH*DISPLAY_HEIGHT) + # create image for drawing draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + # create image for osd osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - + # start stream for camera device0 camera.start_stream(CAM_DEV_ID_0) time.sleep(5) rgb888p_img = None while True: + # capture image from dev and chn rgb888p_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_2) if rgb888p_img == -1: print("face_detect_test, capture_image failed") + # release image for dev and chn camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_2, rgb888p_img) continue @@ -317,7 +334,8 @@ def face_detect_test(): x1, y1, x2, y2 = map(lambda x: int(round(x, 0)), det[:4]) w = (x2 - x1) * DISPLAY_WIDTH // OUT_RGB888P_WIDTH h = (y2 - y1) * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH - draw_img.draw_rectangle(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH, y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH, w, h, color=(0,255,0,255)) + # draw detect result rectangle + draw_img.draw_rectangle(x1 * DISPLAY_WIDTH // OUT_RGB888P_WIDTH, y1 * DISPLAY_HEIGHT // OUT_RGB888P_HEIGH, w, h, color=(255,255,0,255)) draw_img.copy_to(osd_img) display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) else: @@ -334,13 +352,13 @@ def face_detect_test(): finally: if rgb888p_img is not None: camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_2, rgb888p_img) - + # stop stream for camera device0 camera.stop_stream(CAM_DEV_ID_0) - + # deinit display display.deinit() - + # release media buffer media.release_buffer(buffer) - + # destroy media link media.destroy_link(meida_source, meida_sink) del kpu @@ -348,7 +366,7 @@ def face_detect_test(): gc.collect() time.sleep(1) - + # deinit media buffer ret = media.buffer_deinit() if ret: print("face_detect_test, buffer_deinit failed") diff --git a/tests/machine/adc/adc.py b/tests/machine/adc/adc.py index 4266a9c..fa1e204 100644 --- a/tests/machine/adc/adc.py +++ b/tests/machine/adc/adc.py @@ -1,6 +1,10 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + from machine import ADC -adc = ADC(0,enable=True) -value = adc.value() +adc = ADC(0,enable=True) #构造adc对象，通道0默认开启 +value = adc.value() #获取通道0的数值 print("value = %d" % value) -adc.deinit() +adc.deinit() #注销adc对象 diff --git a/tests/machine/fft/fft.py b/tests/machine/fft/fft.py new file mode 100644 index 0000000..c4584d6 --- /dev/null +++ b/tests/machine/fft/fft.py @@ -0,0 +1,34 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + +from machine import FFT +import array +import math +from ulab import numpy as np +PI = 3.14159265358979323846264338327950288419716939937510 + +rx = [] +def input_data(): + for i in range(64): + data0 = 10 * math.cos(2 * PI * i / 64) + data1 = 20 * math.cos(2 * 2 * PI * i / 64) + data2 = 30 * math.cos(3 * 2 * PI * i / 64) + data3 = 0.2 * math.cos(4 * 2 * PI * i / 64) + data4 = 1000 * math.cos(5 * 2 * PI * i / 64) + rx.append((int(data0 + data1 + data2 + data3 + data4))) +input_data() #初始化需要进行FFT的数据，列表类型 +print(rx) +data = np.array(rx,dtype=np.uint16) #把列表数据转换成数组 +print(data) +fft1 = FFT(data, 64, 0x555) #创建一个FFT对象,运算点数为64，偏移是0x555 +res = fft1.run() #获取FFT转换后的数据 +print(res) + +res = fft1.amplitude(res) #获取各个频率点的幅值 +print(res) + +res = fft1.freq(64,38400) #获取所有频率点的频率值 +print(res) + + diff --git a/tests/machine/fpioa/fpioa.py b/tests/machine/fpioa/fpioa.py new file mode 100644 index 0000000..e0e5853 --- /dev/null +++ b/tests/machine/fpioa/fpioa.py @@ -0,0 +1,23 @@ +from machine import FPIOA +a = FPIOA() + + +a.help() +for i in range(63): + a.help(i) + +for i in range(221): + a.get_Pin_num(i) + +a.help(60) +a.set_function(60,a.GPIO60) +a.help(60) + +a.set_function(60,set_sl=1,set_ie=0,set_oe=0,set_pd=1,set_pu=0,set_ds=6,set_st=0,set_di=1) +a.help(60) + +a.set_function(60,set_msc=0) +a.help(60) + + + diff --git a/tests/machine/gpio/gpio.py b/tests/machine/gpio/gpio.py index c575800..e6b3e86 100644 --- a/tests/machine/gpio/gpio.py +++ b/tests/machine/gpio/gpio.py @@ -1,10 +1,12 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + from machine import GPIO -gpio = GPIO(8, GPIO.OUT, GPIO.PULL_UP, value=0) -value = gpio.value() -print("value = %d" % value) -gpio.value(1) +gpio = GPIO(8, GPIO.OUT, GPIO.PULL_UP, value=0) #构造GPIO对象，gpio编号为8，设置为上拉输出低电平 +value = gpio.value() #获取gpio的值 +print("value = %d" % value) +gpio.value(1) #设置gpio输出为高电平 value = gpio.value() print("value = %d" % value) - - diff --git a/tests/machine/i2c/i2c.py b/tests/machine/i2c/i2c.py index bfaaf35..ac1e19a 100755 --- a/tests/machine/i2c/i2c.py +++ b/tests/machine/i2c/i2c.py @@ -1,32 +1,27 @@ from machine import I2C -i2c4=machine.I2C(4) +i2c4=I2C(4) # init i2c4 -i2c4.scan() +a=i2c4.scan() #scan i2c slave +print(a) -i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) -#value =0x17 -i2c4.readfrom_mem(0x3b,0x00,1,mem_size=8) -#value =0x2 -i2c4.readfrom_mem(0x3b,0x01,1,mem_size=8) +i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) # write hdmi page address(0x80) +i2c4.readfrom_mem(0x3b,0x00,1,mem_size=8) # read hdmi id0 ,value =0x17 +i2c4.readfrom_mem(0x3b,0x01,1,mem_size=8) # read hdmi id1 ,value =0x2 -i2c4.writeto(0x3b,bytes([0xff,0x80]),True) -i2c4.writeto(0x3b,bytes([0x00]),True) -#value =0x17 -i2c4.readfrom(0x3b,1) -i2c4.writeto(0x3b,bytes([0x01]),True) -#value =0x2 -i2c4.readfrom(0x3b,1) +i2c4.writeto(0x3b,bytes([0xff,0x80]),True) # write hdmi page address(0x80) +i2c4.writeto(0x3b,bytes([0x00]),True) #send the address0 of being readed +i2c4.readfrom(0x3b,1) #read hdmi id0 ,value =0x17 +i2c4.writeto(0x3b,bytes([0x01]),True) #send the address1 of being readed +i2c4.readfrom(0x3b,1) #read hdmi id0 ,value =0x17 -i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) +i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) # write hdmi page address(0x80) a=bytearray(1) -i2c4.readfrom_mem_into(0x3b,0x0,a,mem_size=8) -#value =0x17 -print(a) +i2c4.readfrom_mem_into(0x3b,0x0,a,mem_size=8) # read hdmi id0 into a ,value =0x17 +print(a) #printf a,value =0x17 -i2c4.writeto(0x3b,bytes([0xff,0x80]),True) -i2c4.writeto(0x3b,bytes([0x00]),True) +i2c4.writeto(0x3b,bytes([0xff,0x80]),True) # write hdmi page address(0x80) +i2c4.writeto(0x3b,bytes([0x00]),True) #send the address0 of being readed b=bytearray(1) -i2c4.readfrom_into(0x3b,b) -#value =0x17 -print(b) \ No newline at end of file +i2c4.readfrom_into(0x3b,b) #read hdmi id0 into b ,value =0x17 +print(b) #printf a,value =0x17 \ No newline at end of file diff --git a/tests/machine/pwm/pwm.py b/tests/machine/pwm/pwm.py index 816b6f4..97927cb 100644 --- a/tests/machine/pwm/pwm.py +++ b/tests/machine/pwm/pwm.py @@ -1,4 +1,11 @@ from machine import PWM - -# channel 0 output freq 1kHz duty 50%, enable +# 实例化PWM通道0，频率为1000Hz，占空比为50%，默认使能输出 pwm0 = PWM(0, 1000, 50, enable = True) +# 关闭通道0输出 +pwm0.enable(0) +# 调整通道0频率为2000Hz +pwm0.freq(2000) +# 调整通道0占空比为40% +pwm0.duty(40) +# 打开通道0输出 +pwm0.enable(1) diff --git a/tests/machine/spi/spi.py b/tests/machine/spi/spi.py new file mode 100755 index 0000000..9290566 --- /dev/null +++ b/tests/machine/spi/spi.py @@ -0,0 +1,35 @@ +from machine import SPI +from machine import FPIOA +a = FPIOA() + +a.help(14) +a.set_function(14,a.QSPI0_CS0) +a.help(14) + +a.help(15) +a.set_function(15,a.QSPI0_CLK) +a.help(15) + +a.help(16) +a.set_function(16,a.QSPI0_D0) +a.help(16) + +a.help(17) +a.set_function(17,a.QSPI0_D1) +a.help(17) + +spi=SPI(1,baudrate=5000000, polarity=0, phase=0, bits=8) # spi init clock 5MHz, polarity 0, phase 0, data bitwide 8bits + +spi.write(bytes([0x66])) # enable gd25lq128 reset + +spi.write(bytes([0x99])) # gd25lq128 reset + +a=bytes([0x9f]) # send buff +b=bytearray(3) # receive buf +spi.write_readinto(a,b) # read gd25lq128 id +print(b) # bytearray(b'\xc8`\x18') + +a=bytes([0x90,0,0,0]) # send buff +b=bytearray(2) # receive buf +spi.write_readinto(a,b) # read gd25lq128 id +print(b) # bytearray(b'\xc8\x17') diff --git a/tests/machine/timer/timer.py b/tests/machine/timer/timer.py index a62ea12..64e9fe7 100644 --- a/tests/machine/timer/timer.py +++ b/tests/machine/timer/timer.py @@ -1,8 +1,10 @@ -from machine import Timer - +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 -def on_timer(arg): +from machine import Timer +def on_timer(arg): #定义定时器回调函数 print("time up: %d" % arg) -tim = Timer(mode=Timer.MODE_ONE_SHOT,period=3, unit=Timer.UNIT_S, callback=on_timer, arg=1, start=True) +tim = Timer(mode=Timer.MODE_ONE_SHOT,period=3, unit=Timer.UNIT_S, callback=on_timer, arg=1, start=True) #构造定时器对象，时间为3s，默认开启定时器 diff --git a/tests/machine/wdt/wdt.py b/tests/machine/wdt/wdt.py index 759dc63..1c6a656 100644 --- a/tests/machine/wdt/wdt.py +++ b/tests/machine/wdt/wdt.py @@ -1,13 +1,17 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + import time from machine import WDT -wdt1 = WDT(1,3) +wdt1 = WDT(1,3) #构造wdt对象，/dev/watchdog1,timeout为3s print('into', wdt1) -time.sleep(2) -print(time.ticks_ms()) +time.sleep(2) #延时2s +print(time.ticks_ms()) ## 1.test wdt feed -wdt1.feed() -time.sleep(2) +wdt1.feed() #喂狗操作 +time.sleep(2) #延时2s print(time.ticks_ms()) ## 2.test wdt stop -wdt1.stop() +wdt1.stop() #停止喂狗 diff --git a/tests/media/acodec.py b/tests/media/acodec.py new file mode 100644 index 0000000..38765fb --- /dev/null +++ b/tests/media/acodec.py @@ -0,0 +1,144 @@ +# g711 encode/decode example +# +# Note: You will need an SD card to run this example. +# +# You can collect raw data and encode it into g711 or decode it into raw data output. + + +from media.pyaudio import * #导入pyaudio模块，用于采集和播放音频 +from media.media import * #导入media模块，用于初始化vb buffer +import media.g711 as g711 #导入g711模块，用于g711编解码 +from mpp.payload_struct import * #导入payload模块，用于获取音视频编解码类型 + +def encode_audio(filename, duration): + CHUNK = int(44100/25) #设置音频chunk值 + FORMAT = paInt16 #设置采样精度 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 + + p = PyAudio() + p.initialize(CHUNK) #初始化PyAudio对象 + enc = g711.Encoder(K_PT_G711A,CHUNK) #创建g711编码器对象 + ret = media.buffer_init() #vb buffer初始化 + if ret: + print("record_audio, buffer_init failed") + + enc.create() #创建编码器 + #创建音频输入流 + stream = p.open(format=FORMAT, + channels=CHANNELS, + rate=RATE, + input=True, + frames_per_buffer=CHUNK) + + frames = [] + #采集音频数据编码并存入列表 + for i in range(0, int(RATE / CHUNK * duration)): + frame_data = stream.read() #从音频输入流中读取音频数据 + data = enc.encode(frame_data) #编码音频数据为g711 + frames.append(data) #将g711编码数据保存到列表中 + + stream.stop_stream() #停止音频输入流 + stream.close() #关闭音频输入流 + p.terminate() #释放音频对象 + enc.destroy() #销毁g711音频编码器 + + #将g711编码数据存入文件中 + with open(filename,mode='w') as wf: + wf.write(b''.join(frames)) + + media.buffer_deinit() #释放vb buffer + +def decode_audio(filename): + wf = open(filename,mode='rb') #打开g711文件 + FORMAT = paInt16 #设置音频chunk值 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 + CHUNK = int(RATE/25) #设置音频chunk值 + + p = PyAudio() + p.initialize(CHUNK) #初始化PyAudio对象 + dec = g711.Decoder(K_PT_G711A,CHUNK) #创建g711解码器对象 + ret = media.buffer_init() #vb buffer初始化 + if ret: + print("play_audio, buffer_init failed") + + dec.create() #创建解码器 + + #创建音频输出流 + stream = p.open(format=FORMAT, + channels=CHANNELS, + rate=RATE, + output=True, + frames_per_buffer=CHUNK) + + stream_len = CHUNK*CHANNELS*2//2 #设置每次读取的g711数据流长度 + stream_data = wf.read(stream_len) #从g711文件中读取数据 + + #解码g711文件并播放 + while stream_data: + frame_data = dec.decode(stream_data) #解码g711文件 + stream.write(frame_data) #播放raw数据 + stream_data = wf.read(stream_len) #从g711文件中读取数据 + + stream.stop_stream() #停止音频输入流 + stream.close() #关闭音频输入流 + p.terminate() #释放音频对象 + dec.destroy() #销毁解码器 + wf.close() #关闭g711文件 + + media.buffer_deinit() #释放vb buffer + +def loop_codec(duration): + CHUNK = int(44100/25) #设置音频chunk值 + FORMAT = paInt16 #设置采样精度 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 + + p = PyAudio() + p.initialize(CHUNK) #初始化PyAudio对象 + dec = g711.Decoder(K_PT_G711A,CHUNK) #创建g711解码器对象 + enc = g711.Encoder(K_PT_G711A,CHUNK) #创建g711编码器对象 + ret = media.buffer_init() #vb buffer初始化 + if ret: + print("loop_audio, buffer_init failed") + + dec.create() #创建g711解码器 + enc.create() #创建g711编码器 + + #创建音频输入流 + input_stream = p.open(format=FORMAT, + channels=CHANNELS, + rate=RATE, + input=True, + frames_per_buffer=CHUNK) + + #创建音频输出流 + output_stream = p.open(format=FORMAT, + channels=CHANNELS, + rate=RATE, + output=True, + frames_per_buffer=CHUNK) + + #从音频输入流中获取数据->编码->解码->写入到音频输出流中 + for i in range(0, int(RATE / CHUNK * duration)): + frame_data = input_stream.read() #从音频输入流中获取raw音频数据 + stream_data = enc.encode(frame_data) #编码音频数据为g711 + frame_data = dec.decode(stream_data) #解码g711数据为raw数据 + output_stream.write(frame_data) #播放raw数据 + + + input_stream.stop_stream() #停止音频输入流 + output_stream.stop_stream() #停止音频输出流 + input_stream.close() #关闭音频输入流 + output_stream.close() #关闭音频输出流 + p.terminate() #释放音频对象 + dec.destroy() #销毁g711解码器 + enc.destroy() #销毁g711编码器 + + media.buffer_deinit() #释放vb buffer + +#encode_audio('/sdcard/app/test.g711a', 15) #采集并编码g711文件 +#decode_audio('/sdcard/app/test.g711a') #解码g711文件并输出 +loop_codec(15) #采集音频数据->编码g711->解码g711->播放音频 +print("audio codec sample done") diff --git a/tests/media/audio.py b/tests/media/audio.py index 8da52ba..0abde2e 100644 --- a/tests/media/audio.py +++ b/tests/media/audio.py @@ -1,19 +1,26 @@ -from media.pyaudio import * -import media.wave as wave -from media.media import * +# audio input and output example +# +# Note: You will need an SD card to run this example. +# +# You can play wav files or capture audio to save as wav + +from media.pyaudio import * #导入pyaudio模块，用于采集和播放音频 +import media.wave as wave #导入wav模块，用于保存和加载wav音频文件 +from media.media import * #导入media模块，用于初始化vb buffer def record_audio(filename, duration): - CHUNK = int(44100/25) - FORMAT = paInt16 - CHANNELS = 2 - RATE = 44100 + CHUNK = int(44100/25) #设置音频chunk值 + FORMAT = paInt16 #设置采样精度 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 p = PyAudio() - p.initialize(CHUNK) - ret = media.buffer_init() + p.initialize(CHUNK) #初始化PyAudio对象 + ret = media.buffer_init() #vb buffer初始化 if ret: print("record_audio, buffer_init failed") + #创建音频输入流 stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, @@ -21,90 +28,96 @@ def record_audio(filename, duration): frames_per_buffer=CHUNK) frames = [] - + #采集音频数据并存入列表 for i in range(0, int(RATE / CHUNK * duration)): data = stream.read() frames.append(data) - stream.stop_stream() - stream.close() - p.terminate() - wf = wave.open(filename, 'wb') - wf.set_channels(CHANNELS) - wf.set_sampwidth(p.get_sample_size(FORMAT)) - wf.set_framerate(RATE) - wf.write_frames(b''.join(frames)) - wf.close() + stream.stop_stream() #停止采集音频数据 + stream.close()#关闭音频输入流 + p.terminate()#释放音频对象 + + #将列表中的数据保存到wav文件中 + wf = wave.open(filename, 'wb') #创建wav 文件 + wf.set_channels(CHANNELS) #设置wav 声道数 + wf.set_sampwidth(p.get_sample_size(FORMAT)) #设置wav 采样精度 + wf.set_framerate(RATE) #设置wav 采样率 + wf.write_frames(b''.join(frames)) #存储wav音频数据 + wf.close() #关闭wav文件 - media.buffer_deinit() + media.buffer_deinit() #释放vb buffer def play_audio(filename): - #读取音频文件 - wf = wave.open(filename, 'rb') - CHUNK = int(wf.get_framerate()/25) - #播放音频操作 + wf = wave.open(filename, 'rb')#打开wav文件 + CHUNK = int(wf.get_framerate()/25)#设置音频chunk值 + p = PyAudio() - p.initialize(CHUNK) - ret = media.buffer_init() + p.initialize(CHUNK) #初始化PyAudio对象 + ret = media.buffer_init()#vb buffer初始化 if ret: print("play_audio, buffer_init failed") + #创建音频输出流，设置的音频参数均为wave中获取到的参数 stream = p.open(format=p.get_format_from_width(wf.get_sampwidth()), channels=wf.get_channels(), rate=wf.get_framerate(), output=True,frames_per_buffer=CHUNK) - data = wf.read_frames(CHUNK) + + data = wf.read_frames(CHUNK)#从wav文件中读取数一帧数据 while data: - stream.write(data) - data = wf.read_frames(CHUNK) + stream.write(data) #将帧数据写入到音频输出流中 + data = wf.read_frames(CHUNK) #从wav文件中读取数一帧数据 - stream.stop_stream() - stream.close() - p.terminate() - wf.close() + stream.stop_stream() #停止音频输出流 + stream.close()#关闭音频输出流 + p.terminate()#释放音频对象 + wf.close()#关闭wav文件 - media.buffer_deinit() + media.buffer_deinit()#释放vb buffer def loop_audio(duration): - CHUNK = int(44100/25) - FORMAT = paInt16 - CHANNELS = 2 - RATE = 44100 + CHUNK = int(44100/25)#设置音频chunck + FORMAT = paInt16 #设置音频采样精度 + CHANNELS = 2 #设置音频声道数 + RATE = 44100 #设置音频采样率 p = PyAudio() - p.initialize(CHUNK) - ret = media.buffer_init() + p.initialize(CHUNK)#初始化PyAudio对象 + ret = media.buffer_init() #初始化vb buffer if ret: print("loop_audio, buffer_init failed") + #创建音频输入流 input_stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK) + #创建音频输出流 output_stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, output=True,frames_per_buffer=CHUNK) + #从音频输入流中获取数据写入到音频输出流中 for i in range(0, int(RATE / CHUNK * duration)): output_stream.write(input_stream.read()) - input_stream.stop_stream() - output_stream.stop_stream() - input_stream.close() - output_stream.close() - p.terminate() + input_stream.stop_stream()#停止音频输入流 + output_stream.stop_stream()#停止音频输出流 + input_stream.close() #关闭音频输入流 + output_stream.close() #关闭音频输出流 + p.terminate() #释放音频对象 - media.buffer_deinit() + media.buffer_deinit() #释放vb buffer -#play_audio('/sdcard/app/input.wav') -#record_audio('/sdcard/app/output.wav', 15) -loop_audio(15) +#play_audio('/sdcard/app/input.wav') #播放wav文件 +#record_audio('/sdcard/app/output.wav', 15) #录制wav文件 +loop_audio(15) #采集音频并输出 print("audio sample done") diff --git a/tests/media/camera.py b/tests/media/camera.py index 99b2b43..98a3a4f 100755 --- a/tests/media/camera.py +++ b/tests/media/camera.py @@ -1,3 +1,9 @@ +# Camera Example +# +# Note: You will need an SD card to run this example. +# +# You can start camera preview and capture yuv image. + from media.camera import * from media.display import * from media.media import * @@ -20,40 +26,49 @@ def canmv_camera_test(): out_width = 1920 out_height = 1080 + # set camera out width align up with 16Bytes out_width = ALIGN_UP(out_width, 16) - # set chn0 output yuv420sp + # set chn0 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, out_width, out_height) + # set chn0 out format camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device meida_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device meida_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link media.create_link(meida_source, meida_sink) - + # set display plane with video channel display.set_plane(0, 0, out_width, out_height, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) out_width = 640 out_height = 480 out_width = ALIGN_UP(out_width, 16) - # set chn1 output rgb888 + # set chn1 