diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..f267e5e --- /dev/null +++ b/.gitignore @@ -0,0 +1,61 @@ +### MOAB ### +**/*.csv +**/bot.json +**/tags +**/.ipynb_checkpoints/ +**/*.pem +docker-compose.yml + +### C ### + +# Object files +*.o +*.a +*.so +*.so.* +*.dylib + + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + + +# Thumbnails +._* + + +### Python ### +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class +.Python + +# pyenv +.python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ +pythonenv* + +# End of https://www.toptal.com/developers/gitignore/api/c,macos,python + diff --git a/NOTICE b/NOTICE index bfbdae5..11615bf 100644 --- a/NOTICE +++ b/NOTICE @@ -5,684 +5,26 @@ listed below (Third Party IP). The original copyright notice and the license und which Microsoft received such Third Party IP, are set forth below. Such licenses and notices are provided for informational purposes only. +miguelgrinberg/flask-video-streaming +------------------------------------ -bcm2835 (v1.68) ---------------- +Copyright (c) 2014 Miguel Grinberg -Copyright (c) 2018 Mike McCauley +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. - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 +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. 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Interpretation of Sections 15 and 16. - - If the disclaimer of warranty and limitation of liability provided -above cannot be given local legal effect according to their terms, -reviewing courts shall apply local law that most closely approximates -an absolute waiver of all civil liability in connection with the -Program, unless a warranty or assumption of liability accompanies a -copy of the Program in return for a fee. - - END OF TERMS AND CONDITIONS - - How to Apply These Terms to Your New Programs - - If you develop a new program, and you want it to be of the greatest -possible use to the public, the best way to achieve this is to make it -free software which everyone can redistribute and change under these terms. - - To do so, attach the following notices to the program. It is safest -to attach them to the start of each source file to most effectively -state the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/bin/_exercise.py b/bin/_exercise.py deleted file mode 100755 index 298243e..0000000 --- a/bin/_exercise.py +++ /dev/null @@ -1,67 +0,0 @@ -#!runpy.sh - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from pymoab import * -from time import sleep - -# This needs to be called before INIT -# Also: do not call sync() on this (segfault) -print("setting servo offset") -setServoOffsets(-2, 1, 0) - -print("init()") -init() -sync() -sleep(0.1) - -print("setting text and icon") -setText(Text.INIT) -setIcon(Icon.DOT) -sync() -sleep(0.1) - - -print("activating plate") -activatePlate() -sync() -sleep(0.1) - -## ^ swap v these two lines and I bet bad things happen -## due to moab.c:90 and moab.c:91 - - -print("cycling angles") -setText(Text.INFO) -setIcon(Icon.PAUSE) -sync() -sleep(0.2) -angles = [(0, 0), (0, 15), (15, 0), (0, -15), (-15, 0), (0, 0)] -for angle in angles: - setPlateAngles(angle[0], angle[1]) - sync() - sleep(0.3) - -print("menu -> Success") -setText(Text.CAL_COMPLETE) -setIcon(Icon.DOT) -sync() -sleep(0.2) - -print("deactivating...") -lowerPlate() -sync() -sleep(0.2) - -# Due to firmware 2.1 bug, disableServoPower sets icon=0 and text=0 -print("cutting servo power...") -disableServoPower() -sync() -sleep(0.2) - -print("Menu -> Success (check)") -setText(Text.CAL_COMPLETE) -setIcon(Icon.CHECK) -sync() -sleep(0.2) diff --git a/bin/_level.py b/bin/_level.py deleted file mode 100755 index 7c0e893..0000000 --- a/bin/_level.py +++ /dev/null @@ -1,111 +0,0 @@ -#!runpy.sh - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from pymoab import * -from time import sleep -from signal import signal, SIGINT -from sys import exit, argv -import argparse - - -def shutdown(): - print("deactivating...") - lowerPlate() - sync() - sleep(0.5) - - # Due to firmware 2.1 bug, disableServoPower sets icon=0 and text=0 - print("cutting servo power") - disableServoPower() - sync() - sleep(0.1) - - -def setTextIcon(text, icon): - setText(text) - setIcon(icon) - sync() - sleep(0.1) - - -def startup(): - # This needs to be called before INIT - # Also: do not call sync() on this (segfault) - # print("setting servo offset") - # setServoOffsets(-2, 1, 0) - - print("initalizing") - init() - sync() - sleep(0.1) - - setTextIcon(Text.INIT, Icon.DOT) - - #print("activating plate") - #activatePlate() - #sync() - #sleep(0.1) - - -def sigint(signal_received, frame): - shutdown() - exit(1) - - -def main(args): - startup() - - # min (0) all the way down = 160° - # max (1) fully-extended = 90° - # y = 160 - 16x/9 - # 1, 90 - # 0, 160 - - x = clamp(args.height, 0, 1) - - y = -70 * x + 160 - print(f"Setting plate to {x:.2f} or {y:.2f}°") - - setServoPositions(y,y,y) - sync() - sleep(0.1) - setTextIcon(Text.CAL_COMPLETE, Icon.DOT) - - print("press menu to quit...") - sleep(0.1) - while not getMenuBtn(): - sleep(0.01) - sync() - - shutdown() - - -def clamp(num, min_value, max_value): - return max(min(num, max_value), min_value) - -def parseArgs(): - p = argparse.ArgumentParser( - prog="zaxis", - description="Set the height of the plate in the z-dimension" - ) - - p.add_argument(dest="height", - type=float, - help="height from 0 to 1") - - if len(argv) == 1: - p.print_help() - exit(1) - - args = p.parse_args() - return args - -if __name__ == "__main__": - args = parseArgs() - print(vars(args), flush=True) - - signal(SIGINT, sigint) - main(args) - diff --git a/bin/bot b/bin/bot new file mode 100755 index 0000000..2ee135a --- /dev/null +++ b/bin/bot @@ -0,0 +1,140 @@ +#!/usr/bin/env bash +# vim:filetype=sh: + +# http://www.binaryphile.com/bash/2018/07/26/approach-bash-like-a-developer-part-1-intro.html +# https://github.com/MatthewZito/sh/pull/1 + +IFS=$'\n' +set -o noglob +shopt -s nocasematch expand_aliases +alias args?='(( $# ))' +alias args_include?='include? "$*"' +alias fewer_args_than?='fewer_than? $#' + +this_script="$(basename "$0")" +HERE=$(dirname "$BASH_SOURCE") + +die () { + local rc=$? + + present? ${2:-} && rc=$2 + present? "${1:-}" && echo "$1" >&2 + exit $rc +} + +define () { IFS=$'\n' read -r -d '' ${1} || true; } +blank? () { [[ -z ${1:-} ]]; } +fewer_than? () { (( $1 < $2 )); } +include? () { [[ $IFS$1$IFS == *"$IFS$2$IFS"* ]]; } +present? () { [[ -n ${1:-} ]]; } +sourced? () { [[ ${FUNCNAME[1]} == source ]]; } + +split () { + local i + + for (( i = 0; i < ${#1}; i++ )); do + echo ${1:i:1} + done +} + +strict_mode () { + case $1 in + on ) set -euo pipefail;; + off ) set +euo pipefail;; + esac +} + +define HELP <&2; exit "$ret"; } +[[ $EUID -eq 0 ]] || die "$0 run as root. Try again with sudo" + +# Hat flashing procedure involves three GPIO pins: 20, 5, and 6 +# Hat enable pin 20 +# Boot mode pin 5 +# Hat reset 6 + +# Using gpio readall +# from v2.x flash.c code +#define BOOT_EN RPI_BPLUS_GPIO_J8_29 BCM 5 +#define HAT_EN RPI_BPLUS_GPIO_J8_38 BCM 20 +#define HAT_RESET RPI_BPLUS_GPIO_J8_31 BCM 6 + +# Enabling writing to these pins +sudo raspi-gpio set 20 op +sudo raspi-gpio set 5 op +sudo raspi-gpio set 6 op + +# Putting firmware into upload mode... +sudo raspi-gpio set 20 dh +sudo raspi-gpio set 5 dh +sudo raspi-gpio set 6 dh +sleep 1 +sudo raspi-gpio set 6 dl + +FN=$1 +echo "Uploading $FN firmware now" +mcumgr --conntype=serial --connstring=/dev/ttyAMA1,baud=115200 image upload $FN + +sudo raspi-gpio set 5 dl +sudo raspi-gpio set 6 dh +sleep 1 +sudo raspi-gpio set 6 dl diff --git a/bin/fw-restart b/bin/fw-restart deleted file mode 100755 index c19711d..0000000 --- a/bin/fw-restart +++ /dev/null @@ -1,33 +0,0 @@ -#!/usr/bin/python3 - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -import RPi.GPIO as gpio -import time -from signal import signal, SIGINT -from sys import exit -import os - -reset_pin = 6 # Reset the HAT controller https://pinout.xyz/pinout/pin31_gpio6 - - -def setupGPIO(): - gpio.setwarnings(False) - gpio.setmode(gpio.BCM) - gpio.setup(reset_pin, gpio.OUT) - - -def main(): - setupGPIO() - - # set HIGH, then LOW to toggle firmware reset - gpio.output(reset_pin, gpio.HIGH) - time.sleep(0.1) - gpio.output(reset_pin, gpio.LOW) - - gpio.cleanup() - - -if __name__ == "__main__": - main() diff --git a/bin/fwversion b/bin/fwversion new file mode 100755 index 0000000..7f00a4d --- /dev/null +++ b/bin/fwversion @@ -0,0 +1,31 @@ +#!/usr/bin/python3 + +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. +import serial # PySerial +import time +import sys + +# Interactive TTY shell with Moab Hat: +# sudo minicom --device=/dev/ttyAMA1 + +def main(): + ser = serial.Serial('/dev/ttyAMA1', 115200, timeout = 0.5) + + ser.write("version\n".encode()) + out_a = ser.read_until(b'uart') # read until the "uart" prompt it seen + + out_u = out_a.decode('ascii') + + # 0: version\n + # 1: Moab version 3.0.1.04321 + # 2: uart + + if out_u != '': + print(out_u.splitlines()[1]) + sys.exit(0) + else: + sys.exit(1) + +if __name__ == "__main__": + main() diff --git a/bin/inside b/bin/inside deleted file mode 100755 index f3817af..0000000 --- a/bin/inside +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env bash - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -docker run \ - --name inside \ - --volume=/home/pi/moab/config:/app/config \ - --privileged --rm -it \ - moab/control bash diff --git a/bin/level b/bin/level deleted file mode 100755 index 3d92abe..0000000 --- a/bin/level +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/bash -# vim:ft=sh ts=4 sw=4 et - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -set -euo pipefail - -# change directories to the folder hosting this script -readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" - -./_level.py "${1:-0.5}" diff --git a/bin/restart b/bin/restart index 46de28e..22d50ab 100755 --- a/bin/restart +++ b/bin/restart @@ -7,4 +7,5 @@ readonly _D="$(dirname "$(readlink -f "$0")")" && cd $_D cd .. -docker-compose restart || docker-compose up -d +down +up diff --git a/bin/runpy.sh b/bin/runpy.sh deleted file mode 100755 index 4ffaa7f..0000000 --- a/bin/runpy.sh +++ /dev/null @@ -1,13 +0,0 @@ -#!/bin/bash - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -pyfile="$1" # first argument is the python to run in docker -rest="${@:2}" # remaining arguments $2 -> $n - -docker run \ - --name scriptrunner \ - --mount type=bind,source="$PWD",target=/app/scripts,readonly \ - --privileged --rm -it \ - moab/control python3 /app/scripts/"$pyfile" "$rest" diff --git a/os/files/bin/splash b/bin/splash similarity index 89% rename from os/files/bin/splash rename to bin/splash index da34019..3b3cf94 100755 --- a/os/files/bin/splash +++ b/bin/splash @@ -42,7 +42,8 @@ gpu_t="$(vcgencmd measure_temp | cut -d '=' -f 2)" cpu_t1k=$(cat /sys/class/thermal/thermal_zone0/temp) cpu_t=$(printf %.1f "$((10**3 * $cpu_t1k / 1000))e-3") temps="$cpu_t° C" -moabian_version="${MOABIAN:-0.0}" +moabian_version="${MOABIAN:-3.0.0}" +fw_version="$([ -e ~/moab/bin/fwversion ] && ~/moab/bin/fwversion | awk '{print $NF}')" # ☉ @@ -53,6 +54,7 @@ ${h2} · Kernel ${r}${kernel} ${h2} · Load ${r}${load} ${h2} · CPU ${r}${temps} ${h2} · URL ${r}https://aka.ms/moab +${h2} · FW ${r}${fw_version} ${h1} ○ Moabian ${r}${moabian_version} EOF diff --git a/bin/status b/bin/status new file mode 100755 index 0000000..17ea8cc --- /dev/null +++ b/bin/status @@ -0,0 +1,3 @@ +#!/usr/bin/env bash +[[ $TERM == "alacritty" ]] && TERM=xterm-256color +sudo systemctl status fan power nginx stream brain menu diff --git a/bin/template.yml b/bin/template.yml new file mode 100644 index 0000000..e04820a --- /dev/null +++ b/bin/template.yml @@ -0,0 +1,38 @@ +version: "3" +services: + + brain: + image: moab/brain + container_name: brain1 + stop_grace_period: 0s + ports: [ 5000:5000 ] + + # custom1: + # image: + # container_name: custom1 + # stop_grace_period: 0s + # ports: [ 5001:5000 ] + + # custom2: + # image: + # container_name: custom2 + # stop_grace_period: 0s + # ports: [ 5002:5000 ] + +# Add your trained Project Bonsai brains above. +# +# image: the URL from your "docker pull" to azuercr.io +# container_name: optional name that appears in the Moab screen +# stop_grace_period: allows brains to shut down quickly +# ports: first number must be between 5001 and 6000, and unique +# +# Spacing matters in YAML so the custom brain below should line up +# with the template show above. +# +# Example: + +# custom1: +# image: scotstan.azurecr.io/a988a049-1111-ffff-eeee-ee55999a9723/my_balance1_test:1-linux-arm32v7 +# container_name: balance1 +# stop_grace_period: 0s +# ports: [ 5001:5000 ] diff --git a/bin/up b/bin/up index 907b640..766383b 100755 --- a/bin/up +++ b/bin/up @@ -6,7 +6,13 @@ readonly _D="$(dirname "$(readlink -f "$0")")" && cd $_D -fw-restart - cd .. -docker-compose up -d + +missing-compose() { + echo "Using default docker-compose.yml" + cp $_D/template.yml docker-compose.yml +} + +[[ -e docker-compose.yml ]] || missing-compose + +docker-compose up --remove-orphans -d diff --git a/config/calibration.json b/config/calibration.json deleted file mode 100644 index cebff66..0000000 --- a/config/calibration.