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, out_width, out_height) + # set chn1 output format camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) - # set chn2 output rgb888planar + # set chn1 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_2, out_width, out_height) - camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_2, PIXEL_FORMAT_BGR_888_PLANAR) + # set chn2 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) + # init meida buffer ret = media.buffer_init() if ret: print("canmv_camera_test, buffer init failed") return ret + # start stream for camera device0 camera.start_stream(CAM_DEV_ID_0) time.sleep(15) capture_count = 0 - while capture_count < 10: + while capture_count < 100: time.sleep(1) for dev_num in range(CAM_DEV_ID_MAX): if not camera.cam_dev[dev_num].dev_attr.dev_enable: @@ -64,7 +79,7 @@ def canmv_camera_test(): continue print(f"canmv_camera_test, dev({dev_num}) chn({chn_num}) capture frame.") - + # capture image from dev and chn img = camera.capture_image(dev_num, chn_num) if img == -1: print("camera.capture_image failed") @@ -85,24 +100,28 @@ def canmv_camera_test(): with open(filename, "wb") as f: if f: img_data = uctypes.bytearray_at(img.virtaddr(), img.size()) + # save yuv data to sdcard. #f.write(img_data) else: print(f"capture_image, open dump file failed({filename})") time.sleep(1) - + # release image for dev and chn camera.release_image(dev_num, chn_num, img) capture_count += 1 + # stop stream for camera device0 camera.stop_stream(CAM_DEV_ID_0) + # deinit display display.deinit() + # destroy media link media.destroy_link(meida_source, meida_sink) time.sleep(1) - + # deinit media buffer ret = media.buffer_deinit() if ret: print("camera test, media_buffer_deinit failed") diff --git a/tests/media/media.py b/tests/media/media.py index c491468..ad8bb83 100755 --- a/tests/media/media.py +++ b/tests/media/media.py @@ -1,3 +1,9 @@ +# Meida Example +# +# Note: You will need an SD card to run this example. +# +# You can get how to use the meida api form this example. + from media.media import * @@ -19,6 +25,7 @@ def media_buf_test(): config.comm_pool[3].mode = VB_REMAP_MODE_CACHED print("media_buf_test buffer_config 111") + # config meida buffer ret = media.buffer_config(config) if ret: print("media_buf_test, buffer_config failed") @@ -39,6 +46,7 @@ def media_buf_test(): config.comm_pool[3].mode = VB_REMAP_MODE_CACHED print("media_buf_test buffer_config 222") + # config meida buffer ret = media.buffer_config(config) if ret: print("media_buf_test, buffer_config failed") @@ -59,6 +67,7 @@ def media_buf_test(): config.comm_pool[3].mode = VB_REMAP_MODE_CACHED print("media_buf_test buffer_config 333") + # config meida buffer ret = media.buffer_config(config) if ret: print("media_buf_test, buffer_config failed") @@ -79,18 +88,21 @@ def media_buf_test(): config.comm_pool[3].mode = VB_REMAP_MODE_CACHED print("media_buf_test buffer_config 444") + # config meida buffer ret = media.buffer_config(config) if ret: print("media_buf_test, buffer_config failed") return ret print("media_buf_test buffer_init") + # init meida buffer ret = media.buffer_init() if ret: print("media_buf_test, buffer_init failed") print("media_buf_test request_buffer") + # request meida buffer buffer = media.request_buffer(4*1024*1024) if buffer == -1: print("media_buf_test, request_buffer failed") @@ -100,11 +112,13 @@ def media_buf_test(): print(f"buffer phys_addr({buffer.phys_addr})") print(f"buffer virt_addr({buffer.virt_addr})") print(f"buffer size({buffer.size})") + # release meida buffer ret = media.release_buffer(buffer) if ret: print("media_buf_test, release_buffer failed") print("media_buf_test buffer_deinit") + # deinit meida buffer ret = media.buffer_deinit() if ret: print("media_buf_test, buffer_deinit failed") diff --git a/tests/media/mp4muxer.py b/tests/media/mp4muxer.py index 37fe605..d6c70b0 100644 --- a/tests/media/mp4muxer.py +++ b/tests/media/mp4muxer.py @@ -1,8 +1,16 @@ +# Save MP4 file example +# +# Note: You will need an SD card to run this example. +# +# You can capture audio and video and save them as MP4.The current version only supports MP4 format, video supports 264/265, and audio supports g711a/g711u. + from media.mp4format import * def canmv_mp4_muxer_test(): width = 1280 height = 720 + + # 实例化mp4 container mp4_muxer = Mp4Container() mp4_cfg = Mp4CfgStr(mp4_muxer.MP4_CONFIG_TYPE_MUXER) @@ -10,11 +18,13 @@ def canmv_mp4_muxer_test(): file_name = "/sdcard/app/tests/test.mp4" mp4_cfg.SetMuxerCfg(file_name, mp4_muxer.MP4_CODEC_ID_H265, width, height, mp4_muxer.MP4_CODEC_ID_G711U) + # 创建mp4 muxer ret = mp4_muxer.Create(mp4_cfg) if ret: print("canmv_mp4_muxer_test, mp4 muxer Create failed.") return -1 + # 启动mp4 muxer ret = mp4_muxer.Start() if ret: print("canmv_mp4_muxer_test, mp4 muxer Start failed.") @@ -23,6 +33,7 @@ def canmv_mp4_muxer_test(): frame_count = 0 while True: + # 处理音视频数据，按MP4格式写入文件 ret = mp4_muxer.Process() if ret: print("canmv_mp4_muxer_test, mp4 muxer Process failed.") @@ -33,11 +44,13 @@ def canmv_mp4_muxer_test(): if frame_count >= 100: break + # 停止mp4 muxer ret = mp4_muxer.Stop() if ret: print("canmv_mp4_muxer_test, mp4 muxer Stop failed.") return -1 + # 销毁mp4 muxer ret = mp4_muxer.Destroy() if ret: print("canmv_mp4_muxer_test, mp4 muxer Destroy failed.") diff --git a/tests/media/player.py b/tests/media/player.py new file mode 100644 index 0000000..48cb1c8 --- /dev/null +++ b/tests/media/player.py @@ -0,0 +1,30 @@ +# play mp4 file example +# +# Note: You will need an SD card to run this example. +# +# You can load local files to play. The current version only supports MP4 format, video supports 264/265, and audio supports g711a/g711u. + +from media.player import * #导入播放器模块，用于播放mp4文件 + +start_play = False #播放结束flag +def player_event(event,data): + global start_play + if(event == K_PLAYER_EVENT_EOF): #播放结束标识 + start_play = False #设置播放结束标识 + +def play_mp4_test(filename): + global start_play + player=Player() #创建播放器对象 + player.load(filename) #加载mp4文件 + player.set_event_callback(player_event) #设置播放器事件回调 + player.start() #开始播放 + start_play = True + + #等待播放结束 + while(start_play): + time.sleep(0.1) + + player.stop() #停止播放 + print("play over") + +play_mp4_test("/sdcard/app/tests/test.mp4")#播放mp4文件 \ No newline at end of file diff --git a/tests/media/venc.py b/tests/media/venc.py index 861ddf2..35f7f32 100644 --- a/tests/media/venc.py +++ b/tests/media/venc.py @@ -1,3 +1,9 @@ +# Video encode example +# +# Note: You will need an SD card to run this example. +# +# You can capture videos and encode them into 264 files + from media.vencoder import * from media.camera import * from media.media import * @@ -10,19 +16,25 @@ def canmv_venc_test(): venc_chn = VENC_CHN_ID_0 width = ALIGN_UP(width, 16) + # 初始化sensor camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) - # set vicap chn0 + # 设置camera 输出buffer camera.set_outbufs(CAM_DEV_ID_0, CAM_CHN_ID_0, 6) + # 设置camera 输出buffer size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, width, height) + # 设置camera 输出格式 camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # 实例化video encoder encoder = Encoder() + # 设置video encoder 输出buffer ret = encoder.SetOutBufs(venc_chn, 15, width, height) if ret: print("canmv_venc_test, encoder SetOutBufs failed.") return -1 + # 初始化设置的buffer ret = media.buffer_init() if ret: print("canmv_venc_test, buffer_init failed.") @@ -31,12 +43,13 @@ def canmv_venc_test(): chnAttr = ChnAttrStr(encoder.PAYLOAD_TYPE_H265, encoder.H265_PROFILE_MAIN, width, height) streamData = StreamData() + # 创建编码器 ret = encoder.Create(venc_chn, chnAttr) if ret < 0: print("canmv_venc_test, vencoder create filed.") return ret - # Bind with camera + # 绑定camera和venc media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) media_sink = media_device(VIDEO_ENCODE_MOD_ID, VENC_DEV_ID, venc_chn) ret = media.create_link(media_source, media_sink) @@ -44,11 +57,13 @@ def canmv_venc_test(): print("cam_venc_test, create link with camera failed.") return ret + # 开始编码 ret = encoder.Start(venc_chn) if ret: print("cam_venc_test, encoder start failed") return ret + # 启动camera ret = camera.start_stream(CAM_DEV_ID_0) if ret: print("cam_venc_test, camera start failed") @@ -69,17 +84,17 @@ def canmv_venc_test(): with open(out_file, "wb") as fo: while True: - ret = encoder.GetStream(venc_chn, streamData) + ret = encoder.GetStream(venc_chn, streamData) # 获取一帧码流 if ret < 0: print("cam_venc_test, venc get stream failed") return ret for pack_idx in range(0, streamData.pack_cnt): stream_data = uctypes.bytearray_at(streamData.data[pack_idx], streamData.data_size[pack_idx]) - fo.write(stream_data) + fo.write(stream_data) # 码流写文件 print("stream size: ", streamData.data_size[pack_idx], "stream type: ", streamData.stream_type[pack_idx]) - ret = encoder.ReleaseStream(venc_chn, streamData) + ret = encoder.ReleaseStream(venc_chn, streamData) # 释放一帧码流 if ret < 0: print("cam_venc_test, venc release stream failed") return ret @@ -88,23 +103,28 @@ def canmv_venc_test(): if frame_count >= 100: break + # 停止camera camera.stop_stream(CAM_DEV_ID_0) + # 销毁camera和venc的绑定 ret = media.destroy_link(media_source, media_sink) if ret: print("cam_venc_test, venc destroy link with camera