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "ballHue": 22, - "plateXOffset": 0, - "plateYOffset": 0, - "rotation": -30.0, - "servoOffsets": [ - 0, - 0, - 0 - ] -} diff --git a/config/config.json b/config/config.json deleted file mode 100644 index c745bfc..0000000 --- a/config/config.json +++ /dev/null @@ -1,182 +0,0 @@ -{ - "logging": { - "version": 1, - "formatters": { - "single-line": { - "class": "logging.Formatter", - "style": "{", - "datefmt": "%I:%M:%S", - "format": "○ {levelname:8s} {asctime:s} {name:<15s} {message:s}" - } - }, - "handlers": { - "socket": { - "()": "logging.handlers.SocketHandler", - "host": "localhost", - "port": 9020 - }, - "console": { - "class": "logging.StreamHandler", - "formatter": "single-line", - "stream": "ext://sys.stdout" - } - }, - "loggers": { - "local": { - "handlers": [ - "console" - ], - "level": "DEBUG" - }, - "network": { - "handlers": [ - "socket" - ], - "level": "DEBUG" - }, - "performance": { - "handlers": [ - "console" - ], - "level": "INFO" - } - }, - "root": { - "handlers": [ - "console" - ], - "level": "INFO" - } - }, - "devices": { - "menu": { - "frequencyHz": 20, - "controller": "control.controllers.MenuController" - }, - "calibration": { - "frequencyHz": 30, - "debug": false, - "debugDecorator": { - "name": "control.debug.X11Decorator", - "windowName": "frame" - }, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector" - }, - "controller": "control.controllers.HueCalibrationController", - "actuator": "control.actuators.ServoActuator" - }, - "manual": { - "controller": "control.controllers.JoystickController", - "actuator": "control.actuators.ServoActuator" - }, - "classic": { - "frequencyHz": 30, - "debug": false, - "debugDecorator": { - "name": "control.debug.X11Decorator", - "windowName": "frame" - }, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": { - "debug": false, - "name": "control.detectors.HSVDetector" - } - }, - "controller": { - "name": "control.controllers.PIDController", - "Kp": 0.15, - "Ki": 0.001, - "Kd": 0.090, - "fc": 15 - }, - "actuator": "control.actuators.ServoActuator" - }, - "brain": { - "frequencyHz": 22, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector", - "obstacle": { - "name": "control.detectors.HSVDetector", - "hue": 72 - } - }, - "controller": { - "name": "control.controllers.BrainController", - "maxAngle": 22, - "endPoint": "http://localhost:5000", - "sensorSize": 256 - }, - "actuator": "control.actuators.ServoActuator" - }, - "custom1": { - "frequencyHz": 22, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector", - "obstacle": { - "name": "control.detectors.HSVDetector", - "hue": 72 - } - }, - "controller": { - "name": "control.controllers.BrainController", - "maxAngle": 22, - "endPoint": "http://localhost:5001", - "sensorSize": 256 - }, - "actuator": "control.actuators.ServoActuator" - }, - "custom2": { - "frequencyHz": 22, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector", - "obstacle": { - "name": "control.detectors.HSVDetector", - "hue": 72 - } - }, - "controller": { - "name": "control.controllers.BrainController", - "maxAngle": 22, - "endPoint": "http://localhost:5002", - "sensorSize": 256 - }, - "actuator": "control.actuators.ServoActuator" - } - } -} diff --git a/docker-compose.yml b/docker-compose.yml deleted file mode 100644 index 6ef3a57..0000000 --- a/docker-compose.yml +++ /dev/null @@ -1,29 +0,0 @@ -version: "3" -services: - brain: - image: moab/brain - depends_on: [ "moab-control" ] - container_name: brain1 - stop_grace_period: 0s - ports: [ 5000:5000 ] - custom1: - image: moab/brain - depends_on: [ "moab-control" ] - container_name: custom1 - stop_grace_period: 0s - ports: [ 5001:5000 ] - custom2: - image: moab/brain - depends_on: [ "moab-control" ] - container_name: custom2 - stop_grace_period: 0s - ports: [ 5002:5000 ] - moab-control: - image: moab/control:latest - container_name: control - privileged: true - network_mode: host - working_dir: /app - stop_grace_period: 1s - volumes: [ "${PWD}/config:/app/config" ] - 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Getting Started + +### Power on + +Connect Moab to an electrical outlet using the provided power supply. +The bot will automatically boot and display “PROJECT MOAB” when booting. +This can take up to a minute if Moab is not connected to internet. + +### Balance a ball + +1. Manual Mode + + Once Moab has booted, "MANUAL" mode will be displayed on the + screen. Press the joystick to select Manual mode. The plate will + rise up and now you can manually control the pitch and roll of the + plate using the joystick. Place the ping pong ball on the plate and + try balancing the ball manually! + + To exit Manual mode, select the menu button next to the joystick. + +2. Classic Mode + + This is classic PID (Proportional, Integral, Derivative) controller + that balance the ball at the center of the plate. This controller + works by minimizing the error between the actual ball position and + velocity, and the desired ball position and velocity. This type of + controller is the most commonly found in industrial control + applications. + + Move the joystick down and select "CLASSIC" mode. Place the orange + ping pong ball on the plate and watch Moab automatically balance + the ball. Try disturbing the ball by poking it or blowing on it and + watch Moab return the ball to the center. + + If Moab is unable to balance a ball or making erratic movements, go + on to step 4. Troubleshooting. + + To exit Classic mode, select the menu button next to the joystick. + +3. **Brain Mode** + + This is a brain that has been trained using the Bonsai platform. The + brain is a neural network that has been trained using two goals: + prevent the ball from falling off the plate, and balance the ball at + the center of the plate. + + Move the joystick down and select "BRAIN" mode. Place the orange + ping pong ball on the plate and watch Moab automatically balance + the ball. Try disturbing the ball by poking it or blowing on it and + watch Moab return the ball to the center. + +4. **Troubleshooting** + + If your Moab is not able to balance a ball in CLASSIC or BRAIN mode, + we recommend the following troubleshooting steps: + + 1. Check your lighting situation. Are there any objects or lights in + the room that Moab could be mistaking for orange ping pong balls? + Look for circular lights on your ceiling. If this is the case try + moving Moab to another location, blocking the lights, or changing + the lighting situation. + + 2. Calibrate the camera. Move the joystick down and select + "CALIBRATE". Follow the instructions on the screen to calibrate + the camera to recognize the color of the ball. + + 3. If your Moab is still unable to balance a ball after following + the steps above, please contact us for a troubleshooting guide. + +## II. Connecting to Moab + +To deploy your own brain on Moab, you will need to connect to it on your +local network. For the initial setup, we recommend using an ethernet +cable to connect your Moab to your local network. If you are unable to +connect to your network with an ethernet cable you can do so using WiFi. +To configure the WiFi on your Moab, you will need an HDMI monitor and +USB keyboard. + +### Option 1: Connecting with an ethernet cable + +Connect one end of an ethernet cable to your Moab and the other end to +your router. + +### Option 2: Connecting with an HDMI monitor and USB keyboard + +1. Connect Moab to a monitor using an HDMI cable. + +2. Connect Moab to a USB keyboard. + +3. When prompted for the moab login, use "pi" and "raspberry": + + login: pi + password: raspberry + +4. Follow the instructions in the next section to enable the WiFi. + +### Enable WiFi (required for Option 2) + +1. Type `sudo raspi-config`, and hit enter to open the Raspberry Pi +Software Configuration Tool. + + >sudo raspi-config + +2. If prompted, select your country from the list. You can type the +first letter of your country as a short cut. + +3. Select **2 Network Options**. + +4. Select **N2 Wireless LAN**. + +5. Enter your WiFi network name. + +6. Enter your WiFi password. + +7. Select **Finish**. + +### SSH into Moab + +There are multiple methods to SSH into Moab. We provide instructions for +using Visual Studio Code. + +#### SSH into Moab using Visual Studio Code + +1. Open Visual Studio Code. If you don't have it you can download it for +free [here](https://code.visualstudio.com/). + +2. Add the extension **Remote - SSH**, if you don't already have it. +Click on the Extensions icon on the left, and search "Remote - ssh" as +shown in the following example. Click **Install**. + + ![VSCode1](images/VSCode1.png) + +3. Add a new SSH host. Open the Command Palette through the **View** +menu as shown in the following screenshot: + + ![VSCode2](images/VSCode2.png) + + Search for the command **Remote-SSH: Add New SSH Host...** as shown + in the following screenshot: + + ![VSCode3](images/VSCode3.png) + + Follow the prompts to create or update an SSH configuration file and + add a new SSH Host. + + Use the user and host/IP `pi@moab.local` when prompted: + + >pi@moab.local + + Use the password `raspberry` when prompted. + + >raspberry + +4. Connect to SSH Host. Search for and select the command **Remote-SSH: +Connect to Host...**. Follow the prompts. When you have successfully +connected, you will will see "**SSH: moab.local**" in the bottom left +corner of the VS Code window as shown in the following screenshot: + + ![VSCode4](images/VSCode4.png) + +## III. Train and Export a Brain + +### Train a brain + +If you have not trained a brain already, please follow [Project Moab +tutorial](https://microsoft.github.io/moab/tutorials/) 1, 2 or 3 to +train a brain. + +**Prerequisites**: To complete the tutorials, you must have a Bonsai +workspace provisioned on Azure. If you do not have one, follow the +[account setup +guide](https://docs.microsoft.com/en-us/bonsai/guides/account-setup). + +### Export a brain for deployment + +1. In the Bonsai UI, Click on “**Export brain**” button in the Train tab +for your trained brain, as in the following screenshot: + + ![ExportBrain1](images/ExportBrain1.png) + +2. In the “**Export brain**” pop-up, under “**Processor architecture**”, +select “Linux” and “**ARM32V7**”, as in the following screenshot: + + ![ExportBrain2](images/ExportBrain2.png) + +3. Press the “**Export**” button, as in the following screenshot: + + ![ExportBrain3](images/ExportBrain3.png) + +4. The brain version will appear in the **Exported Brains** list on the +left-hand side of the UI with an “**Exporting brain…**” status, as in +the following screenshot: + + ![ExportBrain4](images/ExportBrain4.png) + +5. After your brain is exported, the “**Brain export complete!**” pop-up +will appear, as in the following screenshot: + + ![ExportBrain5](images/ExportBrain5.png) + + If the “**Export brain**” pop-up doesn’t appear after the export + completes, click on the ellipsis (…) and click on “**View download + info**” , as in the following screenshot: + + ![ExportBrain6](images/ExportBrain6.png) + + The “**Download exported brain**” pop-up will appear. It has the + same download information. + +6. Copy the **docker pull** command (middle line) from the exported +brain pop up, as in the following screenshot: + + ![ExportBrain7](images/ExportBrain7.png) + +7. Open your favorite text editor and copy/paste the **docker pull** +command. + + ![ExportBrain8](images/ExportBrain8.png) + + You’ll use it to pull down your exported brain into your Moab during + later steps. + +## IV. Deploy a Brain on Moab + +### Retrieve ACR credentials + +1. Copy/paste the following docker login statement into your text +editor: *(You’ll paste your credentials from your Container Registry +into it during later steps)* + + > `docker login -u -p ' PASSWORD>' ` + + ![DeployBrain1](images/DeployBrain1.png) + +2. Login to [https://portal.azure.com](https://portal.azure.com) + +3. Go to your **Bonsai workspace** + +4. Click on **Registry** in upper right corner to go to the **Container +Registry** page, as in the following screenshot: + + ![DeployBrain2](images/DeployBrain2.png) + +5. On the **Container Registry** page, in the **Settings** section +(left-hand menu), click the **Access Keys** page link, as in the +following screenshot: + + ![DeployBrain3](images/DeployBrain3.png) + +6. In the **Access Keys** page, copy/paste the **Login server** name, +**Username**, and **Password** into a text editor, as in the following +screenshot: + + ![DeployBrain4](images/DeployBrain4.png) + +7. In your text editor, replace the `` in the docker login +statement using the fields you copied (keep the single quotes around +password), as in the following example: + + ![DeployBrain5](images/DeployBrain5.png) + +### Login to ACR from Moab + +1. Open Visual Studio Code. If you have not yet already, SSH into Moab +following the previous instructions. + +2. Open a new terminal window. You can do this by selecting "**New +Terminal**" from the terminal window as shown in the screenshot below: + + ![VSCodeTerminal](images/VSCodeTerminal.png) + +3. Copy/Paste or type the previously completed **docker login** +statement in to the terminal and hit enter. + +3. Type `cd moab`, and hit enter, to go to the moab directory. + +4. Paste the **docker pull** command from your text editor and hit +enter. + +5. After the docker pull completes, type `docker images` and hit the +enter to see the exported brain image in the list. + +### Edit the docker-compose.yml file + +2. Select"**Open Folder**" as shown in the following screenshot. +Alternatively, you can select **File** --> **Open** + + ![VSCodeOpen](images/VSCodeOpen.png) + + Select **moab** from the dropdown or type the file path + `/home/pi/moab/` and select **OK**. + + ![VSCodeOpenMoab](images/VSCodeOpenMoab.png) + +1. Open the **docker-compose.yml** file by selecting in from the menu on +the left. + +4. At line 10, delete `moab/brain` and copy/paste the container name of +your exported brain (everything after the words `docker pull`) from the +text editor, as in the following screenshots: + + ![DC1](images/DC1.png) + + ![DockerCompose](images/DockerCompose.png) + + +### Restart your Moab and test your deployed brain + +1. In the terminal, type `down` and hit enter to terminate the Moab +control service. + +2. Type `up` and hit enter to restart the Moab control service. + +3. Test your new exported brain on your Moab hardware by selecting +“**Custom 1**” on your Moab menu (don’t forget your ping pong ball!). diff --git a/fw/.gitignore b/fw/.gitignore index 0e4b0ff..980a7fc 100644 --- a/fw/.gitignore +++ b/fw/.gitignore @@ -1,3 +1 @@ -hatflash -mcumgr flash diff --git a/fw/Dockerfile b/fw/Dockerfile deleted file mode 100644 index c14d6e9..0000000 --- a/fw/Dockerfile +++ /dev/null @@ -1,8 +0,0 @@ -FROM golang:alpine3.9 - -RUN apk add git -#RUN apk add gcc - -RUN go version -RUN CGO_ENABLED=0 go get -v github.com/apache/mynewt-mcumgr-cli/mcumgr - diff --git a/fw/Makefile b/fw/Makefile deleted file mode 100644 index 5fcd43d..0000000 --- a/fw/Makefile +++ /dev/null @@ -1,12 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -libs=-lbcm2835 -app=flash -objs=flash.o - -$(app): $(objs) - gcc $^ -o $@ $(libs) - -clean: - @$(RM) *.o *~ $(app) mcumgr diff --git a/fw/flash.c b/fw/flash.c deleted file mode 100644 index 35d92e3..0000000 --- a/fw/flash.c +++ /dev/null @@ -1,94 +0,0 @@ -// vim: noai:ts=4:sw=4 - -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#include -#include -#include -#include -#include - -#define BOOT_EN RPI_BPLUS_GPIO_J8_29 -#define FAN_EN RPI_BPLUS_GPIO_J8_37 -#define HAT_EN RPI_BPLUS_GPIO_J8_38 -#define HAT_RESET RPI_BPLUS_GPIO_J8_31 -#define HAT_PWR_N RPI_BPLUS_GPIO_J8_05 - - -#define PIN_READ(pin) (bcm2835_gpio_lev(pin)) -#define SET_HIGH(pin) (bcm2835_gpio_set(pin)) -#define SET_LOW(pin) (bcm2835_gpio_clr(pin)) - -int bootloader(char* binary_name) -{ - // firmware upload command - char command[256] = "mcumgr --conntype=serial --connstring=/dev/ttyAMA1,baud=115200 image upload "; - int status; - - printf("Bootloader mode\n"); - SET_HIGH(HAT_EN); - SET_HIGH(BOOT_EN); - SET_HIGH(HAT_RESET); - delay(250); - SET_LOW(HAT_RESET); - - strcat(command, binary_name); - printf("Running: %s\n", command); - - status = system(command); - - SET_LOW(BOOT_EN); - SET_HIGH(HAT_RESET); - delay(250); - SET_LOW(HAT_RESET); - - return status; -} - - -int gpio_init() -{ - if (!bcm2835_init()) return(0); - if (!bcm2835_spi_begin()) return(0); - - bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST); // The default - bcm2835_spi_setDataMode(BCM2835_SPI_MODE0); // The default - bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_65536); // The default - bcm2835_spi_chipSelect(BCM2835_SPI_CS0); // The default - bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW); // The default - - bcm2835_gpio_fsel(BOOT_EN, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(HAT_EN, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(HAT_RESET, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(FAN_EN, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(HAT_PWR_N, BCM2835_GPIO_FSEL_INPT); - return(1); -} - - -int main(int argc, char *argv[]) -{ - int opt; - - // Requires one argument (the .bin filename) - if (argc != 2) { - printf("Usage: hatflash firmware.bin\n"); - return (-1); - } - char* path = argv[1]; - - if (!gpio_init()) - { - printf("bcm2835 initialize failed. Are you running as root?