failed.") return ret + # 停止编码 ret = encoder.Stop(venc_chn) if ret < 0: print("cam_venc_test, venc stop failed.") return ret + # 销毁编码器 ret = encoder.Destroy(venc_chn) if ret < 0: print("cam_venc_test, venc destroy failed.") return ret + # 清理buffer ret = media.buffer_deinit() if ret: print("cam_venc_test, media buffer deinit failed.") diff --git a/tests/mpp/vo/vo.py b/tests/mpp/vo/vo.py deleted file mode 100644 index 5591872..0000000 --- a/tests/mpp/vo/vo.py +++ /dev/null @@ -1,197 +0,0 @@ -from mpp.vo import * -from mpp import * -from time import * - -def display_hardware_init(): - kd_display_set_backlight() - kd_display_reset() - -hx8399 = k_vo_display_resolution( - pclk = 74250, - phyclk = 445500, - htotal = 1240, - hdisplay = 1080, - hsync_len = 20, - hback_porch = 20, - hfront_porch = 120, - vtotal = 1988, - vdisplay = 1920, - vsync_len = 5, - vback_porch = 8, - vfront_porch = 55, -) - -def hx8399_v2_init(test_mode_en): - param1 = bytes((0xB9, 0xFF, 0x83, 0x99)) - param21 = bytes((0xD2, 0xAA)) - param2 = bytes((0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02)) - param3 = bytes((0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4)) - param4 = bytes((0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01)) - param5 = bytes((0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40)) - param6 = bytes((0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18)) - param7 = bytes((0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40)) - param8 = bytes((0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00)) - param9 = bytes((0xBD, 0x01)) - param10 = bytes((0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0)) - param11 = bytes((0xBD, 0x02)) - param12 = bytes((0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0)) - param13 = bytes((0xBD, 0x00)) - param14 = bytes((0xB6, 0x8D, 0x8D)) - param15 = bytes((0xCC, 0x09)) - param16 = bytes((0xC6, 0xFF, 0xF9)) - param22 = bytes((0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77)) - param23 = bytes((0x11,)) - param24 = bytes((0x29,)) - pag20 = bytes((0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77)) - - kd_mpi_dsi_send_cmd(param1, len(param1)) - kd_mpi_dsi_send_cmd(param21, len(param21)) - kd_mpi_dsi_send_cmd(param2, len(param2)) - kd_mpi_dsi_send_cmd(param3, len(param3)) - kd_mpi_dsi_send_cmd(param4, len(param4)) - kd_mpi_dsi_send_cmd(param5, len(param5)) - kd_mpi_dsi_send_cmd(param6, len(param6)) - kd_mpi_dsi_send_cmd(param7, len(param7)) - kd_mpi_dsi_send_cmd(param8, len(param8)) - kd_mpi_dsi_send_cmd(param9, len(param9)) - - if (test_mode_en): - kd_mpi_dsi_send_cmd(pag20, 10) - - kd_mpi_dsi_send_cmd(param10, len(param10)) - kd_mpi_dsi_send_cmd(param11, len(param11)) - kd_mpi_dsi_send_cmd(param12, len(param12)) - kd_mpi_dsi_send_cmd(param13, len(param13)) - kd_mpi_dsi_send_cmd(param14, len(param14)) - kd_mpi_dsi_send_cmd(param15, len(param15)) - kd_mpi_dsi_send_cmd(param16, len(param16)) - kd_mpi_dsi_send_cmd(param22, len(param22)) - kd_mpi_dsi_send_cmd(param23, 1) - sleep_ms(300) - kd_mpi_dsi_send_cmd(param24, 1) - sleep_ms(100) - -def dwc_dsi_lpmode_test(): - enable = 1 - screen_test_mode = 1 - - phy_attr = k_vo_mipi_phy_attr() - phy_attr.phy_lan_num = K_DSI_4LAN - phy_attr.m = 295 - phy_attr.n = 15 - phy_attr.voc = 0x17 - phy_attr.hs_freq = 0x96 - kd_mpi_set_mipi_phy_attr(phy_attr) - - attr = k_vo_dsi_attr() - attr.lan_num = K_DSI_4LAN - attr.cmd_mode = K_VO_LP_MODE - attr.lp_div = 8 - struct_copy(hx8399, attr.resolution) - kd_mpi_dsi_set_attr(attr) - - hx8399_v2_init(screen_test_mode) - - kd_mpi_dsi_enable(enable) - -def dwc_dsi_hsmode_test(): - enable = 1 - screen_test_mode = 1 - - phy_attr = k_vo_mipi_phy_attr() - phy_attr.phy_lan_num = K_DSI_4LAN - phy_attr.m = 295 - phy_attr.n = 15 - phy_attr.voc = 0x17 - phy_attr.hs_freq = 0x96 - kd_mpi_set_mipi_phy_attr(phy_attr) - - attr = k_vo_dsi_attr() - attr.lan_num = K_DSI_4LAN - attr.cmd_mode = K_VO_HS_MODE - attr.lp_div = 8 - struct_copy(hx8399, attr.resolution) - kd_mpi_dsi_set_attr(attr) - - hx8399_v2_init(screen_test_mode) - - kd_mpi_dsi_enable(enable) - -def dwc_dsi_init_with_test_pattern(): - enable = 1 - screen_test_mode = 0 - - phy_attr = k_vo_mipi_phy_attr() - phy_attr.phy_lan_num = K_DSI_4LAN - phy_attr.m = 295 - phy_attr.n = 15 - phy_attr.voc = 0x17 - phy_attr.hs_freq = 0x96 - kd_mpi_set_mipi_phy_attr(phy_attr) - - attr = k_vo_dsi_attr() - attr.lan_num = K_DSI_4LAN - attr.cmd_mode = K_VO_LP_MODE - attr.lp_div = 8 - struct_copy(hx8399, attr.resolution) - kd_mpi_dsi_set_attr(attr) - - hx8399_v2_init(screen_test_mode) - - kd_mpi_dsi_enable(enable) - - kd_mpi_dsi_set_test_pattern() - -def