\n"); - return(-1); - } - - int status = bootloader(path); - if (status != 0) - { - printf("Firmware installed failed: %d\n", status); - } - return(0); -} - diff --git a/fw/readme.md b/fw/readme.md index 728bf44..d36b196 100644 --- a/fw/readme.md +++ b/fw/readme.md @@ -1,46 +1,103 @@ -## Upgrading Moab Firmware +# PROJECT MOAB FIRMWARE -> Note: this is for the Moab power distribution "hat" -> The Raspberry Pi 4 takes care of upgrading it's EEPROM firmware. +## Build 3.0 (May 2021) + +Binary built on Ubuntu 20 + +## Zephyr dependencies: ``` -sudo ./install.sh [fw-version.bin] +sudo apt install --no-install-recommends git cmake + build-essential curl ninja-build gperf \ + ccache dfu-util device-tree-compiler wget \ + python3-dev python3-pip python3-setuptools python3-tk python3-wheel \ + xz-utils file make gcc gcc-multilib g++-multilib libsdl2-dev ``` -## Advanced +## Clone Zephyr 2.1.0 -The firmware has an interactive shell where you can test the joystick, -activate the plate and read the OTP calibration banks. +Create a directory called "zephyrproject." -For advanced use only. Interact with the firmware by making a connection -to over the serial port as shown below. +``` +cd ~ +mkdir zephyrproject +cd zephyrproject +git clone https://github.com/zephyrproject-rtos/zephyr.git +cd zephyr/ +git checkout tags/v2.1.0 +``` -```bash -sudo minicom --device /dev/ttyAMA1 # (interactive shell) +## Install the "West" Zephyr helper toolchain + +``` +pip3 install --user west imgtool ``` -* Press "enter" or "tab" to get to the `uart>` prompt. -* Exit with: ctrl-A Q +Ensure `.local/bin` is on your PATH: -Log monitoring with: +For BASH: +``` +echo 'export PATH=~/.local/bin:"$PATH"' >> ~/.bashrc +source ~/.bashrc +``` + +Inform West where to find Zephyr v2.1.0 -```bash -sudo minicom --device /dev/ttyAMA0 # (log) +``` +cd .. +west init -l zephyr/ +west update ``` -Troubleshooting firmware monitoring. Rpi4 might mask these external lines: +Install a few Zephyr Python dependencies. -> /boot/cmdline.txt -remove the two console= lines +``` +pip3 install --user -r zephyr/scripts/requirements.txt +``` -> /boot/config.txt -comment out dtoverlay=uart0 +Now get the Zephyr SDK (cross-compiler toolchains etc). +> Install the 0.10.3 Version. -To check camera capabilities: +``` +wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.10.3/zephyr-sdk-0.10.3-setup.run +chmod +x zephyr-sdk-0.10.3-setup.run +./zephyr-sdk-0.10.3-setup.run -- -d ~/zephyr-sdk-0.10.3 +``` + + +For BASH users, Add a few environment variable settings (also add to your .bashrc): + +``` +cd .. +export ZEPHYR_TOOLCHAIN_VARIANT=zephyr +export ZEPHYR_SDK_INSTALL_DIR=~/zephyr-sdk-0.10.3/ +source zephyrproject/zephyr/zephyr-env.sh +``` -```bash -v4l2-ctl -d /dev/video0 --all +For ZSH users, add this to the end of your .zshrc +```zsh +cat >> ~/.zshrc <&2; exit "$ret"; } - -FW_FILENAME=${1:-"firmware.bin"} - -[[ $EUID -eq 0 ]] || die "$0 needs to run as root. Try again with sudo." - -require wget -require mcumgr - -readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" - -function warn { - local color=$(tput smso)$(tput setaf 1) # inverse, red - local reset=$(tput sgr0) - printf '%s\n' "${color}$1${reset}" >&2 -} - -function info { - local color=$(tput smso)$(tput setaf 2) # inverse, green - local reset=$(tput sgr0) - printf '%s\n' "${color}$1${reset}" -} - -# bcm2835 -if [[ ! -e /usr/local/lib/libbcm2835.a ]]; then - warn "Install the bcm2835 library first from ~/moab/sw/bin/bcm2835" - exit 127 -fi - -info "making flash program" -make - -info "flash $FW_FILENAME" -./flash "$FW_FILENAME" - -# cleanup -make clean - -info "finished" diff --git a/fw/src/.gitignore b/fw/src/.gitignore new file mode 100644 index 0000000..103474a --- /dev/null +++ b/fw/src/.gitignore @@ -0,0 +1,3 @@ +binaries +tags +build diff --git a/fw/src/CMakeLists.txt b/fw/src/CMakeLists.txt new file mode 100644 index 0000000..3840421 --- /dev/null +++ b/fw/src/CMakeLists.txt @@ -0,0 +1,48 @@ +cmake_minimum_required(VERSION 3.13.1) + +# Board-specific files should get merged into the build as well. +set(BOARD_ROOT ${CMAKE_CURRENT_LIST_DIR}) +set(BOARD moab_hat) +set(DTS_ROOT ${CMAKE_CURRENT_LIST_DIR}) + +# Add a common dts overlay necessary to ensure mcuboot is linked into, +# and fits inside, the boot partition. (If the user specified a +# DTC_OVERLAY_FILE on the CMake command line, we need to append onto +# the list). +if(DTC_OVERLAY_FILE) + set(DTC_OVERLAY_FILE + "${DTC_OVERLAY_FILE} ${CMAKE_CURRENT_LIST_DIR}/dts.overlay" + CACHE STRING "" FORCE + ) +else() + set(DTC_OVERLAY_FILE ${CMAKE_CURRENT_LIST_DIR}/dts.overlay) +endif() + +add_compile_options(-Wall) + +include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE) + +project(app VERSION 3.0.0.0) + +set(SEMVER $ENV{SEMVER}) +set(MAJORMINORPATCH $ENV{MAJORMINORPATCH}) +message("Moab SEMVER=${SEMVER}") + +configure_file(app/app_version.h.in app_version.h) +target_include_directories(app PUBLIC "${PROJECT_BINARY_DIR}") + +target_sources(app PRIVATE + app/display.c + app/font_din2014light_12.c + app/font_din2014_18.c + app/font_moabsym_30.c + app/font_iecsymbol_30.c + app/joystick.c + app/main.c + app/spi.c + app/plate.c + app/sh1106_spi.c + app/shell.c + app/state.c +) + diff --git a/fw/src/app/app_version.h.in b/fw/src/app/app_version.h.in new file mode 100644 index 0000000..acc9377 --- /dev/null +++ b/fw/src/app/app_version.h.in @@ -0,0 +1,11 @@ +#ifndef APP_VERSION_H +#define APP_VERSION_H + +#define APP_VERSION_MAJOR @app_VERSION_MAJOR@ +#define APP_VERSION_MINOR @app_VERSION_MINOR@ +#define APP_VERSION_PATCH @app_VERSION_PATCH@ + +#define APP_SEMVER "@SEMVER@" +#define APP_MAJORMINORPATCH "@MAJORMINORPATCH@" + +#endif diff --git a/fw/src/app/display.c b/fw/src/app/display.c new file mode 100644 index 0000000..a59c7da --- /dev/null +++ b/fw/src/app/display.c @@ -0,0 +1,235 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include "headers.h" +#include "display.h" +#include "app_version.h" + +LOG_MODULE_REGISTER(display); + +// Mutex to protect access from other threads +struct k_mutex mutex1; + +// The SH1106 device handle +static struct device *display_dev; + +// Three fonts used on the display +LV_FONT_DECLARE(din2014_18) +LV_FONT_DECLARE(din2014light_12) +LV_FONT_DECLARE(moabsym_30) +LV_FONT_DECLARE(iecsymbol_30) + +lv_obj_t* s1; +lv_obj_t* s2; +lv_obj_t* s3; +lv_obj_t* s4; + +lv_obj_t* i1; +lv_obj_t* i2; +lv_obj_t* t1; +lv_obj_t* t2; +lv_obj_t* t3; +lv_obj_t* t4; + +static lv_style_t i1_style; // moab_symbol +static lv_style_t i2_style; // power_symbol +static lv_style_t t1_style; // big, offset 32 +static lv_style_t t2_style; // big, centered +static lv_style_t t3_style; // small, centered, scrolling +static lv_style_t t4_style; // big, offset 32 power_symbol + +// For the display thread +#define STACKSIZE 1024*4 +#define PRIORITY 9 + +// Call once on startup +int display_init() +{ + // Although the lvgl docs say to call lv_init() + // It's already by called by this point + + display_dev = device_get_binding(CONFIG_LVGL_DISPLAY_DEV_NAME); + if (display_dev == NULL) { + LOG_ERR("display device not found"); + return -1; + } + + k_mutex_init(&mutex1); + + LOG_INF("Display screen %s", log_strdup(CONFIG_LVGL_DISPLAY_DEV_NAME)); + + // SCREENS + s1 = lv_obj_create(NULL, NULL); + s2 = lv_obj_create(NULL, NULL); + s3 = lv_obj_create(NULL, NULL); + s4 = lv_obj_create(NULL, NULL); + + // STYLES + lv_style_copy(&i1_style, &lv_style_plain); + lv_style_copy(&i2_style, &lv_style_plain); + lv_style_copy(&t1_style, &lv_style_plain); + lv_style_copy(&t2_style, &lv_style_plain); + lv_style_copy(&t3_style, &lv_style_plain); + lv_style_copy(&t4_style, &lv_style_plain); + + i1_style.text.font = &moabsym_30; + i2_style.text.font = &iecsymbol_30; + t1_style.text.font = &din2014_18; + t2_style.text.font = &din2014_18; + t3_style.text.font = &din2014light_12; + t4_style.text.font = &din2014_18; + + // + // SCREEN1 + // + i1 = lv_label_create(s1, NULL); + lv_label_set_style(i1, LV_LABEL_STYLE_MAIN, &i1_style); + lv_obj_set_width(i1, 32); + lv_obj_align(i1, NULL, LV_ALIGN_IN_LEFT_MID, 2, 0); + + t1 = lv_label_create(s1, NULL); + lv_label_set_style(t1, LV_LABEL_STYLE_MAIN, &t1_style); + + lv_label_set_long_mode(t1, LV_LABEL_LONG_BREAK); + lv_label_set_align(t1, LV_LABEL_ALIGN_LEFT); + lv_label_set_text(t1, "TEXT1"); + lv_obj_set_width(t1, 94); + lv_obj_align(t1, NULL, LV_ALIGN_IN_LEFT_MID, 36, 0); + + // + // SCREEN2 + // + t2 = lv_label_create(s2, NULL); + lv_label_set_style(t2, LV_LABEL_STYLE_MAIN, &t2_style); + lv_label_set_long_mode(t2, LV_LABEL_LONG_BREAK); + lv_label_set_align(t2, LV_LABEL_ALIGN_CENTER); + lv_obj_set_size(t2, 128, 32); + lv_obj_align(t2, NULL, LV_ALIGN_CENTER, 0, 0); + + // + // SCREEN3 (Small Text) + // + t3 = lv_label_create(s3, NULL); + lv_label_set_style(t3, LV_LABEL_STYLE_MAIN, &t3_style); + lv_label_set_long_mode(t3, LV_LABEL_LONG_BREAK); + lv_label_set_align(t3, LV_LABEL_ALIGN_CENTER); + lv_obj_set_size(t3, 128, 32); + lv_obj_align(t3, NULL, LV_ALIGN_IN_TOP_MID, 0, 0); + + // + // SCREEN4 + // + i2 = lv_label_create(s4, NULL); + lv_label_set_style(i2, LV_LABEL_STYLE_MAIN, &i2_style); + lv_obj_set_width(i2, 32); + lv_obj_align(i2, NULL, LV_ALIGN_IN_LEFT_MID, 2, 0); + + t4 = lv_label_create(s4, NULL); + lv_label_set_style(t4, LV_LABEL_STYLE_MAIN, &t4_style); + + lv_label_set_long_mode(t4, LV_LABEL_LONG_BREAK); + lv_label_set_align(t4, LV_LABEL_ALIGN_LEFT); + lv_label_set_text(t4, "TEXT1"); + lv_obj_set_width(t4, 94); //align text to label + lv_obj_align(t4, NULL, LV_ALIGN_IN_LEFT_MID, 36, 0); + + + //LOG_INF("Version %s", log_strdup(APP_SEMVER)); + static char splash[30] = {0}; + sprintf(splash, "PROJECT MOAB\n%s", APP_MAJORMINORPATCH); + + display_small_text(splash); + + lv_task_handler(); + display_blanking_off(display_dev); + + return 0; +} + + +// Four entry points, all called by main.c thread + +void display_power_symbol(const char *str, disp_power_icon_t i) +{ + // The icon is really a font, so convert number to a glyph + static char icon_str[4] = {0}; + k_mutex_lock(&mutex1, K_FOREVER); + + lv_label_set_text(t1, str); + sprintf(icon_str, "%d", (u8_t) i); + lv_label_set_text(i1, icon_str); + lv_scr_load(s1); // toggle IECSYMBOL + + k_mutex_unlock(&mutex1); +} + + + +void display_big_text(const char *str) +{ + k_mutex_lock(&mutex1, K_FOREVER); + + lv_label_set_text(t2, str); + lv_scr_load(s2); // toggle IECSYMBOL + + k_mutex_unlock(&mutex1); +} + +void display_big_text_icon(const char *str, disp_icon_t i) +{ + // The icon is really a font, so convert number to a glyph + static char icon_str[4] = {0}; + + k_mutex_lock(&mutex1, K_FOREVER); + + lv_label_set_text(t1, str); + sprintf(icon_str, "%d", (u8_t) i); + lv_label_set_text(i1, icon_str); + lv_scr_load(s1); // toggle MOABSYMBOL + + k_mutex_unlock(&mutex1); +} + +void display_small_text(const char *str) +{ + k_mutex_lock(&mutex1, K_FOREVER); + + lv_label_set_text(t3, str); + lv_scr_load(s3); // toggle IECSYMBOL + + k_mutex_unlock(&mutex1); +} + +void display_big_text_power_icon(const char *str, disp_power_icon_t i) +{ + // The icon is really a font, so convert number to a glyph + static char icon_str[4] = {0}; + + k_mutex_lock(&mutex1, K_FOREVER); + + lv_label_set_text(t4, str); + sprintf(icon_str, "%d", (u8_t) i); + lv_label_set_text(i2, icon_str); + lv_scr_load(s4); // toggle MOABSYMBOL + + k_mutex_unlock(&mutex1); +} + +static void disp_task(void) +{ + if (display_init()) { + LOG_ERR("Failed to initalize display"); + return; + } + + while(true) + { + k_mutex_lock(&mutex1, K_FOREVER); + lv_task_handler(); + k_mutex_unlock(&mutex1); + + lv_tick_inc(K_MSEC(5)); + k_sleep(5); + } +} + +K_THREAD_DEFINE(disp_task_id, STACKSIZE, disp_task, NULL, NULL, NULL, PRIORITY, 0, K_NO_WAIT); diff --git a/fw/src/app/display.h b/fw/src/app/display.h new file mode 100644 index 0000000..24e4e28 --- /dev/null +++ b/fw/src/app/display.h @@ -0,0 +1,46 @@ +#ifndef DISP_H_ +#define DISP_H_ + +#include + +typedef enum +{ + MOABSYMBOL = 0, + IECSYMBOL, + DIN_18, + DIN_12, +} our_fonts_t; + +// Glyphs for Moab Symbols +typedef enum +{ + DISP_ICON_BLANK = 0, + DISP_ICON_UP_DOWN, + DISP_ICON_DOWN, + DISP_ICON_UP, + DISP_ICON_DOT, + DISP_ICON_PAUSE, + DISP_ICON_CHECK, + DISP_ICON_X, + DISP_ICON_EOL +} disp_icon_t; + +// Glyphs for IEC Power Symbols +// https://unicodepowersymbol.com/ +typedef enum +{ + IEC_ICON_POWER = 0, // ⏻ + IEC_ICON_TOGGLE_POWER, // ⏼ + IEC_ICON_POWER_ON, // ⏽ + IEC_ICON_SLEEP_MODE, // ⏾ + IEC_ICON_POWER_OFF, // ⭘ + IEC_ICON_EOL // (sentinel) +} disp_power_icon_t; + +void display_big_text_icon(const char *str, disp_icon_t i); +void display_big_text(const char *str); +void display_small_text(const char *str); +//void display_power_symbol(const char *str, disp_power_icon_t i); +void display_big_text_power_icon(const char *str, disp_power_icon_t i); + +#endif diff --git a/fw/src/app/font_din2014_18.c b/fw/src/app/font_din2014_18.c new file mode 100644 index 0000000..93cceda --- /dev/null +++ b/fw/src/app/font_din2014_18.c @@ -0,0 +1,803 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include + +/******************************************************************************* + * Size: 18 px + * Bpp: 1 + * Opts: + ******************************************************************************/ + +#ifndef DIN2014_18 +#define DIN2014_18 1 +#endif + +#if DIN2014_18 + +/*----------------- + * BITMAPS + *----------------*/ + +/*Store the image of the glyphs*/ +static LV_ATTRIBUTE_LARGE_CONST const uint8_t gylph_bitmap[] = { + /* U+20 " " */ + + /* U+21 "!" */ + 0x9f, 0xff, 0xff, 0xfa, 0x7e, + + /* U+22 "\"" */ + 0x1, 0xb6, 0xdb, + + /* U+23 "#" */ + 0x0, 0x3, 0xb8, 0x66, 0xc, 0xc7, 0xfe, 0xff, + 0xce, 0xe1, 0xdc, 0xff, 0xcf, 0xf8, 0xcc, 0x3b, + 0x87, 0x70, + + /* U+24 "$" */ + 0x8, 0x3, 0x0, 0xc0, 0xfc, 0x7f, 0x9b, 0x46, + 0xc1, 0xf0, 0x3f, 0x7, 0xe0, 0xf8, 0x36, 0x6f, + 0x9f, 0xe3, 0xf0, 0x30, 0xc, 0x0, + + /* U+25 "%" */ + 0x0, 0x1, 0xe1, 0x8e, 0xcc, 0x33, 0x70, 0xcd, + 0x81, 0xfe, 0x3, 0xb0, 0x1, 0xde, 0x6, 0xd8, + 0x33, 0x60, 0xcd, 0x86, 0x36, 0x38, 0x78, 0x0, + 0x0, + + /* U+26 "&" */ + 0x0, 0x3, 0xf0, 0x33, 0x3, 0x30, 0x3f, 0x3, + 0xe0, 0x3c, 0x7, 0xee, 0x67, 0xe6, 0x3c, 0x73, + 0xc7, 0xfc, 0x3f, 0xe0, 0x0, + + /* U+27 "'" */ + 0xd, 0xb0, + + /* U+28 "(" */ + 0x1, 0x9d, 0xce, 0x73, 0x9c, 0xe7, 0x39, 0xce, + 0x71, 0xce, 0x30, + + /* U+29 ")" */ + 0x3, 0x1c, 0x73, 0x9c, 0xe7, 0x39, 0xce, 0x73, + 0x9d, 0xce, 0x60, + + /* U+2A "*" */ + 0x0, 0x31, 0xf9, 0xe7, 0xeb, 0x84, 0x0, + + /* U+2B "+" */ + 0x10, 0x70, 0xe7, 0xff, 0xe7, 0xe, 0x0, + + /* U+2C "," */ + 0xdf, 0xfd, 0x0, + + /* U+2D "-" */ + 0x1, 0xe7, 0x80, + + /* U+2E "." */ + 0xff, 0x80, + + /* U+2F "/" */ + 0x0, 0x7, 0x6, 0x6, 0xc, 0xc, 0xc, 0x18, + 0x18, 0x18, 0x30, 0x30, 0x70, 0x60, 0x60, 0xe0, + 0xc0, + + /* U+30 "0" */ + 0x0, 0x1f, 0x9f, 0xee, 0x76, 0x3b, 0x1d, 0x8e, + 0xc7, 0x63, 0xb1, 0xdc, 0xef, 0xe3, 0xe0, 0x0, + + /* U+31 "1" */ + 0x3, 0xff, 0xf3, 0x9c, 0xe7, 0x39, 0xce, 0x73, + 0x80, + + /* U+32 "2" */ + 0x0, 0x7e, 0xfe, 0xc7, 0x7, 0x6, 0xe, 0x1c, + 0x38, 0x70, 0x70, 0xff, 0xff, + + /* U+33 "3" */ + 0x0, 0x1f, 0x9f, 0xcc, 0x70, 0x30, 0x38, 0x78, + 0x1e, 0x3, 0x81, 0xd8, 0xef, 0xe3, 0xe0, 0x0, + + /* U+34 "4" */ + 0x0, 0x3, 0x81, 0xc0, 0x70, 0x38, 0xe, 0x3, + 0xb1, 0xcc, 0x73, 0x3f, 0xef, 0xf8, 0xc, 0x3, + 0x0, + + /* U+35 "5" */ + 0x0, 0xff, 0xfe, 0xe0, 0xe8, 0xfe, 0xff, 0x47, + 0x7, 0x7, 0xe7, 0x7e, 0x3c, 0x0, + + /* U+36 "6" */ + 0x0, 0x7, 0x7, 0x3, 0x83, 0x81, 0xc1, 0xfc, + 0xff, 0x63, 0xb1, 0xdc, 0xef, 0xe3, 0xe0, 0x0, + + /* U+37 "7" */ + 0x0, 0xff, 0xff, 0xc6, 0xc6, 0xe, 0xc, 0xc, + 0x1c, 0x18, 0x38, 0x38, 0x30, + + /* U+38 "8" */ + 0x0, 0x1f, 0x9f, 0xee, 0x76, 0x3b, 0xb8, 0xfc, + 0xfe, 0x63, 0xb1, 0xdc, 0xef, 0xe3, 0xe0, 0x0, + + /* U+39 "9" */ + 0x0, 0x1f, 0x9f, 0xec, 0x76, 0x3b, 0x9d, 0xfe, + 0x7e, 0x7, 0x7, 0x3, 0x83, 0x81, 0xc0, + + /* U+3A ":" */ + 0xff, 0x0, 0x27, 0xe0, + + /* U+3B ";" */ + 0xff, 0x0, 0x27, 0xff, 0x40, + + /* U+3C "<" */ + 0x0, 0xc, 0x79, 0xe7, 0xf, 0xf, 0x87, 0x6, + + /* U+3D "=" */ + 0x0, 0xff, 0x7e, 0x0, 0xff, 0x7e, + + /* U+3E ">" */ + 0x3, 0xe, 0x1e, 0x3c, 0xff, 0xb8, 0x80, + + /* U+3F "?" */ + 0x0, 0x1f, 0x1f, 0xcc, 0x60, 0x30, 0x38, 0x38, + 0x38, 0x1c, 0x4, 0x4, 0x3, 0x81, 0xc0, + + /* U+40 "@" */ + 0x0, 0x0, 0x7, 0xf0, 0x1f, 0xf8, 0x38, 0x1c, + 0x73, 0xee, 0x67, 0xf6, 0x66, 0x77, 0x66, 0x77, + 0x66, 0x77, 0x66, 0x76, 0x67, 0xfe, 0x73, 0x9c, + 0x38, 0x0, 0x1f, 0xf8, 0xf, 0xf0, 0x0, 0x0, + + /* U+41 "A" */ + 0x0, 0x1, 0xc0, 0x38, 0xf, 0x81, 0xf0, 0x36, + 0xe, 0xe1, 0x8c, 0x7b, 0x8f, 0xf9, 0xff, 0x70, + 0x6e, 0xe, + + /* U+42 "B" */ + 0x0, 0x3f, 0xcf, 0xfb, 0x8e, 0xe3, 0xb9, 0xcf, + 0xf3, 0xfe, 0xe1, 0xb8, 0x6e, 0x3b, 0xfe, 0xfe, + 0x0, + + /* U+43 "C" */ + 0x0, 0x7, 0xf0, 0xff, 0x38, 0xe7, 0xc, 0xc0, + 0x18, 0x3, 0x0, 0x70, 0xe, 0x19, 0xc7, 0x1f, + 0xc1, 0xf0, 0x0, 0x0, + + /* U+44 "D" */ + 0x0, 0x3f, 0xcf, 0xfb, 0x8e, 0xe1, 0xb8, 0x6e, + 0x1f, 0x86, 0xe1, 0xb8, 0x6e, 0x3b, 0xfc, 0xfe, + 0x0, + + /* U+45 "E" */ + 0x0, 0xff, 0xff, 0xe0, 0xe0, 0xe0, 0xff, 0xfe, + 0xe0, 0xe0, 0xe0, 0xff, 0xff, + + /* U+46 "F" */ + 0x0, 0xff, 0xff, 0xe0, 0xe0, 0xe0, 0xff, 0xff, + 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, + + /* U+47 "G" */ + 0x0, 0x3, 0xf0, 0xff, 0x38, 0xe7, 0xc, 0xc0, + 0x18, 0x3, 0x1e, 0x73, 0xce, 0x19, 0xc7, 0x1f, + 0xc1, 0xf0, 0x0, 0x0, + + /* U+48 "H" */ + 0x1, 0x38, 0x7e, 0x1f, 0x87, 0xe1, 0xf8, 0x7f, + 0xff, 0xff, 0xe1, 0xf8, 0x7e, 0x1f, 0x87, 0xe1, + 0xc0, + + /* U+49 "I" */ + 0x1f, 0xff, 0xff, 0xff, 0xfe, + + /* U+4A "J" */ + 0x0, 0x7, 0x7, 0x7, 0x7, 0x7, 0x7, 0x7, + 0x7, 0x7, 0x47, 0xfe, 0x7c, 0x0, + + /* U+4B "K" */ + 0x0, 0x1c, 0x73, 0x9c, 0x77, 0xe, 0xe1, 0xf8, + 0x3f, 0x7, 0xf0, 0xf7, 0x1c, 0xe3, 0x8e, 0x71, + 0xee, 0x1c, + + /* U+4C "L" */ + 0x0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, + 0xe0, 0xe0, 0xe0, 0xff, 0xff, + + /* U+4D "M" */ + 0x0, 0xe, 0x7, 0xf0, 0xff, 0xf, 0xf9, 0xff, + 0x9f, 0xff, 0xfe, 0xf7, 0xef, 0x7e, 0x67, 0xe6, + 0x7e, 0x7, 0xe0, 0x70, + + /* U+4E "N" */ + 0x0, 0x38, 0x7f, 0x1f, 0xc7, 0xf9, 0xfe, 0x7f, + 0xdf, 0xbf, 0xe7, 0xf9, 0xfe, 0x3f, 0x8f, 0xe1, + 0xc0, + + /* U+4F "O" */ + 0x0, 0x7, 0xf0, 0xff, 0x38, 0xe7, 0xc, 0xc1, + 0x98, 0x3b, 0x6, 0x70, 0xce, 0x19, 0xc7, 0x1f, + 0xc1, 0xf0, 0x0, 0x0, + + /* U+50 "P" */ + 0x0, 0x3f, 0xcf, 0xfb, 0x8e, 0xe1, 0xb8, 0x6e, + 0x7b, 0xfc, 0xfc, 0x38, 0xe, 0x3, 0x80, 0xe0, + 0x0, + + /* U+51 "Q" */ + 0x0, 0x3, 0xf8, 0x3f, 0xc7, 0x1c, 0x70, 0xc6, + 0xc, 0x60, 0xe6, 0xc, 0x73, 0xc7, 0x3c, 0x73, + 0xc3, 0xfe, 0x1f, 0x60, 0x0, + + /* U+52 "R" */ + 0x0, 0x3f, 0xcf, 0xfb, 0x86, 0xe1, 0xb8, 0xef, + 0xfb, 0xfc, 0xe7, 0x39, 0xce, 0x3b, 0x8e, 0xe1, + 0xc0, + + /* U+53 "S" */ + 0x0, 0xf, 0xc7, 0xf9, 0xc4, 0x70, 0x1e, 0x3, + 0xf0, 0x3e, 0x3, 0xc0, 0x76, 0x1d, 0xfe, 0x3f, + 0x0, 0x0, + + /* U+54 "T" */ + 0x0, 0x3f, 0xff, 0xf8, 0x70, 0x1c, 0x7, 0x1, + 0xc0, 0x70, 0x1c, 0x7, 0x1, 0xc0, 0x70, 0x1c, + 0x0, + + /* U+55 "U" */ + 0x0, 0x38, 0x7e, 0x1f, 0x87, 0xe1, 0xf8, 0x7e, + 0x1f, 0x87, 0xe1, 0xf8, 0x77, 0x39, 0xfe, 0x3f, + 0x0, 0x0, + + /* U+56 "V" */ + 0x0, 0x1c, 0x1d, 0x83, 0x38, 0xe7, 0x1c, 0x63, + 0xe, 0xe1, 0xdc, 0x1f, 0x3, 0xe0, 0x3c, 0x7, + 0x0, 0xe0, + + /* U+57 "W" */ + 0x0, 0x0, 0xe1, 0x87, 0x63, 0xc6, 0x63, 0xc6, + 0x73, 0xce, 0x77, 0xee, 0x76, 0x6e, 0x36, 0x6c, + 0x3e, 0x7c, 0x3c, 0x3c, 0x3c, 0x3c, 0x1c, 0x38, + 0x1c, 0x38, + + /* U+58 "X" */ + 0x0, 0xe, 0x38, 0xce, 0x1d, 0xc1, 0xf0, 0x3e, + 0x3, 0x80, 0xf0, 0x1f, 0x7, 0x70, 0xce, 0x38, + 0xee, 0x1c, + + /* U+59 "Y" */ + 0x0, 0xe, 0x39, 0xce, 0x19, 0xc3, 0xb0, 0x3e, + 0x7, 0x80, 0x70, 0xe, 0x1, 0xc0, 0x38, 0x7, + 0x0, 0xe0, + + /* U+5A "Z" */ + 0x0, 0x7f, 0xdf, 0xe0, 0xe0, 0xe0, 0x70, 0x70, + 0x38, 0x38, 0x1c, 0x1c, 0xf, 0xff, 0xf8, + + /* U+5B "[" */ + 0x7, 0xfd, 0xce, 0x73, 0x9c, 0xe7, 0x39, 0xce, + 0x73, 0x9f, 0xf0, + + /* U+5C "\\" */ + 0x0, 0x30, 0x18, 0x6, 0x3, 0x1, 0x80, 0x60, + 0x30, 0x18, 0x6, 0x3, 0x1, 0xc0, 0x60, 0x30, + 0xc, 0x6, 0x3, 0x0, + + /* U+5D "]" */ + 0x7, 0xde, 0x73, 0x9c, 0xe7, 0x39, 0xce, 0x73, + 0x9c, 0xff, 0x78, + + /* U+5E "^" */ + 0x0, 0xf, 0xf, 0x86, 0xe7, 0x38, 0x0, + + /* U+5F "_" */ + 0xff, 0xbf, 0xe0, 0x0, + + /* U+60 "`" */ + 0xe6, 0x30, + + /* U+61 "a" */ + 0x0, 0x7e, 0x7f, 0x7, 0x7, 0x7f, 0x67, 0xe7, + 0x7f, 0x7f, 0x0, + + /* U+62 "b" */ + 0x80, 0xc0, 0xc0, 0xc0, 0xfc, 0xfe, 0xe6, 0xc7, + 0xc7, 0xc7, 0xe6, 0xfe, 0xfc, 0x0, + + /* U+63 "c" */ + 0x0, 0x3e, 0x7f, 0x60, 0x60, 0xe0, 0x60, 0x60, + 0x7f, 0x3e, 0x0, + + /* U+64 "d" */ + 0x2, 0x1, 0xc0, 0xe0, 0x73, 0xfb, 0xfd, 0x8e, + 0xc7, 0xe3, 0xb1, 0xd8, 0xef, 0xf3, 0xf8, 0x0, + + /* U+65 "e" */ + 0x0, 0x3c, 0x7e, 0x67, 0x67, 0xff, 0x60, 0x60, + 0x7f, 0x3e, 0x0, + + /* U+66 "f" */ + 0x0, 0xe7, 0x9c, 0xfb, 0xe7, 0x1c, 0x71, 0xc7, + 0x1c, 0x70, + + /* U+67 "g" */ + 0x0, 0x1f, 0xdf, 0xec, 0x76, 0x3f, 0x1d, 0x8e, + 0xc7, 0x7f, 0x9f, 0x80, 0xce, 0xe7, 0xe0, 0xc0, + + /* U+68 "h" */ + 0x80, 0xc0, 0xc0, 0xc0, 0xfc, 0xfe, 0xe6, 0xc7, + 0xc7, 0xc7, 0xc7, 0xc7, 0xc7, + + /* U+69 "i" */ + 0x9f, 0xf, 0xff, 0xff, 0xfe, + + /* U+6A "j" */ + 0x47, 0x60, 0x77, 0x77, 0x77, 0x77, 0x77, 0xee, + 0x0, + + /* U+6B "k" */ + 0x80, 0xc0, 0xc0, 0xc0, 0xce, 0xcc, 0xd8, 0xf8, + 0xf8, 0xfc, 0xdc, 0xce, 0xc7, + + /* U+6C "l" */ + 0x8c, 0xcc, 0xcc, 0xcc, 0xcc, 0xcf, 0x70, + + /* U+6D "m" */ + 0x0, 0x7, 0xef, 0x3f, 0xfd, 0xce, 0x6c, 0x63, + 0x63, 0x1f, 0x18, 0xf8, 0xc7, 0xc6, 0x3e, 0x31, + 0xc0, + + /* U+6E "n" */ + 0x0, 0xfc, 0xfe, 0xe6, 0xc7, 0xc7, 0xc7, 0xc7, + 0xc7, 0xc7, + + /* U+6F "o" */ + 0x0, 0x1f, 0x1f, 0xcc, 0x66, 0x37, 0x1d, 0x8c, + 0xc6, 0x7f, 0x1f, 0x0, 0x0, + + /* U+70 "p" */ + 0x0, 0xfc, 0xfe, 0xe7, 0xc7, 0xc7, 0xc7, 0xe7, + 0xfe, 0xfc, 0xc0, 0xc0, 0xc0, 0xc0, + + /* U+71 "q" */ + 0x0, 0x1f, 0xdf, 0xec, 0x76, 0x3f, 0x1d, 0x8e, + 0xc7, 0x7f, 0x9f, 0xc0, 0xe0, 0x70, 0x38, 0x18, + + /* U+72 "r" */ + 0x1, 0xfb, 0xf7, 0xc, 0x18, 0x30, 0x60, 0xc1, + 0x80, + + /* U+73 "s" */ + 0x0, 0x3e, 0x7e, 0x60, 0x78, 0x3e, 0xf, 0x7, + 0x7e, 0x3e, 0x0, + + /* U+74 "t" */ + 0x71, 0xcf, 0xff, 0x71, 0xc7, 0x1c, 0x70, 0xf3, + 0xc0, + + /* U+75 "u" */ + 0xc7, 0xc7, 0xc7, 0xc7, 0xc7, 0xc7, 0xe7, 0xff, + 0x7f, 0x0, + + /* U+76 "v" */ + 0xe3, 0xb1, 0xd8, 0xce, 0xe3, 0x61, 0xf0, 0xf8, + 0x38, 0x1c, 0x0, + + /* U+77 "w" */ + 0xe6, 0x3f, 0x39, 0x99, 0xcc, 0xdf, 0x67, 0xdf, + 0x1e, 0xf0, 0xe3, 0x87, 0x1c, 0x38, 0xc0, + + /* U+78 "x" */ + 0x63, 0x3b, 0x8f, 0x87, 0x81, 0xc1, 0xe0, 0xf8, + 0xee, 0xe3, 0x0, + + /* U+79 "y" */ + 0xe3, 0x31, 0x98, 0xce, 0xc3, 0x61, 0xf0, 0xf0, + 0x38, 0x1c, 0xc, 0x1e, 0xe, 0x0, 0x0, + + /* U+7A "z" */ + 0xff, 0xfe, 0xe, 0x1c, 0x18, 0x38, 0x70, 0x7f, + 0xff, + + /* U+7B "{" */ + 0x0, 0xf3, 0x8c, 0x30, 0xc3, 0xc, 0xf1, 0xc3, + 0xc, 0x30, 0xc3, 0xf, 0x18, + + /* U+7C "|" */ + 0x4d, 0xb6, 0xdb, 0x6d, 0xb6, 0xdb, 0x60, + + /* U+7D "}" */ + 0x3, 0xc7, 0xc, 0x30, 0xc3, 0xc, 0x3c, 0xe3, + 0xc, 0x30, 0xc3, 0x3c, 0x60, + + /* U+7E "~" */ + 0x0, 0x1f, 0xe7, 0xf8, 0x0 +}; + + +/*--------------------- + * GLYPH DESCRIPTION + *--------------------*/ + +static const lv_font_fmt_txt_glyph_dsc_t glyph_dsc[] = { + {.bitmap_index = 0, .adv_w = 0, .box_h = 0, .box_w = 0, .ofs_x = 0, .ofs_y = 0} /* id = 0 reserved */, + {.bitmap_index = 0, .adv_w = 72, .box_h = 0, .box_w = 0, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 0, .adv_w = 72, .box_h = 13, .box_w = 3, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 5, .adv_w = 104, .box_h = 4, .box_w = 6, .ofs_x = 0, .ofs_y = 9}, + {.bitmap_index = 8, .adv_w = 177, .box_h = 13, .box_w = 11, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 26, .adv_w = 156, .box_h = 17, .box_w = 10, .ofs_x = 0, .ofs_y = -2}, + {.bitmap_index = 48, .adv_w = 219, .box_h = 14, .box_w = 14, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 73, .adv_w = 192, .box_h = 14, .box_w = 12, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 94, .adv_w = 58, .box_h = 4, .box_w = 3, .ofs_x = 0, .ofs_y = 9}, + {.bitmap_index = 96, .adv_w = 91, .box_h = 17, .box_w = 5, .ofs_x = 1, .ofs_y = -2}, + {.bitmap_index = 107, .adv_w = 91, .box_h = 17, .box_w = 5, .ofs_x = 0, .ofs_y = -2}, + {.bitmap_index = 118, .adv_w = 122, .box_h = 7, .box_w = 7, .ofs_x = 0, .ofs_y = 6}, + {.bitmap_index = 125, .adv_w = 156, .box_h = 8, .box_w = 7, .ofs_x = 1, .ofs_y = 2}, + {.bitmap_index = 132, .adv_w = 74, .box_h = 6, .box_w = 3, .ofs_x = 1, .ofs_y = -3}, + {.bitmap_index = 135, .adv_w = 92, .box_h = 3, .box_w = 6, .ofs_x = 0, .ofs_y = 4}, + {.bitmap_index = 138, .adv_w = 79, .box_h = 3, .box_w = 3, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 140, .adv_w = 140, .box_h = 17, .box_w = 8, .ofs_x = 1, .ofs_y = -2}, + {.bitmap_index = 157, .adv_w = 156, .box_h = 14, .box_w = 9, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 173, .adv_w = 156, .box_h = 13, .box_w = 5, .ofs_x = 2, .ofs_y = 0}, + {.bitmap_index = 182, .adv_w = 156, .box_h = 13, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 195, .adv_w = 156, .box_h = 14, .box_w = 9, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 211, .adv_w = 156, .box_h = 13, .box_w = 10, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 228, .adv_w = 156, .box_h = 14, .box_w = 8, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 242, .adv_w = 156, .box_h = 14, .box_w = 9, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 258, .adv_w = 156, .box_h = 13, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 271, .adv_w = 156, .box_h = 14, .box_w = 9, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 287, .adv_w = 156, .box_h = 13, .box_w = 9, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 302, .adv_w = 71, .box_h = 9, .box_w = 3, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 306, .adv_w = 71, .box_h = 12, .box_w = 3, .ofs_x = 1, .ofs_y = -3}, + {.bitmap_index = 311, .adv_w = 156, .box_h = 9, .box_w = 7, .ofs_x = 1, .ofs_y = 2}, + {.bitmap_index = 319, .adv_w = 156, .box_h = 6, .box_w = 8, .ofs_x = 1, .ofs_y = 3}, + {.bitmap_index = 325, .adv_w = 156, .box_h = 9, .box_w = 6, .ofs_x = 2, .ofs_y = 2}, + {.bitmap_index = 332, .adv_w = 140, .box_h = 13, .box_w = 9, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 347, .adv_w = 259, .box_h = 16, .box_w = 16, .ofs_x = 0, .ofs_y = -3}, + {.bitmap_index = 379, .adv_w = 175, .box_h = 13, .box_w = 11, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 397, .adv_w = 175, .box_h = 13, .box_w = 10, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 414, .adv_w = 171, .box_h = 14, .box_w = 11, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 434, .adv_w = 180, .box_h = 13, .box_w = 10, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 451, .adv_w = 152, .box_h = 13, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 464, .adv_w = 150, .box_h = 13, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 477, .adv_w = 176, .box_h = 14, .box_w = 11, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 497, .adv_w = 189, .box_h = 13, .box_w = 10, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 514, .adv_w = 85, .box_h = 13, .box_w = 3, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 519, .adv_w = 147, .box_h = 14, .box_w = 8, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 533, .adv_w = 186, .box_h = 13, .box_w = 11, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 551, .adv_w = 145, .box_h = 13, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 564, .adv_w = 226, .box_h = 13, .box_w = 12, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 584, .adv_w = 189, .box_h = 13, .box_w = 10, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 601, .adv_w = 179, .box_h = 14, .box_w = 11, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 621, .adv_w = 170, .box_h = 13, .box_w = 10, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 638, .adv_w = 181, .box_h = 14, .box_w = 12, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 659, .adv_w = 178, .box_h = 13, .box_w = 10, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 676, .adv_w = 166, .box_h = 14, .box_w = 10, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 694, .adv_w = 154, .box_h = 13, .box_w = 10, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 711, .adv_w = 192, .box_h = 14, .box_w = 10, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 729, .adv_w = 177, .box_h = 13, .box_w = 11, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 747, .adv_w = 256, .box_h = 13, .box_w = 16, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 773, .adv_w = 170, .box_h = 13, .box_w = 11, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 791, .adv_w = 168, .box_h = 13, .box_w = 11, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 809, .adv_w = 149, .box_h = 13, .box_w = 9, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 824, .adv_w = 96, .box_h = 17, .box_w = 5, .ofs_x = 1, .ofs_y = -2}, + {.bitmap_index = 835, .adv_w = 140, .box_h = 17, .box_w = 9, .ofs_x = 0, .ofs_y = -2}, + {.bitmap_index = 855, .adv_w = 96, .box_h = 17, .box_w = 5, .ofs_x = 0, .ofs_y = -2}, + {.bitmap_index = 866, .adv_w = 156, .box_h = 6, .box_w = 9, .ofs_x = 0, .ofs_y = 7}, + {.bitmap_index = 873, .adv_w = 151, .box_h = 3, .box_w = 10, .ofs_x = 0, .ofs_y = -4}, + {.bitmap_index = 877, .adv_w = 97, .box_h = 3, .box_w = 4, .ofs_x = 1, .ofs_y = 10}, + {.bitmap_index = 879, .adv_w = 140, .box_h = 11, .box_w = 8, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 890, .adv_w = 147, .box_h = 14, .box_w = 8, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 904, .adv_w = 128, .box_h = 11, .box_w = 8, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 915, .adv_w = 149, .box_h = 14, .box_w = 9, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 931, .adv_w = 140, .box_h = 11, .box_w = 8, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 942, .adv_w = 87, .box_h = 13, .box_w = 6, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 952, .adv_w = 149, .box_h = 14, .box_w = 9, .ofs_x = 0, .ofs_y = -4}, + {.bitmap_index = 968, .adv_w = 151, .box_h = 13, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 981, .adv_w = 75, .box_h = 13, .box_w = 3, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 986, .adv_w = 72, .box_h = 17, .box_w = 4, .ofs_x = 0, .ofs_y = -4}, + {.bitmap_index = 995, .adv_w = 145, .box_h = 13, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 1008, .adv_w = 82, .box_h = 13, .box_w = 4, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 1015, .adv_w = 229, .box_h = 10, .box_w = 13, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 1032, .adv_w = 151, .box_h = 10, .box_w = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 1042, .adv_w = 144, .box_h = 11, .box_w = 9, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 1055, .adv_w = 149, .box_h = 14, .box_w = 8, .ofs_x = 1, .ofs_y = -4}, + {.bitmap_index = 1069, .adv_w = 149, .box_h = 14, .box_w = 9, .ofs_x = 0, .ofs_y = -4}, + {.bitmap_index = 1085, .adv_w = 118, .box_h = 10, .box_w = 7, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 1094, .adv_w = 134, .box_h = 11, .box_w = 8, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 1105, .adv_w = 95, .box_h = 11, .box_w = 6, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 1114, .adv_w = 151, .box_h = 10, .box_w = 8, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 1124, .adv_w = 145, .box_h = 9, .box_w = 9, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 1135, .adv_w = 206, .box_h = 9, .box_w = 13, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 1150, .adv_w = 141, .box_h = 9, .box_w = 9, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 1161, .adv_w = 138, .box_h = 13, .box_w = 9, .ofs_x = 0, .ofs_y = -4}, + {.bitmap_index = 1176, .adv_w = 129, .box_h = 9, .box_w = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 1185, .adv_w = 94, .box_h = 17, .box_w = 6, .ofs_x = 0, .ofs_y = -2}, + {.bitmap_index = 1198, .adv_w = 84, .box_h = 18, .box_w = 3, .ofs_x = 1, .ofs_y = -3}, + {.bitmap_index = 1205, .adv_w = 91, .box_h = 17, .box_w = 6, .ofs_x = 0, .ofs_y = -2}, + {.bitmap_index = 1218, .adv_w = 156, .box_h = 4, .box_w = 10, .ofs_x = 0, .ofs_y = 4} +}; + +/*--------------------- + * CHARACTER MAPPING + *--------------------*/ + + + +/*Collect the unicode lists and glyph_id offsets*/ +static const lv_font_fmt_txt_cmap_t cmaps[] = +{ + { + .range_start = 32, .range_length = 95, .type = LV_FONT_FMT_TXT_CMAP_FORMAT0_TINY, + .glyph_id_start = 1, .unicode_list = NULL, .glyph_id_ofs_list = NULL, .list_length = 0 + } +}; + +/*----------------- + * KERNING + *----------------*/ + + +/*Map glyph_ids to kern left classes*/ +static const uint8_t kern_left_class_mapping[] = +{ + 0, 0, 0, 1, 0, 0, 0, 0, + 1, 2, 0, 3, 0, 4, 5, 6, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 8, 0, 9, 10, 0, 11, + 12, 0, 0, 13, 14, 15, 0, 0, + 16, 17, 18, 19, 20, 21, 22, 23, + 24, 25, 26, 27, 2, 0, 0, 0, + 0, 0, 28, 29, 30, 0, 31, 32, + 33, 34, 0, 0, 35, 36, 37, 38, + 39, 39, 40, 41, 42, 43, 44, 45, + 46, 47, 48, 49, 2, 0, 0, 0 +}; + +/*Map glyph_ids to kern right classes*/ +static const uint8_t kern_right_class_mapping[] = +{ + 0, 0, 0, 1, 0, 0, 0, 0, + 1, 0, 2, 3, 0, 4, 5, 4, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 6, 0, 7, 0, 0, 0, + 8, 0, 0, 9, 0, 0, 0, 0, + 8, 0, 8, 0, 10, 11, 12, 13, + 14, 15, 16, 17, 0, 0, 2, 0, + 0, 0, 18, 0, 19, 20, 19, 0, + 20, 0, 0, 21, 0, 0, 22, 22, + 20, 22, 20, 22, 23, 24, 25, 26, + 27, 28, 29, 30, 0, 0, 2, 0 +}; + +/*Kern values between classes*/ +static const uint8_t kern_class_values[] = +{ + 0, 0, 0, -9, -5, -11, -6, -6, + -20, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -5, -5, 0, 0, 0, 0, + 0, 0, 0, -2, 0, -3, 0, 10, + 0, 0, -1, 6, 0, 0, 0, 0, + 4, 0, 6, 6, 6, 6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 0, 0, 0, -14, + 0, -13, 0, 0, -25, 0, 0, 0, + 0, 0, -3, 0, 0, 0, -2, -2, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -9, 0, -14, 0, -7, 6, + -6, -6, -1, 0, -15, 0, -14, -8, + 0, -14, 0, 0, -3, -3, 0, 0, + 0, -6, 0, -8, -5, 0, -8, 0, + -5, -1, 0, -2, 0, -3, 0, 0, + -11, 0, -9, 0, -5, -3, -6, -9, + -4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, -3, 0, -1, -9, 0, + -14, 0, -7, 0, -6, -6, -1, 0, + -15, 0, -14, -8, 0, -14, 0, 0, + -3, -3, 0, 0, 0, -6, 0, -8, + -5, 0, -8, 0, 0, 0, 0, -18, + -9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -11, 6, -13, 0, -3, 6, + -6, -6, 4, 0, -11, -1, -13, -3, + 2, -15, 0, 0, -1, -1, 0, 0, + 0, -3, 0, -7, -3, 4, -7, -1, + -2, 0, 0, -3, 0, -2, -2, -2, + -3, 0, -4, 0, -4, -2, -7, -5, + -2, -3, 0, 0, 0, 0, 0, 0, + 0, -3, 0, -4, -3, -4, -6, 0, + 0, -6, 0, -6, 0, 0, -4, -2, + -2, 0, -5, 0, -5, -8, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, -3, -2, 0, 0, 0, 0, -10, + 0, -7, 0, 0, -19, 0, 0, 0, + -1, 0, -2, -1, -1, -5, -7, -7, + 0, 0, -2, 0, 0, -4, -3, -7, + -4, -5, 0, 0, 0, 0, 0, -5, + 0, 0, -5, 0, -2, 0, -4, 0, + -4, -7, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, -6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, -1, 0, 0, 0, + 0, 0, 0, -1, -1, 0, -3, 0, + -6, 0, -9, 2, -9, -9, -4, -5, + -4, -3, -5, -2, 0, -5, 0, -7, + -9, -9, 0, 0, -3, -7, -5, -16, + -10, 0, -16, -3, -16, 0, -16, 0, + -6, 5, -7, -7, 5, 0, -15, 0, + -20, -12, 0, -24, 0, 0, 0, 0, + 0, 0, 0, -3, 0, -16, -8, 0, + -16, 0, -6, 0, 0, -6, 0, -6, + 0, 0, -6, -2, -2, 0, -5, 0, + -5, -8, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, -3, -2, 0, + 0, 0, 0, -19, 0, -14, 0, 0, + -30, 0, 0, 0, 0, 0, -10, -4, + -1, -5, -6, -6, -1, 0, 0, 0, + 0, 0, 1, -2, 0, -3, -6, 0, + 0, -6, 0, 4, 0, 0, 3, -2, + -2, 0, -5, 0, -3, -8, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, -3, -2, 0, 0, 0, 0, -2, + -1, 2, -1, -1, -1, 0, -3, 0, + -5, -1, 0, -8, -1, -2, -4, -4, + 0, 0, 0, 0, 0, -3, 0, 0, + -3, 0, 0, 0, 0, 0, 0, -3, + 0, 0, -1, 0, -1, 0, -1, 0, + -5, -2, 0, 0, 0, 0, -1, 0, + 0, 0, 0, -7, -5, -5, -7, 0, + 0, 0, 0, -15, -9, -11, -2, -2, + -23, 0, 1, 0, 0, 0, -4, 0, + 0, -12, -17, -17, -1, -6, -8, -5, + -6, -15, -13, -16, -15, -9, 0, 0, + 0, 0, 0, -1, 0, 0, -7, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, -2, 0, 0, 0, + 0, -2, -1, 0, 0, 2, 0, -14, + -5, -13, -5, -5, -21, -3, 0, 0, + 4, 4, -1, 4, 0, -8, -13, -13, + 0, -2, -5, -1, -2, -3, 0, -7, + -3, -6, 0, 2, 0, -8, -3, -3, + 0, 0, -12, 0, 0, 0, 4, 2, + 0, 4, 0, -4, -6, -6, 0, 0, + 0, 0, 0, 0, 0, -4, 0, -2, + 0, 2, -3, 0, -6, 2, -5, -5, + 0, 0, -4, 0, -1, 0, 0, -2, + 0, -3, -7, -7, 0, 0, -1, -4, + 0, -9, -5, 0, -9, -1, 0, 2, + 0, -14, -9, -15, -6, -6, -26, -5, + 0, 0, 4, 4, -2, 4, 0, -14, + -20, -20, 0, -8, -16, -3, -8, -9, + -8, -12, -9, -11, 0, 0, 0, 0, + -6, 0, -1, -1, 2, 0, 0, 0, + 0, 0, 0, 0, 0, -1, -1, -1, + 0, 0, 0, 0, 0, -4, -2, 0, + -4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, -12, 0, -10, -5, + 0, -16, 0, 0, 0, 0, 0, 0, + 0, 0, 0, -3, -3, 0, -4, 0, + -5, 0, -2, -3, 0, -1, 0, 0, + 0, 0, -17, 0, -13, -5, -5, -20, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, -4, -2, -7, -4, 0, -3, 0, + 0, -2, -3, 0, 0, 0, 2, 0, + -16, 0, -8, -4, 0, -14, 0, -1, + -2, -2, 0, 0, 0, 0, 0, 0, + 0, -2, 0, 0, -7, 0, -4, -2, + 0, 0, 0, 0, 0, 0, -17, 0, + -14, -5, 0, -19, 0, 0, 0, 0, + 0, 0, 0, 0, 0, -5, -2, -7, + -5, 0, 0, 0, 0, -5, -1, -1, + 0, 0, -5, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1, 1, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -4, 0, -3, 0, 0, -10, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, -5, 0, + -1, 0, 0, 0, 0, 0, 0, 0, + -16, 0, -14, -5, 0, -17, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -4, 0, 0, 0, 0, 0, + 0, 4, -1, -2, 0, 0, -12, -2, + -10, -6, 0, -14, 0, 0, -2, -10, + 0, 0, 0, 0, 0, 0, 0, 0, + -2, 0, 0, 0, 0, 0, 0, 3, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -15, 0, -14, -5, 0, -16, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + -15, 0, -14, -5, 0, -16, 0, 0, + 0, 0, 0, 0, 0, 0, 0, -3, + 0, 0, -4, 0, -5, 0, -2, -3, + 0, -1, 0, 0, 0, 0, -17, 0, + -13, -6, -5, -20, 0, 0, 0, 0, + 0, 0, 0, 0, 0, -4, -2, -7, + -4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, -4, 0, -2, 0, + 0, -9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, -14, 0, -10, 0, 0, + -29, 0, -17, 0, -6, -2, 0, -14, + 0, -2, -2, -2, 0, 0, 0, 1, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, -1, 0, + -20, 0, -15, -9, 0, -19, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -2, 0, -2, 0, 0, 0, + 0, 0, 0, 0, 1, 0, -7, 0, + -3, 0, 0, -5, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, -7, 0, -2, 0, + 0, -9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, -8, 0, -7, 0, 0, + -17, 0, -16, 0, 0, 0, -9, -9, + 0, -1, -4, -4, 0, 0, 0, 2, + 0, 3, 3, 0, 3, -2, 0, 0, + 0, -5, 0, -3, 0, 0, -12, 0, + -15, 0, 0, 0, -5, -8, 0, 0, + -2, -2, 0, 0, 0, 0, 0, 2, + 2, 0, 2, 0, 0, 0, 0, 0, + -3, 0, -4, -4, 0, 0, -16, -3, + -6, -3, 0, -12, 0, -2, -7, -7, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, -8, 0, -7, + 0, 0, -17, 0, -16, 0, -1, 0, + -9, -9, 0, -1, -4, -4, 0, 0, + 0, 2, 0, 3, 3, 0, 3, -2, + -3, 0, 0, 0, -1, 0, 0, 0, + 0, 0, -12, 0, -7, -1, 0, -11, + 0, -1, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0 +}; + + +/*Collect the kern class' data in one place*/ +static const lv_font_fmt_txt_kern_classes_t kern_classes = +{ + .class_pair_values = kern_class_values, + .left_class_mapping = kern_left_class_mapping, + .right_class_mapping = kern_right_class_mapping, + .left_class_cnt = 49, + .right_class_cnt = 30, +}; + +/*-------------------- + * ALL CUSTOM DATA + *--------------------*/ + +/*Store all the custom data of the font*/ +static lv_font_fmt_txt_dsc_t font_dsc = { + .glyph_bitmap = gylph_bitmap, + .glyph_dsc = glyph_dsc, + .cmaps = cmaps, + .cmap_num = 1, + .bpp = 1, + + .kern_scale = 16, + .kern_dsc = &kern_classes, + .kern_classes = 1 +}; + + +/*----------------- + * PUBLIC FONT + *----------------*/ + +/*Initialize a public general font descriptor*/ +lv_font_t din2014_18 = { + .dsc = &font_dsc, /*The custom font data. Will be accessed by `get_glyph_bitmap/dsc` */ + .get_glyph_bitmap = lv_font_get_bitmap_fmt_txt, /*Function pointer to get glyph's bitmap*/ + .get_glyph_dsc = lv_font_get_glyph_dsc_fmt_txt, /*Function pointer to get glyph's data*/ + .line_height = 19, /*The maximum line height required by the font*/ + .base_line = 4, /*Baseline measured from the bottom of the line*/ +}; + +#endif /*#if DIN2014_18*/ + diff --git a/fw/src/app/font_din2014light_12.c b/fw/src/app/font_din2014light_12.c new file mode 100644 index 0000000..9913ebe --- /dev/null +++ b/fw/src/app/font_din2014light_12.c @@ -0,0 +1,450 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include + +/******************************************************************************* + * Size: 12 px + * Bpp: 1 + * Opts: + ******************************************************************************/ + +#ifndef DIN2014LIGHT_12 +#define DIN2014LIGHT_12 1 +#endif + +#if DIN2014LIGHT_12 + +/*----------------- + * BITMAPS + *----------------*/ + +/*Store the image of the glyphs*/ +static LV_ATTRIBUTE_LARGE_CONST const uint8_t gylph_bitmap[] = { + /* U+20 " " */ + 0x0, + + /* U+21 "!" */ + 0xfd, + + /* U+22 "\"" */ + 0xf0, + + /* U+23 "#" */ + 0x24, 0x4b, 0xfa, 0x44, 0x9f, 0x92, 0x28, + + /* U+24 "$" */ + 0x21, 0x1d, 0x4a, 0x30, 0xe5, 0xaf, 0x88, 0x40, + + /* U+25 "%" */ + 0xf4, 0x98, 0x98, 0x68, 0x16, 0x19, 0x29, 0x2f, + + /* U+26 "&" */ + 0x70, 0xa1, 0x41, 0x6, 0x52, 0xa2, 0x3a, + + /* U+27 "'" */ + 0xc0, + + /* U+28 "(" */ + 0xa, 0x49, 0x24, 0x91, 0x0, + + /* U+29 ")" */ + 0x8, 0x92, 0x49, 0x25, 0x0, + + /* U+2A "*" */ + 0x23, 0x9c, 0x40, + + /* U+2B "+" */ + 0x27, 0xc8, 0x40, + + /* U+2C "," */ + 0xc0, + + /* U+2D "-" */ + 0xe0, + + /* U+2E "." */ + 0x80, + + /* U+2F "/" */ + 0x11, 0x22, 0x24, 0x48, 0x88, 0x80, + + /* U+30 "0" */ + 0x74, 0x63, 0x18, 0xc6, 0x2e, + + /* U+31 "1" */ + 0xd5, 0x55, + + /* U+32 "2" */ + 0x74, 0x42, 0x31, 0x11, 0x1f, + + /* U+33 "3" */ + 0x74, 0x42, 0x61, 0x86, 0x2e, + + /* U+34 "4" */ + 0x10, 0x82, 0x12, 0x49, 0x2f, 0xc2, + + /* U+35 "5" */ + 0xfc, 0x3d, 0x10, 0x86, 0x2e, + + /* U+36 "6" */ + 0x21, 0x10, 0xe8, 0xc6, 0x2e, + + /* U+37 "7" */ + 0xfc, 0x84, 0x22, 0x10, 0x88, + + /* U+38 "8" */ + 0x74, 0x62, 0xe8, 0xc6, 0x2e, + + /* U+39 "9" */ + 0x74, 0x63, 0x17, 0x8, 0x84, + + /* U+3A ":" */ + 0x84, + + /* U+3B ";" */ + 0x86, + + /* U+3C "<" */ + 0x3, 0xc4, 0x30, + + /* U+3D "=" */ + 0xf0, 0xf0, + + /* U+3E ">" */ + 0xc, 0x32, 0xc0, + + /* U+3F "?" */ + 0x74, 0x42, 0x33, 0x10, 0x4, + + /* U+40 "@" */ + 0x1e, 0x18, 0x65, 0xe6, 0x49, 0x92, 0x64, 0x98, + 0xd9, 0x0, 0x61, 0x7, 0x80, + + /* U+41 "A" */ + 0x10, 0xc2, 0x92, 0x49, 0xf8, 0x61, + + /* U+42 "B" */ + 0xf2, 0x28, 0xbc, 0x8e, 0x18, 0x7e, + + /* U+43 "C" */ + 0x7a, 0x18, 0x20, 0x82, 0x8, 0x5e, + + /* U+44 "D" */ + 0xfa, 0x18, 0x61, 0x86, 0x18, 0x7e, + + /* U+45 "E" */ + 0xfc, 0x21, 0xf8, 0x42, 0x1f, + + /* U+46 "F" */ + 0xfc, 0x21, 0xf8, 0x42, 0x10, + + /* U+47 "G" */ + 0x7a, 0x18, 0x60, 0x9e, 0x18, 0x5e, + + /* U+48 "H" */ + 0x86, 0x18, 0x7f, 0x86, 0x18, 0x61, + + /* U+49 "I" */ + 0xff, + + /* U+4A "J" */ + 0x8, 0x42, 0x10, 0x84, 0x3e, + + /* U+4B "K" */ + 0x85, 0x12, 0x45, 0xd, 0x11, 0x22, 0x42, + + /* U+4C "L" */ + 0x84, 0x21, 0x8, 0x42, 0x1f, + + /* U+4D "M" */ + 0x83, 0x8f, 0x1d, 0x5a, 0xb2, 0x60, 0xc1, + + /* U+4E "N" */ + 0x87, 0x1c, 0x69, 0x96, 0x58, 0xe1, + + /* U+4F "O" */ + 0x7a, 0x18, 0x61, 0x86, 0x18, 0x5e, + + /* U+50 "P" */ + 0xfa, 0x18, 0x61, 0xfa, 0x8, 0x20, + + /* U+51 "Q" */ + 0x79, 0xa, 0x14, 0x28, 0x52, 0xa2, 0x3e, + + /* U+52 "R" */ + 0xfa, 0x18, 0x61, 0xfa, 0x28, 0xa1, + + /* U+53 "S" */ + 0x7a, 0x8, 0x10, 0x38, 0x18, 0x5e, + + /* U+54 "T" */ + 0xfe, 0x20, 0x40, 0x81, 0x2, 0x4, 0x8, + + /* U+55 "U" */ + 0x86, 0x18, 0x61, 