dwc_dsi_init(): - enable = 1 - screen_test_mode = 0 - - phy_attr = k_vo_mipi_phy_attr() - phy_attr.phy_lan_num = K_DSI_4LAN - phy_attr.m = 295 - phy_attr.n = 15 - phy_attr.voc = 0x17 - phy_attr.hs_freq = 0x96 - kd_mpi_set_mipi_phy_attr(phy_attr) - - attr = k_vo_dsi_attr() - attr.lan_num = K_DSI_4LAN - attr.cmd_mode = K_VO_LP_MODE - attr.lp_div = 8 - struct_copy(hx8399, attr.resolution) - kd_mpi_dsi_set_attr(attr) - - hx8399_v2_init(screen_test_mode) - - kd_mpi_dsi_enable(enable) - -def vo_background_init(): - attr = k_vo_pub_attr() - attr.bg_color = 0xffffff - attr.intf_sync = K_VO_OUT_1080P30 - attr.intf_type = K_VO_INTF_MIPI - attr.sync_info = struct_ptr(hx8399) - - kd_mpi_vo_init() - - kd_mpi_vo_set_dev_param(attr) - - kd_mpi_vo_enable() - -def test_case(index): - display_hardware_init() - sleep_ms(200) - - if (index == 0): - print("DISPLAY_DSI_LP_MODE_TEST ------------------ \n"); - dwc_dsi_lpmode_test() - elif (index == 1): - print("DISPLAY_DSI_HS_MODE_TEST ------------------ \n"); - dwc_dsi_hsmode_test() - elif (index == 2): - print("dwc_dsi_init_with_test_pattern ------------------ \n"); - dwc_dsi_init_with_test_pattern() - elif (index == 3): - print("DISPALY_VO_BACKGROUND_TEST ------------------ \n"); - dwc_dsi_init() - vo_background_init() diff --git a/tests/nncase_runtime/ai2d+kpu.py b/tests/nncase_runtime/ai2d+kpu.py index 1e1c92a..c031774 100644 --- a/tests/nncase_runtime/ai2d+kpu.py +++ b/tests/nncase_runtime/ai2d+kpu.py @@ -1,16 +1,21 @@ -import nncase_runtime as nn -import ulab.numpy as np -import utime -import time -# init kpu and load kmodel +import nncase_runtime as nn # 导入nncase包 +import ulab.numpy as np # 导入numpy + +# We will explain how to use nncase_runtime in this test script for `KPU` and `AI2D`, +# including model reading, printing input and output information of the model, +# configuring `AI2D`, linking `AI2D` and `KPU`, setting input data, and how to obtain output. + + +# init kpu、ai2d and load kmodel kpu = nn.kpu() ai2d = nn.ai2d() -kpu.load_kmodel("/sdcard/app/tests/nncase_runtime/face_detection/face_detection.kmodel") +kpu.load_kmodel("/sdcard/app/tests/nncase_runtime/face_detection/face_detection_320.kmodel") -# init kpu input +# init kpu input with zero for linking kpu and ai2d data = np.zeros((1,3,320,320),dtype=np.uint8) kpu_input = nn.from_numpy(data) kpu.set_input_tensor(0, kpu_input) +ai2d_out = kpu.get_input_tensor(0) print("inputs info:") for i in range(kpu.inputs_size()): @@ -20,22 +25,21 @@ for i in range(kpu.outputs_size()): print(kpu.outputs_desc(i)) -# load input bin +# load input bin and set it to the input of ai2d data_file = "/sdcard/app/tests/nncase_runtime/face_detection/face_detection_ai2d_input.bin" ai2d_input = np.fromfile(data_file, dtype=np.uint8) ai2d_input = ai2d_input.reshape((1, 3, 624, 1024)) ai2d_input_tensor = nn.from_numpy(ai2d_input) - +# config ai2d ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, nn.ai2d_format.NCHW_FMT, np.uint8, np.uint8) ai2d.set_pad_param(True, [0,0,0,0,0,125,0,0], 0, [104,117,123]) ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel ) -ai2d_builder = ai2d.build([1,3,624,1024], [1,3,320,320]) -# set ai2d output -ai2d_out = kpu.get_input_tensor(0) +# build ai2d with input、output shape +ai2d_builder = ai2d.build([1,3,624,1024], [1,3,320,320]) # run ai2d_builder.run(ai2d_input_tensor, ai2d_out) @@ -45,9 +49,6 @@ for i in range(kpu.outputs_size()): result = kpu.get_output_tensor(i) result = result.to_numpy() - utime.sleep(1) - #file_ = "/sdcard/app/output_{}.bin".format(i) - #np.save(file_, result) print("result: ", i, 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open('/sdcard/app/tests/nncase_runtime/face_detection/face_detection_ai2d_output.bin', 'rb') as f: data = f.read() -input_data = np.frombuffer(data, dtype=np.float) -input_data = input_data.reshape((1,3,224,224)) - +input_data = np.frombuffer(data, dtype=np.uint8) +input_data = input_data.reshape((1,3,320,320)) kpu.set_input_tensor(0, nn.from_numpy(input_data)) # run kmodel kpu.run() # get output -result = kpu.get_output_tensor(0) -result = result.to_numpy() -print(result.shape,result.dtype) +for i in range(kpu.outputs_size()): + result = kpu.get_output_tensor(i) + result = result.to_numpy() + print("result: ", i, result.flatten()[-5:]) + print(result.shape,result.dtype) + diff --git a/tests/nncase_runtime/mbv2/input_0_0.bin b/tests/nncase_runtime/mbv2/input_0_0.bin deleted file mode 100644 index 041304099f70fe806f044cf1a65585f1a40b9c86..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 602112 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