0x86, 0x18, 0x5e, + + /* U+56 "V" */ + 0x83, 0x9, 0x12, 0x42, 0x85, 0xc, 0x8, + + /* U+57 "W" */ + 0x88, 0x63, 0x28, 0xc9, 0x52, 0x52, 0x94, 0xc6, + 0x30, 0x84, + + /* U+58 "X" */ + 0x45, 0x22, 0x84, 0x30, 0xa4, 0xa1, + + /* U+59 "Y" */ + 0x84, 0x88, 0xa1, 0x41, 0x2, 0x4, 0x8, + + /* U+5A "Z" */ + 0xfc, 0x21, 0x4, 0x21, 0x4, 0x3f, + + /* U+5B "[" */ + 0xea, 0xaa, 0xb0, + + /* U+5C "\\" */ + 0x82, 0x10, 0x82, 0x10, 0x82, 0x10, 0x42, + + /* U+5D "]" */ + 0xd5, 0x55, 0x70, + + /* U+5E "^" */ + 0x22, 0xa2, + + /* U+5F "_" */ + 0xfc +}; + + +/*--------------------- + * GLYPH DESCRIPTION + *--------------------*/ + +static const lv_font_fmt_txt_glyph_dsc_t glyph_dsc[] = { + {.bitmap_index = 0, .adv_w = 0, .box_w = 0, .box_h = 0, .ofs_x = 0, .ofs_y = 0} /* id = 0 reserved */, + {.bitmap_index = 0, .adv_w = 48, .box_w = 1, .box_h = 1, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 1, .adv_w = 40, .box_w = 1, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 2, .adv_w = 56, .box_w = 2, .box_h = 2, .ofs_x = 1, .ofs_y = 6}, + {.bitmap_index = 3, .adv_w = 111, .box_w = 7, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 10, .adv_w = 94, .box_w = 5, .box_h = 12, .ofs_x = 1, .ofs_y = -2}, + {.bitmap_index = 18, .adv_w = 138, .box_w = 8, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 26, .adv_w = 125, .box_w = 7, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 33, .adv_w = 29, .box_w = 1, .box_h = 2, .ofs_x = 1, .ofs_y = 6}, + {.bitmap_index = 34, .adv_w = 58, .box_w = 3, .box_h = 11, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 39, .adv_w = 58, .box_w = 3, .box_h = 11, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 44, .adv_w = 83, .box_w = 5, .box_h = 4, .ofs_x = 0, .ofs_y = 4}, + {.bitmap_index = 47, .adv_w = 94, .box_w = 5, .box_h = 4, .ofs_x = 1, .ofs_y = 2}, + {.bitmap_index = 50, .adv_w = 38, .box_w = 1, .box_h = 2, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 51, .adv_w = 59, .box_w = 3, .box_h = 1, .ofs_x = 0, .ofs_y = 3}, + {.bitmap_index = 52, .adv_w = 41, .box_w = 1, .box_h = 1, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 53, .adv_w = 89, .box_w = 4, .box_h = 11, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 59, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 64, .adv_w = 94, .box_w = 2, .box_h = 8, .ofs_x = 2, .ofs_y = 0}, + {.bitmap_index = 66, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 71, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 76, .adv_w = 94, .box_w = 6, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 82, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 87, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 92, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 97, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 102, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 107, .adv_w = 38, .box_w = 1, .box_h = 6, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 108, .adv_w = 38, .box_w = 1, .box_h = 7, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 109, .adv_w = 83, .box_w = 4, .box_h = 5, .ofs_x = 1, .ofs_y = 2}, + {.bitmap_index = 112, .adv_w = 94, .box_w = 4, .box_h = 3, .ofs_x = 1, .ofs_y = 3}, + {.bitmap_index = 114, .adv_w = 83, .box_w = 4, .box_h = 5, .ofs_x = 1, .ofs_y = 2}, + {.bitmap_index = 117, .adv_w = 94, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 122, .adv_w = 172, .box_w = 10, .box_h = 10, .ofs_x = 1, .ofs_y = -2}, + {.bitmap_index = 135, .adv_w = 106, .box_w = 6, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 141, .adv_w = 114, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 147, .adv_w = 111, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 153, .adv_w = 116, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 159, .adv_w = 104, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 164, .adv_w = 103, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 169, .adv_w = 116, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 175, .adv_w = 122, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 181, .adv_w = 50, .box_w = 1, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 182, .adv_w = 97, .box_w = 5, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 187, .adv_w = 119, .box_w = 7, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 194, .adv_w = 96, .box_w = 5, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 199, .adv_w = 144, .box_w = 7, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 206, .adv_w = 122, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 212, .adv_w = 115, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 218, .adv_w = 113, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 224, .adv_w = 115, .box_w = 7, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 231, .adv_w = 116, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 237, .adv_w = 109, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 243, .adv_w = 99, .box_w = 7, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 250, .adv_w = 129, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 256, .adv_w = 110, .box_w = 7, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 263, .adv_w = 157, .box_w = 10, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 273, .adv_w = 106, .box_w = 6, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 279, .adv_w = 103, .box_w = 7, .box_h = 8, .ofs_x = 0, .ofs_y = 0}, + {.bitmap_index = 286, .adv_w = 99, .box_w = 6, .box_h = 8, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 292, .adv_w = 59, .box_w = 2, .box_h = 10, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 295, .adv_w = 89, .box_w = 5, .box_h = 11, .ofs_x = 0, .ofs_y = -1}, + {.bitmap_index = 302, .adv_w = 59, .box_w = 2, .box_h = 10, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 305, .adv_w = 87, .box_w = 5, .box_h = 3, .ofs_x = 0, .ofs_y = 5}, + {.bitmap_index = 307, .adv_w = 101, .box_w = 6, .box_h = 1, .ofs_x = 0, .ofs_y = -2} +}; + +/*--------------------- + * CHARACTER MAPPING + *--------------------*/ + + + +/*Collect the unicode lists and glyph_id offsets*/ +static const lv_font_fmt_txt_cmap_t cmaps[] = +{ + { + .range_start = 32, .range_length = 64, .glyph_id_start = 1, + .unicode_list = NULL, .glyph_id_ofs_list = NULL, .list_length = 0, .type = LV_FONT_FMT_TXT_CMAP_FORMAT0_TINY + } +}; + +/*----------------- + * KERNING + *----------------*/ + + +/*Map glyph_ids to kern left classes*/ +static const uint8_t kern_left_class_mapping[] = +{ + 0, 1, 0, 2, 0, 0, 0, 0, + 2, 3, 0, 4, 0, 5, 6, 5, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 8, 9, 10, 11, 0, 12, + 13, 0, 0, 14, 15, 16, 0, 0, + 17, 18, 19, 20, 21, 22, 23, 24, + 25, 26, 27, 28, 3, 0, 0, 0, + 0 +}; + +/*Map glyph_ids to kern right classes*/ +static const uint8_t kern_right_class_mapping[] = +{ + 0, 0, 0, 1, 0, 0, 0, 0, + 1, 0, 2, 3, 0, 4, 5, 4, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 6, 0, 7, 0, 0, 0, + 7, 0, 0, 8, 0, 0, 0, 0, + 7, 0, 9, 0, 10, 11, 12, 13, + 14, 15, 16, 17, 0, 0, 2, 0, + 0 +}; + +/*Kern values between classes*/ +static const int8_t kern_class_values[] = +{ + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, -6, -3, -9, -4, + -10, -4, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 2, 0, 0, -2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, -6, -1, + -7, 0, -12, 0, 0, 0, 0, 0, + 0, -2, 0, 0, -6, 0, -5, 0, + -5, 0, -4, -1, -4, 0, -11, 0, + -9, -4, 0, -9, 0, -3, -2, -1, + -4, 0, -2, 0, -8, 0, 0, -8, + 0, -3, -2, -4, -6, -2, 0, 0, + 0, -5, -3, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, -9, + 0, -7, 0, -2, 0, -1, 0, -1, + -1, -7, -2, -7, -1, 0, -9, 0, + 0, 0, 0, 0, 0, 0, 0, -2, + 0, 0, -2, 0, 0, 0, -1, 0, + 0, 0, 0, 0, -1, 0, -2, 0, + -3, 0, -1, -2, 0, -2, 0, -4, + -3, 0, -4, 0, 0, -4, 0, -1, + 0, -2, 0, 0, -2, 0, -2, 0, + -3, -5, -1, 0, 0, 0, -8, 0, + -8, -2, -19, -2, -3, -1, 0, -2, + -1, -7, -3, -3, 0, 0, 0, 0, + 0, -1, 0, -3, 0, 0, 0, 0, + -1, 0, -3, -3, -2, 0, 0, 0, + 0, 0, -4, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, -1, 0, + -4, 0, -5, 0, -2, 0, -2, -2, + -2, -1, -2, 0, 0, -3, 0, -9, + 0, -10, 0, -8, 1, -6, 0, -6, + -2, -10, 0, -12, -6, 0, -15, 0, + -4, 0, 0, -4, 0, -1, 0, -5, + 0, 0, -2, 0, -2, 0, -3, -5, + -1, -1, -1, 0, -11, -1, -11, -1, + -24, -1, -1, -1, 0, 0, 0, -6, + -4, -4, -4, 0, 0, -4, 0, 0, + 0, -1, 0, 0, -2, 0, -2, 0, + -3, -5, -1, -1, 0, 0, 0, -1, + 0, 0, -2, 0, 0, -2, 0, -2, + 0, 0, -4, 0, 0, 0, 0, 0, + 0, 0, 0, -2, 0, 0, -4, 0, + -2, 0, -2, -5, 0, 0, 0, 0, + -11, -6, -7, -2, -18, -2, -2, 1, + 0, 0, 0, -2, 0, 0, 0, 0, + 0, 0, 0, -2, 0, -5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, -9, -3, -7, -2, -13, -2, + -1, 0, 0, 0, 0, -1, 0, 0, + 0, 0, 0, -4, -2, -1, 0, -8, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, -2, 0, -4, 0, -3, + -2, -3, 0, -2, 0, -1, 0, -1, + -2, 0, 0, 0, 0, -9, -6, -9, + -5, -18, -5, -3, 0, 0, 0, 0, + -2, 0, 0, 0, 0, 0, 0, -5, + 0, -3, -2, -3, 0, 0, 0, 0, + 0, -1, 0, 0 +}; + + +/*Collect the kern class' data in one place*/ +static const lv_font_fmt_txt_kern_classes_t kern_classes = +{ + .class_pair_values = kern_class_values, + .left_class_mapping = kern_left_class_mapping, + .right_class_mapping = kern_right_class_mapping, + .left_class_cnt = 28, + .right_class_cnt = 17, +}; + +/*-------------------- + * ALL CUSTOM DATA + *--------------------*/ + +/*Store all the custom data of the font*/ +static lv_font_fmt_txt_dsc_t font_dsc = { + .glyph_bitmap = gylph_bitmap, + .glyph_dsc = glyph_dsc, + .cmaps = cmaps, + .kern_dsc = &kern_classes, + .kern_scale = 16, + .cmap_num = 1, + .bpp = 1, + .kern_classes = 1, + .bitmap_format = 0 +}; + + +/*----------------- + * PUBLIC FONT + *----------------*/ + +/*Initialize a public general font descriptor*/ +lv_font_t din2014light_12 = { + .get_glyph_dsc = lv_font_get_glyph_dsc_fmt_txt, /*Function pointer to get glyph's data*/ + .get_glyph_bitmap = lv_font_get_bitmap_fmt_txt, /*Function pointer to get glyph's bitmap*/ + .line_height = 12, /*The maximum line height required by the font*/ + .base_line = 2, /*Baseline measured from the bottom of the line*/ +#if !(LVGL_VERSION_MAJOR == 6 && LVGL_VERSION_MINOR == 0) + .subpx = LV_FONT_SUBPX_NONE, +#endif + .dsc = &font_dsc /*The custom font data. Will be accessed by `get_glyph_bitmap/dsc` */ +}; + +#endif /*#if DIN2014LIGHT_12*/ + diff --git a/fw/src/app/font_iecsymbol_30.c b/fw/src/app/font_iecsymbol_30.c new file mode 100644 index 0000000..eac7c32 --- /dev/null +++ b/fw/src/app/font_iecsymbol_30.c @@ -0,0 +1,156 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include + +/******************************************************************************* + * Size: 30 px + * Bpp: 1 + * Opts: + ******************************************************************************/ + +#ifndef IECSYMBOL_30 +#define IECSYMBOL_30 1 +#endif + +#if IECSYMBOL_30 + +/*----------------- + * BITMAPS + *----------------*/ + +/*Store the image of the glyphs*/ +static LV_ATTRIBUTE_LARGE_CONST const uint8_t gylph_bitmap[] = { + // "1" maps to this glyph + /* U+23FB "⏻" */ + 0x0, 0x18, 0x0, 0x0, 0x1e, 0x0, 0x0, 0xf, + 0x0, 0x0, 0x7, 0x80, 0x0, 0x3, 0xc0, 0x0, + 0x1, 0xe0, 0x0, 0x0, 0xf0, 0x0, 0x38, 0x78, + 0x38, 0x3e, 0x3c, 0x3c, 0x1f, 0x1e, 0x1f, 0x1f, + 0xf, 0xf, 0xcf, 0x7, 0x83, 0xef, 0x83, 0xc0, + 0xf7, 0x81, 0xe0, 0x7f, 0xc0, 0xf0, 0x1f, 0xe0, + 0x78, 0xf, 0xf0, 0x3c, 0x7, 0xf8, 0xc, 0x3, + 0xfc, 0x0, 0x1, 0xff, 0x0, 0x1, 0xf7, 0x80, + 0x0, 0xf3, 0xe0, 0x0, 0xf8, 0xf0, 0x0, 0x78, + 0x7e, 0x0, 0xfc, 0x1f, 0xc1, 0xfc, 0x7, 0xff, + 0xfc, 0x1, 0xff, 0xfc, 0x0, 0x3f, 0xf8, 0x0, + 0x7, 0xf0, 0x0, + + // "2"... + /* U+23FC "⏼" */ + 0x0, 0x3f, 0x80, 0x0, 0x1f, 0xff, 0x0, 0x3, + 0xff, 0xfc, 0x0, 0x7f, 0xff, 0xe0, 0xf, 0xff, + 0xff, 0x1, 0xfe, 0x7, 0xf8, 0x3f, 0x80, 0x1f, + 0xc3, 0xf0, 0x0, 0xfc, 0x7e, 0xe, 0x7, 0xe7, + 0xc1, 0xf0, 0x3e, 0xfc, 0x1f, 0x3, 0xff, 0x81, + 0xf0, 0x1f, 0xf8, 0x1f, 0x1, 0xff, 0x81, 0xf0, + 0x1f, 0xf8, 0x1f, 0x1, 0xff, 0x81, 0xf0, 0x1f, + 0xf8, 0x1f, 0x1, 0xff, 0xc1, 0xf0, 0x3f, 0x7c, + 0x1f, 0x3, 0xe7, 0xe1, 0xf0, 0x7e, 0x3f, 0xe, + 0xf, 0xc3, 0xf8, 0x1, 0xfc, 0x1f, 0xe0, 0x7f, + 0x80, 0xff, 0xff, 0xf0, 0x7, 0xff, 0xfe, 0x0, + 0x3f, 0xff, 0xc0, 0x0, 0xff, 0xf0, 0x0, 0x3, + 0xfc, 0x0, + + /* U+23FD "⏽" */ + 0x77, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, + 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, + 0xfe, 0xe0, + + /* U+23FE "⏾" */ + 0x1, 0x0, 0x0, 0x60, 0x0, 0xe, 0x0, 0x1, + 0xe0, 0x0, 0x1c, 0x0, 0x3, 0xc0, 0x0, 0x7c, + 0x0, 0x7, 0xc0, 0x0, 0x7c, 0x0, 0xf, 0xc0, + 0x0, 0xfc, 0x0, 0xf, 0xc0, 0x0, 0xfe, 0x0, + 0xf, 0xe0, 0x0, 0xfe, 0x0, 0xf, 0xf0, 0x0, + 0xff, 0x0, 0x7, 0xf8, 0x0, 0x7f, 0x80, 0x3, + 0xfc, 0x0, 0x3f, 0xe0, 0x1, 0xff, 0x0, 0xf, + 0xf8, 0x0, 0x7f, 0xc0, 0x3, 0xff, 0x0, 0xf, + 0xfc, 0x0, 0x3f, 0xe0, + + /* U+2B58 "⭘" */ + 0x0, 0x3f, 0x80, 0x0, 0x3f, 0xfe, 0x0, 0xf, + 0xff, 0xe0, 0x7, 0xff, 0xff, 0x1, 0xfe, 0xf, + 0xf0, 0x3f, 0x0, 0x7e, 0xf, 0xc0, 0x7, 0xe3, + 0xf0, 0x0, 0x7e, 0x7c, 0x0, 0x7, 0xcf, 0x80, + 0x0, 0xfb, 0xe0, 0x0, 0xf, 0xfc, 0x0, 0x1, + 0xff, 0x80, 0x0, 0x3f, 0xf0, 0x0, 0x7, 0xfe, + 0x0, 0x0, 0xff, 0xc0, 0x0, 0x1f, 0xf8, 0x0, + 0x3, 0xef, 0x80, 0x0, 0xf9, 0xf0, 0x0, 0x1f, + 0x3f, 0x0, 0x7, 0xe3, 0xf0, 0x1, 0xf8, 0x3f, + 0x0, 0x7e, 0x7, 0xf8, 0x3f, 0xc0, 0x7f, 0xff, + 0xf0, 0x3, 0xff, 0xf8, 0x0, 0x3f, 0xfe, 0x0, + 0x0, 0xfe, 0x0, 0x0 +}; + + +/*--------------------- + * GLYPH DESCRIPTION + *--------------------*/ + +static const lv_font_fmt_txt_glyph_dsc_t glyph_dsc[] = { + {.bitmap_index = 0, .adv_w = 0, .box_w = 0, .box_h = 0, .ofs_x = 0, .ofs_y = 0} /* id = 0 reserved */, + {.bitmap_index = 0, .adv_w = 480, .box_w = 25, .box_h = 29, .ofs_x = 2, .ofs_y = 0}, + {.bitmap_index = 91, .adv_w = 480, .box_w = 28, .box_h = 28, .ofs_x = 1, .ofs_y = 0}, + {.bitmap_index = 189, .adv_w = 480, .box_w = 5, .box_h = 28, .ofs_x = 12, .ofs_y = 0}, + {.bitmap_index = 207, .adv_w = 480, .box_w = 20, .box_h = 27, .ofs_x = 4, .ofs_y = 0}, + {.bitmap_index = 275, .adv_w = 480, .box_w = 27, .box_h = 27, .ofs_x = 1, .ofs_y = 0} +}; + +/*--------------------- + * CHARACTER MAPPING + *--------------------*/ + + +/*Collect the unicode lists and glyph_id offsets*/ +static const lv_font_fmt_txt_cmap_t cmaps[] = +{ + { + .range_start = 49, .range_length = 5, .glyph_id_start = 1, + .unicode_list = NULL, .glyph_id_ofs_list = NULL, .list_length = 0, .type = LV_FONT_FMT_TXT_CMAP_FORMAT0_TINY + } +}; + + + +/*-------------------- + * ALL CUSTOM DATA + *--------------------*/ + +/*Store all the custom data of the font*/ +static lv_font_fmt_txt_dsc_t font_dsc = { + .glyph_bitmap = gylph_bitmap, + .glyph_dsc = glyph_dsc, + .cmaps = cmaps, + .kern_dsc = NULL, + .kern_scale = 0, + .cmap_num = 1, + .bpp = 1, + .kern_classes = 0, + .bitmap_format = 0 +}; + + +/*----------------- + * PUBLIC FONT + *----------------*/ + +/*Initialize a public general font descriptor*/ +lv_font_t iecsymbol_30 = { + .get_glyph_dsc = lv_font_get_glyph_dsc_fmt_txt, /*Function pointer to get glyph's data*/ + .get_glyph_bitmap = lv_font_get_bitmap_fmt_txt, /*Function pointer to get glyph's bitmap*/ + .line_height = 29, /*The maximum line height required by the font*/ + .base_line = 0, /*Baseline measured from the bottom of the line*/ +#if !(LVGL_VERSION_MAJOR == 6 && LVGL_VERSION_MINOR == 0) + .subpx = LV_FONT_SUBPX_NONE, +#endif +#if LV_VERSION_CHECK(7, 4, 0) + .underline_position = 0, + .underline_thickness = 0, +#endif + .dsc = &font_dsc /*The custom font data. Will be accessed by `get_glyph_bitmap/dsc` */ +}; + + + +#endif /*#if IECSYMBOL_30*/ + diff --git a/fw/src/app/font_moabsym_30.c b/fw/src/app/font_moabsym_30.c new file mode 100644 index 0000000..80e0275 --- /dev/null +++ b/fw/src/app/font_moabsym_30.c @@ -0,0 +1,184 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include + + +/******************************************************************************* + * Size: 30 px + * Bpp: 1 + * Opts: + ******************************************************************************/ + +#ifndef MOABSYM_30 +#define MOABSYM_30 1 +#endif + +#if MOABSYM_30 + +/*----------------- + * BITMAPS + *----------------*/ + +/*Store the image of the glyphs*/ +static LV_ATTRIBUTE_LARGE_CONST const uint8_t gylph_bitmap[] = { + + /* U+31 "1" UP_DOWN */ + 0x3, 0x0, 0x1e, 0x0, 0xfc, 0x7, 0x38, 0x38, // 0 + 0x71, 0xc0, 0xee, 0x1, 0xd0, 0x2, 0x0, 0x0, // 8 + 0x0, 0x0, 0x30, 0x1, 0xe0, 0x7, 0x80, 0x1e, // 16 + 0x0, 0x70, 0x0, 0x0, 0x0, 0x1, 0x0, 0x2e, // 24 + 0x1, 0xdc, 0xe, 0x38, 0x70, 0x73, 0x80, 0xfc, // 32 + 0x1, 0xe0, 0x3, 0x0, // 40 + + /* U+32 "2" DOWN */ + 0x3, 0x0, 0x1e, 0x0, 0x78, 0x1, 0xe0, 0x7, // 44 + 0x0, 0x0, 0x0, 0x0, 0x10, 0x2, 0xe0, 0x1d, // 52 + 0xc0, 0xe3, 0x87, 0x7, 0x38, 0xf, 0xc0, 0x1e, // 60 + 0x0, 0x30, 0x0, // 68 + + /* U+33 "3" UP */ + 0x3, 0x0, 0x1e, 0x0, 0xfc, 0x7, 0x38, 0x38, // 71 + 0x71, 0xc0, 0xee, 0x1, 0xd0, 0x2, 0x0, 0x0, // 79 + 0x0, 0x0, 0x30, 0x1, 0xe0, 0x7, 0x80, 0x1e, // 87 + 0x0, 0x70, 0x0, // 95 + + /* U+34 "4" DOT */ // 0 1 2 3 + 0x00, 0x00, 0x00, 0x00, // 0000000000000000000000000000 98 + 0x07, 0xfc, 0x00, // 0000000001111111110000000000 102 + 0x01, 0xe0, 0x78, 0x00, // 0000000111100000011110000000 105 + 0x30, 0x00, 0xc0, // 0000001100000000000011000000 109 + 0x06, 0x00, 0x06, 0x00, // 0000011000000000000001100000 112 + 0x80, 0x00, 0x10, // 0000100000000000000000010000 116 + 0x10, 0x00, 0x00, 0x83, // 0001000000000000000000001000 119 + 0x00, 0x00, 0x0c, // 0011000000000000000000001100 123 + 0x20, 0x0f, 0x00, 0x46, // 0010000000001111000000000100 126 + 0x03, 0xfc, 0x06, // 0011000000111111110000000110 130 + 0x40, 0x7f, 0xe0, 0x24, // 0100000001111111111000000010 133 + 0x07, 0xfe, 0x02, // 0100000001111111111000000010 137 + 0xc0, 0xff, 0xf0, 0x3c, // 1100000011111111111100000011 140 + 0x0f, 0xff, 0x03, // 1100000011111111111100000011 144 + 0x80, 0xff, 0xf0, 0x1c, // 1000000011111111111100000001 147 + 0x0f, 0xff, 0x03, // 1100000011111111111100000011 151 + 0xc0, 0xff, 0xf0, 0x34, // 1100000011111111111100000011 154 + 0x07, 0xfe, 0x02, // 0100000001111111111000000010 158 + 0x40, 0x7f, 0xe0, 0x26, // 0100000001111111111000000010 161 + 0x03, 0xfc, 0x06, // 0110000000111111110000000110 165 + 0x20, 0x0f, 0x00, 0x43, // 0010000000001111000000000100 168 + 0x00, 0x00, 0x0c, // 0011000000000000000000001100 172 + 0x10, 0x00, 0x00, 0x80, // 0001000000000000000000001000 175 + 0x80, 0x00, 0x10, // 0000100000000000000000010000 179 + 0x04, 0x00, 0x02, 0x00, // 0000010000000000000000100000 182 + 0x30, 0x00, 0xc0, // 0000001100000000000011000000 186 + 0x01, 0xe0, 0x78, 0x00, // 0000000111110000011110000000 189 + 0x03, 0xfc, 0x00, // 0000000000111111110000000000 193 + 0x00, 0x00, 0x00, 0x00, // 0000000000000000000000000000 196 + + /* U+35 "5" PAUSE */ + // offset 200 + 0x0, 0x7f, 0xc0, 0x0, 0x1e, 0x7, 0x80, 0x3, + 0x0, 0xc, 0x0, 0x60, 0x0, 0x60, 0x8, 0x0, + 0x1, 0x1, 0x0, 0x0, 0x8, 0x30, 0x0, 0x0, + 0xc2, 0x0, 0x0, 0x4, 0x60, 0x70, 0xe0, 0x64, + 0x7, 0xe, 0x2, 0x40, 0x70, 0xe0, 0x2c, 0x7, + 0xe, 0x3, 0xc0, 0x70, 0xe0, 0x38, 0x7, 0xe, + 0x1, 0xc0, 0x70, 0xe0, 0x3c, 0x7, 0xe, 0x3, + 0x40, 0x70, 0xe0, 0x24, 0x7, 0xe, 0x2, 0x60, + 0x70, 0xe0, 0x62, 0x0, 0x0, 0x4, 0x30, 0x0, + 0x0, 0xc1, 0x0, 0x0, 0x8, 0x8, 0x0, 0x1, + 0x0, 0x40, 0x0, 0x60, 0x3, 0x0, 0xc, 0x0, + 0x1e, 0x7, 0x80, 0x0, 0x3f, 0xc0, 0x0, + + /* U+36 "6" CHECK */ + 0x0, 0x7f, 0xc0, 0x0, 0x1e, 0x7, 0x80, 0x3, + 0x0, 0xc, 0x0, 0x60, 0x0, 0x60, 0x8, 0x0, + 0x1, 0x1, 0x0, 0x0, 0x8, 0x30, 0x0, 0x0, + 0xc2, 0x0, 0x0, 0x4, 0x60, 0x0, 0x10, 0x64, + 0x0, 0x3, 0x82, 0x40, 0x0, 0x70, 0x2c, 0x0, + 0xe, 0x3, 0xc3, 0x1, 0xc0, 0x38, 0x18, 0x38, + 0x1, 0xc1, 0xc7, 0x0, 0x3c, 0xe, 0xe0, 0x3, + 0x40, 0x7c, 0x0, 0x24, 0x3, 0x80, 0x2, 0x60, + 0x10, 0x0, 0x62, 0x0, 0x0, 0x4, 0x30, 0x0, + 0x0, 0xc1, 0x0, 0x0, 0x8, 0x8, 0x0, 0x1, + 0x0, 0x40, 0x0, 0x60, 0x3, 0x0, 0xc, 0x0, + 0x1e, 0x7, 0x80, 0x0, 0x3f, 0xc0, 0x0, + + /* U+37 "7" X */ + 0x0, 0x7f, 0xc0, 0x0, 0x1e, 0x7, 0x80, 0x3, + 0x0, 0xc, 0x0, 0x60, 0x0, 0x60, 0x8, 0x0, + 0x1, 0x1, 0x0, 0x0, 0x8, 0x30, 0x0, 0x0, + 0xc2, 0x0, 0x0, 0x4, 0x60, 0x40, 0x20, 0x64, + 0x6, 0x6, 0x2, 0x40, 0x30, 0xc0, 0x2c, 0x1, + 0x98, 0x3, 0xc0, 0xf, 0x0, 0x38, 0x0, 0x60, + 0x1, 0xc0, 0xf, 0x0, 0x3c, 0x1, 0x98, 0x3, + 0x40, 0x30, 0xc0, 0x24, 0x6, 0x6, 0x2, 0x60, + 0x40, 0x20, 0x62, 0x0, 0x0, 0x4, 0x30, 0x0, + 0x0, 0xc1, 0x0, 0x0, 0x8, 0x8, 0x0, 0x1, + 0x0, 0x40, 0x0, 0x60, 0x3, 0x0, 0xc, 0x0, + 0x1e, 0x7, 0x80, 0x0, 0x3f, 0xc0, 0x0 + +}; + + +/*--------------------- + * GLYPH DESCRIPTION + *--------------------*/ + +static const lv_font_fmt_txt_glyph_dsc_t glyph_dsc[] = { + {.bitmap_index = 0, .adv_w = 0, .box_w = 0, .box_h = 0, .ofs_x = 0, .ofs_y = 0} /* id = 0 reserved */, + {.bitmap_index = 0, .adv_w = 480, .box_w = 14, .box_h = 25, .ofs_x = 8, .ofs_y = 0}, + {.bitmap_index = 44, .adv_w = 480, .box_w = 14, .box_h = 15, .ofs_x = 8, .ofs_y = 0}, + {.bitmap_index = 71, .adv_w = 480, .box_w = 14, .box_h = 15, .ofs_x = 8, .ofs_y = 10}, + {.bitmap_index = 98, .adv_w = 480, .box_w = 28, .box_h = 29, .ofs_x = 1, .ofs_y = -2}, + {.bitmap_index = 200, .adv_w = 480, .box_w = 28, .box_h = 27, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 295, .adv_w = 480, .box_w = 28, .box_h = 27, .ofs_x = 1, .ofs_y = -1}, + {.bitmap_index = 390, .adv_w = 480, .box_w = 28, .box_h = 27, .ofs_x = 1, .ofs_y = -1}, +}; + +/*--------------------- + * CHARACTER MAPPING + *--------------------*/ + + + +/*Collect the unicode lists and glyph_id offsets*/ +static const lv_font_fmt_txt_cmap_t cmaps[] = +{ + { + .range_start = 49, .range_length = 8, .glyph_id_start = 1, + .unicode_list = NULL, .glyph_id_ofs_list = NULL, .list_length = 0, .type = LV_FONT_FMT_TXT_CMAP_FORMAT0_TINY + } +}; +/*-------------------- + * ALL CUSTOM DATA + *--------------------*/ + +/*Store all the custom data of the font*/ +static lv_font_fmt_txt_dsc_t font_dsc = { + .glyph_bitmap = gylph_bitmap, + .glyph_dsc = glyph_dsc, + .cmaps = cmaps, + .cmap_num = 1, + .bpp = 1, + + .kern_scale = 0, + .kern_dsc = NULL, + .kern_classes = 0, +}; + +/*----------------- + * PUBLIC FONT + *----------------*/ + +/*Initialize a public general font descriptor*/ +lv_font_t moabsym_30 = { + .get_glyph_dsc = lv_font_get_glyph_dsc_fmt_txt, /*Function pointer to get glyph's data*/ + .get_glyph_bitmap = lv_font_get_bitmap_fmt_txt, /*Function pointer to get glyph's bitmap*/ + .line_height = 29, /*The maximum line height required by the font*/ + .base_line = 1, /*Baseline measured from the bottom of the line*/ +#if !(LVGL_VERSION_MAJOR == 6 && LVGL_VERSION_MINOR == 0) + .subpx = LV_FONT_SUBPX_NONE, +#endif + .dsc = &font_dsc /*The custom font data. Will be accessed by `get_glyph_bitmap/dsc` */ +}; + +#endif /*#if ICONS_V3*/ diff --git a/fw/src/app/headers.h b/fw/src/app/headers.h new file mode 100644 index 0000000..6ee0b68 --- /dev/null +++ b/fw/src/app/headers.h @@ -0,0 +1,26 @@ +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include diff --git a/fw/src/app/joystick.c b/fw/src/app/joystick.c new file mode 100644 index 0000000..34e13ae --- /dev/null +++ b/fw/src/app/joystick.c @@ -0,0 +1,316 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include "headers.h" +#include "state.h" +#include "joystick.h" +#include "spi.h" + +LOG_MODULE_REGISTER(joystick); + +#define ADC_RESOLUTION 12 +#define ADC_MAX 4095 +#define ADC_MAX_VOLT 3.3 +#define ADC_VOLT_BIT (ADC_MAX_VOLT / ADC_MAX) +#define JOY_CENTER_VOLTS (ADC_MAX_VOLT / 2.0) +#define JOY_X_CHANNEL 0 +#define JOY_Y_CHANNEL 1 +#define OTP_BASE_ADDR 0x1FFF7800 +#define OTP_BANK_SIZE 0x20 +#define OTP_LOCK_ADDR 0x1FFF7A00 + +#define TYPICAL_90 1500 +#define TYPICAL_160 2250 + +/* size of stack area used by the thread */ +#define STACKSIZE 1024 + +/* scheduling priority used by the thread */ +#define PRIORITY 9 + + +static struct device *adc; +static struct adc_channel_cfg ch_x_cfg; +static struct adc_channel_cfg ch_y_cfg; +static u16_t adc_buffer; +joystick_cal_t calibration; + +static struct adc_sequence adc_table; + +static struct gpio_callback gpio_cb_joystick; +static struct gpio_callback gpio_cb_menu; + +// https://devzone.nordicsemi.com/f/nordic-q-a/54146/blink-led-on-button-press-on-nrf9160dk +// helped me on button up and down +// trigger callback on pin rising *and* falling: GPIO_INT_DOUBLE_EDGE + +// 4 buttons, 4 leds +// https://github.com/leonyoliveir/Embebbed-Systems/blob/fb797537b7818d7a6f15c9978d2152b2c3dafcc7/io_exercise/src/main.c + +#define EDGE (GPIO_INT | GPIO_INT_EDGE | GPIO_INT_DEBOUNCE) +#define JOY_BTN_PORT DT_ALIAS_BUTTON_JOYSTICK_GPIOS_CONTROLLER +#define JOY_BTN_PIN DT_ALIAS_BUTTON_JOYSTICK_GPIOS_PIN +#define JOY_BTN_FLAGS (DT_ALIAS_BUTTON_JOYSTICK_GPIOS_FLAGS | EDGE | GPIO_PUD_PULL_UP) +#define MENU_BTN_PORT DT_ALIAS_BUTTON_MENU_GPIOS_CONTROLLER +#define MENU_BTN_PIN DT_ALIAS_BUTTON_MENU_GPIOS_PIN +#define MENU_BTN_FLAGS (DT_ALIAS_BUTTON_MENU_GPIOS_FLAGS | EDGE | GPIO_PUD_PULL_UP) + + +static void menu_button_pressed(struct device *gpio, struct gpio_callback *cb, u32_t pins) +{ + int state = 0; + gpio_pin_read(gpio, MENU_BTN_PIN, &state); + atomic_set(&g_btn_menu, state); +} + +static void joy_button_pressed(struct device *gpio, struct gpio_callback *cb, u32_t pins) +{ + int state = 0; + gpio_pin_read(gpio, JOY_BTN_PIN, &state); + atomic_set(&g_btn_joy, state); +} + +static int joy_button_init(struct device *gpio_dev) +{ + // Likely need gpio_int_double_edge + gpio_pin_configure(gpio_dev, JOY_BTN_PIN, + (GPIO_DIR_IN | + GPIO_INT_ACTIVE_HIGH | // from moab_hat.dts + GPIO_INT | GPIO_INT_EDGE | GPIO_INT_DEBOUNCE | // from EDGE + GPIO_INT_DOUBLE_EDGE | + GPIO_PUD_PULL_UP)); + + // gpio_pin_interrupt_configure is called here in the sample code + // https://github.com/zephyrproject-rtos/zephyr/blob/master/samples/basic/button/src/main.c + // why is it missing here? + + gpio_init_callback(&gpio_cb_joystick, joy_button_pressed, BIT(JOY_BTN_PIN)); + gpio_add_callback(gpio_dev, &gpio_cb_joystick); + gpio_pin_enable_callback(gpio_dev, JOY_BTN_PIN); + + return 0; +} + +static int menu_button_init(struct device *gpio_dev) +{ + gpio_pin_configure(gpio_dev, MENU_BTN_PIN, + (GPIO_DIR_IN | + GPIO_INT_ACTIVE_HIGH | // from moab_hat.dts + GPIO_INT | GPIO_INT_EDGE | GPIO_INT_DEBOUNCE | // from EDGE + GPIO_INT_DOUBLE_EDGE | + GPIO_PUD_PULL_UP)); + + gpio_init_callback(&gpio_cb_menu, menu_button_pressed, BIT(MENU_BTN_PIN)); + gpio_add_callback(gpio_dev, &gpio_cb_menu); + gpio_pin_enable_callback(gpio_dev, MENU_BTN_PIN); + + return 0; +} + + +int joystick_position(int8_t* x_percent, int8_t* y_percent, joystick_cal_t *cal) +{ + int err = 0; + u16_t analog_val_x, analog_val_y; + float xscale, yscale; + + /* Configure ADC table structure */ + adc_table.channels = BIT(JOY_X_CHANNEL); + adc_table.resolution = ADC_RESOLUTION; + adc_table.buffer = &adc_buffer; + adc_table.buffer_size = sizeof(adc_buffer); + + if ((err = adc_read(adc, &adc_table)) != 0) + return err; + + analog_val_x = adc_buffer; + + /* Configure ADC table structure */ + adc_table.channels = BIT(JOY_Y_CHANNEL); + + if ((err = adc_read(adc, &adc_table)) != 0) + return err; + + analog_val_y = adc_buffer; + + if (cal) + { + analog_val_x -= (cal->x_error); + analog_val_y -= (cal->y_error); + + } + + float vx = analog_val_x * ADC_VOLT_BIT; + float vy = analog_val_y * ADC_VOLT_BIT; + + xscale = 1.0; + yscale = 1.0; + + if (cal) + { + if ((vx - JOY_CENTER_VOLTS) > 0) xscale = cal->xn_scale; + else xscale = cal->xp_scale; + if ((vy - JOY_CENTER_VOLTS) > 0) yscale = cal->yn_scale; + else yscale = cal->yp_scale; + } + + // Remove the joystick's calibrated offset error + *x_percent = -(int8_t)(((vx - JOY_CENTER_VOLTS) * (100 / JOY_CENTER_VOLTS))/xscale); + *y_percent = -(int8_t)(((vy - JOY_CENTER_VOLTS) * (100 / JOY_CENTER_VOLTS))/yscale); + + /* This operation removing the joystick's offset error can (and in the past + has) caused rollover errors by over- or underflowing. The next bit will + check for that and clamp the value to +100% or -100% as needed. */ + + // Check for int underflow (+offset) + if (analog_val_x > 10000) { + *x_percent = 100; + } else if (analog_val_x > ADC_MAX) { // also for overflow of the ADC's max value (-offset) + *x_percent = -100; + } + + if (analog_val_y > 10000) { + *y_percent = 100; + } else if (analog_val_y > ADC_MAX) { + *y_percent = -100; + } + + // Sanity check to clamp percent values to max. 100% in either direction + if (*x_percent > 100) { + *x_percent = 100; + } + + if (*x_percent < -100) { + *x_percent = -100; + } + + if (*y_percent > 100) { + *y_percent = 100; + } + + if (*y_percent < -100) { + *y_percent = -100; + } + + return err; +} + +static int adc_init(void) +{ + int err = 0; + + adc = device_get_binding(DT_ADC_1_NAME); + + if (adc == NULL) + { + LOG_ERR("Failed to get ADC device."); + return -EINVAL; + } + + /* Configure ADC channels */ + ch_x_cfg.channel_id = JOY_X_CHANNEL; + ch_x_cfg.differential = false; + ch_x_cfg.gain = ADC_GAIN_1, + ch_x_cfg.reference = ADC_REF_INTERNAL; + ch_x_cfg.acquisition_time = ADC_ACQ_TIME_DEFAULT; + + ch_y_cfg.channel_id = JOY_Y_CHANNEL; + ch_y_cfg.differential = false; + ch_y_cfg.gain = ADC_GAIN_1, + ch_y_cfg.reference = ADC_REF_INTERNAL; + ch_y_cfg.acquisition_time = ADC_ACQ_TIME_DEFAULT; + + if ((err = adc_channel_setup(adc, &ch_x_cfg)) != 0) + return err; + + err = adc_channel_setup(adc, &ch_y_cfg); + + return err; +} + +static void joy_task(void) +{ + struct device *joy_gpio_dev; + struct device *menu_gpio_dev; + int8_t joyx, joyy; + int err; + int bank = 14; + int i; + char cal[sizeof(joystick_cal_t)]; + char c; + uint32_t address = (OTP_BASE_ADDR + (OTP_BANK_SIZE*bank)); + + /* Start searching for calibration data at bank 14 and work downwards. This + makes sure we're always looking at the most recent valid calibration. */ + bank = 14; + for (bank = 14; bank >=0; bank -= 2) + { + c = *(unsigned char *)address; + + // 0xCB is a magic value that indicates the beginning of calibration data + if (c == 0xCB) + { + break; + } + + address = (OTP_BASE_ADDR + (OTP_BANK_SIZE * bank)); + } + + if (*(unsigned char *)address != 0xCB) { + LOG_ERR ("Joystick calibration not found"); + /* These are default pre-calibration values for the joystick */ + calibration.x_error = (0); + calibration.y_error = (0); + calibration.xp_scale = (0.5); + calibration.xn_scale = (0.5); + calibration.yp_scale = (0.5); + calibration.yn_scale = (0.5); + } + else + { + LOG_INF ("Found calibration data in bank: %i", bank); + address++; // skip over magic byte + for (i=0; i + +typedef struct joystick_cal +{ + int16_t x_error; + int16_t y_error; + float xp_scale; + float xn_scale; + float yp_scale; + float yn_scale; + } joystick_cal_t; + + +int joystick_position(int8_t* x_percent, int8_t* y_percent, joystick_cal_t *cal); + +#endif diff --git a/fw/src/app/main.c b/fw/src/app/main.c new file mode 100644 index 0000000..ae93d78 --- /dev/null +++ b/fw/src/app/main.c @@ -0,0 +1,109 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include "headers.h" +#include "app_version.h" +#include "plate.h" +#include "spi.h" +#include "display.h" + +LOG_MODULE_REGISTER(main); + +void main(void) +{ + pi_to_hat_t rx; + u8_t last_control; + + u8_t mb_idx = 0; + char message_buffer[255]; + + float servo1_pos, servo2_pos, servo3_pos; + u16_t servo1_pos_centi_deg, servo2_pos_centi_deg, servo3_pos_centi_deg; + + LOG_INF("Version %s", log_strdup(APP_SEMVER)); + LOG_INF("Word Size %d. pi_to_hat_t %d", sizeof(void *), sizeof(pi_to_hat_t)); + + plate_init(); + + while (true) + { + // process incoming SPI msgs + if (wait_for_pi_message(&rx, K_FOREVER) == 0) + { + last_control = rx.control; + + switch (rx.control) + { + case COPY_STRING: + if (mb_idx == 0) + memset(message_buffer, 0, sizeof(message_buffer)); + if (mb_idx < 240) { + memcpy(&message_buffer[mb_idx], rx.data.characters, 7); + mb_idx += 7; + } + else + LOG_ERR("String too long to display. Max length is 240 bytes."); + break; + + case DISPLAY_BIG_TEXT_ICON: + message_buffer[mb_idx] = '\0'; // Add a termination char just in case + mb_idx = 0; + LOG_INF("0x%02x (%d) TEXT=%s", rx.control, (u8_t) rx.data.icon, log_strdup(message_buffer)); + display_big_text_icon(message_buffer, (disp_icon_t) rx.data.icon); + break; + + case DISPLAY_BIG_TEXT: + message_buffer[mb_idx] = '\0'; // Add a termination char just in case + mb_idx = 0; + LOG_INF("0x%02x TEXT=%s", rx.control, log_strdup(message_buffer)); + display_big_text(message_buffer); + break; + + case DISPLAY_SMALL_TEXT: + message_buffer[mb_idx] = '\0'; // Add a termination char just in case + mb_idx = 0; + LOG_INF("0x%02x text=%s", rx.control, log_strdup(message_buffer)); + display_small_text(message_buffer); + break; + + case DISPLAY_POWER_SYMBOL: + message_buffer[mb_idx] = '\0'; // Add a termination char just in case + mb_idx = 0; + LOG_INF("0x%02x (%d) TEXT=%s", rx.control, (u8_t) rx.data.icon, log_strdup(message_buffer)); + display_big_text_power_icon(message_buffer, (disp_power_icon_t) rx.data.icon); + break; + + case SERVO_ENABLE: + LOG_INF("0x%02x servos: on", rx.control); + plate_servo_enable(true); + break; + + case SERVO_DISABLE: + LOG_INF("0x%02x servos: off", rx.control); + plate_servo_enable(false); + break; + + case SET_SERVOS: + // Convert bytes to uint16 + servo1_pos_centi_deg = ((rx.data.servo1_pos_centi_deg_high_byte << 8) + rx.data.servo1_pos_centi_deg_low_byte); + servo2_pos_centi_deg = ((rx.data.servo2_pos_centi_deg_high_byte << 8) + rx.data.servo2_pos_centi_deg_low_byte); + servo3_pos_centi_deg = ((rx.data.servo3_pos_centi_deg_high_byte << 8) + rx.data.servo3_pos_centi_deg_low_byte); + // Convert from hundredths of a degree to degrees + servo1_pos = ((float) servo1_pos_centi_deg) / 100.0; + servo2_pos = ((float) servo2_pos_centi_deg) / 100.0; + servo3_pos = ((float) servo3_pos_centi_deg) / 100.0; + + plate_servo_update_position(0, servo1_pos); + plate_servo_update_position(1, servo2_pos); + plate_servo_update_position(2, servo3_pos); + break; + + case NOOP: + break; + + default: + LOG_ERR("Bad control byte: %0x2x. Prior was: %0x2x", rx.control, last_control); + break; + } + } + } +} diff --git a/fw/src/app/plate.c b/fw/src/app/plate.c new file mode 100644 index 0000000..3637f43 --- /dev/null +++ b/fw/src/app/plate.c @@ -0,0 +1,267 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include + +#include "pwm/pwm_stm32.h" +#include "stm32f4xx_hal_tim.h" + + +/* ---- */ +#include +#include +#include +#include + +#include +LOG_MODULE_REGISTER(plate); + + +#include "joystick.h" +#include "plate.h" + +#define SERVO_EN_PORT DT_ALIAS_SERVO_ENABLE_GPIOS_CONTROLLER +#define SERVO_EN_PIN DT_ALIAS_SERVO_ENABLE_GPIOS_PIN + +/* size of stack area used by this thread */ +#define STACKSIZE 1024 + +/* scheduling priority used by this thread */ +#define PRIORITY 8 + +/* Microsecond timing for the PWM module */ +#define PERIOD 3300 +#define MINPULSEWIDTH 375 +#define MAXPULSEWIDTH 2400 +#define SERVO_DEGREES 180 +#define SERVO_DEAD_WIDTH 4 +#define TYPICAL_MAX 2250 +#define TYPICAL_MID 1950 +#define TYPICAL_MIN 1450 + +#define PW_PER_DEGREE (MAXPULSEWIDTH - MINPULSEWIDTH) / SERVO_DEGREES + +#define DT_ALIAS_PWM_3_LABEL DT_INST_0_ST_STM32_PWM_LABEL + +#define ARM_LENGTH 55.0 +#define PLATE_DIAMETER 197.3 +#define SIDE_LENGTH 170.87 +#define PIVOT_HEIGHT 80.0 +#define SQRT3 1.732050808 +#define ANGLE_MAX 160 +#define ANGLE_MIN 90 +#define ARM_TRAVEL 70.0 + +#define PI 3.14159265358979323846 + +#define OTP_BASE_ADDR 0x1FFF7800 +#define OTP_BANK_SIZE 0x20 +#define OTP_LOCK_ADDR 0x1FFF7A00 + +#define DEV_DATA(dev) ((struct pwm_stm32_data * const)(dev)->driver_data) + +static struct device *plate_servo_en_dev; + +typedef struct +{ + struct device *dev; + u32_t pwm_channel; +} servo_t; + +static servo_t plate_servos[3]; +static float servo_usec_degree[3]; + +servo_cal_t servocal; + +static int plate_update_pw_stm32(struct device* dev, int channel, u32_t pulse_width) +{ + struct pwm_stm32_data *data = DEV_DATA(dev); + TIM_HandleTypeDef *TimerHandle = &data->hpwm; + static u64_t pulse_cycles = 0; + static u64_t cycles_per_sec = 0; + int err = 0; + uint32_t tim_chan = TIM_CHANNEL_1; + + if (channel == 1) + tim_chan = TIM_CHANNEL_2; + else if (channel == 2) + tim_chan = TIM_CHANNEL_3; + else if (channel == 3) + tim_chan = TIM_CHANNEL_4; + + if (pwm_get_cycles_per_sec(dev, channel, &cycles_per_sec) != 0) + { + return -EIO; + } + + pulse_cycles = (pulse_width * cycles_per_sec) / USEC_PER_SEC; + if (pulse_cycles >= ((u64_t)1 << 32)) { + return -ENOTSUP; + } + + __HAL_TIM_SET_COMPARE(TimerHandle, tim_chan, (u32_t)pulse_cycles); + + return err; +} + +static inline float plate_to_degrees(float radians) +{ + return radians * (180.0 / PI); +} + +static inline float plate_to_radians(float degrees) +{ + return degrees * PI / 180.0; +} + +static void plate_coerce_to_range(float* value, float low, float high) +{ + if (*value < low) + *value = low; + else if (*value > high) + *value = high; +} + + +static int plate_servo_set_position(u8_t id, float angle) +{ + int err = 0; + u32_t pulse_width; + servo_t servo; + + plate_coerce_to_range(&angle, ANGLE_MIN, ANGLE_MAX); + //LOG_INF("channel %d @ %d degrees", id, (int)angle); + + //pulse_width = (angle * servo_usec_degree[id]) + MINPULSEWIDTH; + pulse_width = ((angle - ANGLE_MIN) * servo_usec_degree[id]) + servocal.servo_min[id]; + servo = plate_servos[id]; + + if ((err = pwm_pin_set_usec(servo.dev, servo.pwm_channel, PERIOD, pulse_width/*, PWM_POLARITY_NORMAL*/)) != 0) + { + LOG_ERR("pwm pin set fails"); + } + + return err; +} + +int plate_servo_update_position(u8_t id, float angle) +{ + int err = 0; + u32_t pulse_width; + servo_t servo; + + // Comment out this line, to remove servo limitations + plate_coerce_to_range(&angle, ANGLE_MIN, ANGLE_MAX); + //LOG_INF("channel %d @ %d degrees", id, (int)angle); + + pulse_width = ((angle - ANGLE_MIN) * servo_usec_degree[id]) + servocal.servo_min[id]; + + servo = plate_servos[id]; + + if ((err = plate_update_pw_stm32(servo.dev, id, pulse_width)) != 0) + { + LOG_ERR("pwm update fails"); + } + + return err; +} + +int plate_servo_enable(u8_t enable) +{ + return gpio_pin_write(plate_servo_en_dev, SERVO_EN_PIN, (u32_t)enable); +} + +int plate_init(void) +{ + struct device *pwm_dev; + u32_t i; + char cal[sizeof(servo_cal_t)]; + int bank = 1; + uint32_t address = (OTP_LOCK_ADDR + bank); + unsigned char c; + int cal_invalid = 0; + + plate_servo_en_dev = device_get_binding(SERVO_EN_PORT); + + if (!plate_servo_en_dev) { + LOG_ERR("Cannot find servo enable device!"); + return -1; + } + + gpio_pin_configure(plate_servo_en_dev, SERVO_EN_PIN, GPIO_DIR_OUT); + + pwm_dev = device_get_binding(DT_ALIAS_PWM_3_LABEL); + if (!pwm_dev) { + LOG_ERR("Cannot find PWM device!"); + return -1; + } + + /* If there's no calibration data, we will leave these "default" values + as the calibration */ + for (i=0; i<3; i++) + { + servocal.servo_max[i] = TYPICAL_MAX; + servocal.servo_133[i] = TYPICAL_MID; + servocal.servo_min[i] = TYPICAL_MIN; + } + + bank = 15; + address = (OTP_BASE_ADDR + (OTP_BANK_SIZE * bank)); + for (i=0; i<8; i++) + { + c = *(unsigned char *)address; + //LOG_INF ("0x%08X = %02X", address, c); + if (c == 0xFF) bank-=2; + else break; + address = (OTP_BASE_ADDR + (OTP_BANK_SIZE * bank)); + } + /* Actual servo calibration values are in increments of 5 so we will never + see a value of 0xFF if the calibration data is present in OTP */ + if (*(unsigned char *)address != 0xFF) + { + for (i=0; i MAXPULSEWIDTH) || (servocal.servo_max[i] < MINPULSEWIDTH)) cal_invalid = 1; + if ((servocal.servo_min[i] > MAXPULSEWIDTH) || (servocal.servo_min[i] < MINPULSEWIDTH)) cal_invalid = 1; + if ((servocal.servo_133[i] > MAXPULSEWIDTH) || (servocal.servo_133[i] < MINPULSEWIDTH)) cal_invalid = 1; + } + } + + if (cal_invalid) + { + LOG_ERR("Servo calibration data is corrupt! Using defaults."); + for (i=0; i<3; i++) + { + servocal.servo_max[i] = TYPICAL_MAX; + servocal.servo_133[i] = TYPICAL_MID; + servocal.servo_min[i] = TYPICAL_MIN; + } + } + + for (i=0; i<3; i++) + LOG_INF ("Bank: %i Servo %i: Max %i Mid %i Min %i", bank, i, servocal.servo_max[i], servocal.servo_133[i], servocal.servo_min[i]); + + servo_usec_degree[0] = (servocal.servo_max[0] - servocal.servo_min[0])/ARM_TRAVEL; + servo_usec_degree[1] = (servocal.servo_max[1] - servocal.servo_min[1])/ARM_TRAVEL; + servo_usec_degree[2] = (servocal.servo_max[2] - servocal.servo_min[2])/ARM_TRAVEL; + + plate_servos[0].dev = pwm_dev; + plate_servos[0].pwm_channel = 1; + + plate_servos[1].dev = pwm_dev; + plate_servos[1].pwm_channel = 2; + + plate_servos[2].dev = pwm_dev; + plate_servos[2].pwm_channel = 3; + + // Need to start with some defaults. We tried removing + // but it's a load-bearing poster. + plate_servo_set_position(0, 150); + plate_servo_set_position(1, 150); + plate_servo_set_position(2, 150); + + return 0; +} diff --git a/fw/src/app/plate.h b/fw/src/app/plate.h new file mode 100644 index 0000000..0c80b7e --- /dev/null +++ b/fw/src/app/plate.h @@ -0,0 +1,21 @@ +#ifndef SERVO_H_ +#define SERVO_H_ + +#include + +typedef struct servo_cal +{ + u16_t servo_min[3]; + u16_t servo_133[3]; + u16_t servo_max[3]; +} servo_cal_t; + +int plate_init(void); +int plate_servo_enable(u8_t enable); +int plate_servo_update_position(u8_t id, float angle); +int plate_set_angle(float theta_x, float theta_y); + +//int plate_sweep_sync_servos(float* target_servo_angles); +//int plate_sync_angle(float theta_x, float theta_y); + +#endif diff --git a/fw/src/app/sh1106_regs.h b/fw/src/app/sh1106_regs.h new file mode 100644 index 0000000..4a02a54 --- /dev/null +++ b/fw/src/app/sh1106_regs.h @@ -0,0 +1,105 @@ +#ifndef __SH1106_REGS_H__ +#define __SH1106_REGS_H__ + +#define SH1106_CONTROL_LAST_BYTE_CMD 0x00 +#define SH1106_CONTROL_LAST_BYTE_DATA 0x40 +#define SH1106_CONTROL_BYTE_CMD 0x80 +#define SH1106_CONTROL_BYTE_DATA 0xc0 +#define SH1106_READ_STATUS_MASK 0xc0 +#define SH1106_READ_STATUS_BUSY 0x80 +#define SH1106_READ_STATUS_ON 0x40 + +/* + * Fundamental Command Table + */ +#define SH1106_SET_CONTRAST_CTRL 0x81 /* double byte command */ + +#define SH1106_SET_ENTIRE_DISPLAY_OFF 0xa4 +#define SH1106_SET_ENTIRE_DISPLAY_ON 0xa5 + +#define SH1106_SET_NORMAL_DISPLAY 0xa6 +#define SH1106_SET_REVERSE_DISPLAY 0xa7 + +#define SH1106_DISPLAY_OFF 0xae +#define SH1106_DISPLAY_ON 0xaf + +/* + * Addressing Setting Command Table + */ +#define SH1106_SET_LOWER_COL_ADDRESS 0x00 +#define SH1106_SET_LOWER_COL_ADDRESS_MASK 0x0f + +#define SH1106_SET_HIGHER_COL_ADDRESS 0x10 +#define SH1106_SET_HIGHER_COL_ADDRESS_MASK 0x0f + +#define SH1106_SET_MEM_ADDRESSING_MODE 0x20 /* double byte command */ +#define SH1106_SET_MEM_ADDRESSING_HORIZONTAL 0x00 +#define SH1106_SET_MEM_ADDRESSING_VERTICAL 0x01 +#define SH1106_SET_MEM_ADDRESSING_PAGE 0x02 + +#define SH1106_SET_COLUMN_ADDRESS 0x21 /* triple byte command */ + +#define SH1106_SET_PAGE_ADDRESS 0x22 /* triple byte command */ + +#define SH1106_SET_PAGE_START_ADDRESS 0xb0 +#define SH1106_SET_PAGE_START_ADDRESS_MASK 0x07 + + +/* + * Hardware Configuration Command Table + */ +#define SH1106_SET_START_LINE 0x40 +#define SH1106_SET_START_LINE_MASK 0x3f + +#define SH1106_SET_SEGMENT_MAP_NORMAL 0xa0 +#define SH1106_SET_SEGMENT_MAP_REMAPED 0xa1 + +#define SH1106_SET_MULTIPLEX_RATIO 0xa8 /* double byte command */ + +#define SH1106_SET_COM_OUTPUT_SCAN_NORMAL 0xc0 +#define SH1106_SET_COM_OUTPUT_SCAN_FLIPPED 0xc8 + +#define SH1106_SET_DISPLAY_OFFSET 0xd3 /* double byte command */ + +#define SH1106_SET_PADS_HW_CONFIG 0xda /* double byte command */ +#define SH1106_SET_PADS_HW_SEQUENTIAL 0x02 +#define SH1106_SET_PADS_HW_ALTERNATIVE 0x12 + + +/* + * Timming and Driving Scheme Setting Command Table + */ +#define SH1106_SET_CLOCK_DIV_RATIO 0xd5 /* double byte command */ + +#define SH1106_SET_CHARGE_PERIOD 0xd9 /* double byte command */ + +#define SH1106_SET_VCOM_DESELECT_LEVEL 0xdb /* double byte command */ + +#define SH1106_NOP 0xe3 + +/* + * Charge Pump Command Table + */ +#define SH1106_SET_CHARGE_PUMP_ON 0x8d /* double byte command */ +#define SH1106_SET_CHARGE_PUMP_ON_DISABLED 0x10 +#define SH1106_SET_CHARGE_PUMP_ON_ENABLED 0x14 + +#define SH1106_SET_DCDC_MODE 0xad /* double byte command */ +#define SH1106_SET_DCDC_DISABLED 0x8a +#define SH1106_SET_DCDC_ENABLED 0x8b + +#define SH1106_SET_PUMP_VOLTAGE_64 0x30 +#define SH1106_SET_PUMP_VOLTAGE_74 0x31 +#define SH1106_SET_PUMP_VOLTAGE_80 0x32 +#define SH1106_SET_PUMP_VOLTAGE_90 0x33 + +/* + * Read modify write + */ +#define SH1106_READ_MODIFY_WRITE_START 0xe0 +#define SH1106_READ_MODIFY_WRITE_END 0xee + +/* time constants in ms */ +#define SH1106_RESET_DELAY 100 + +#endif // __SH1106_REGS_H__ diff --git a/fw/src/app/sh1106_spi.c b/fw/src/app/sh1106_spi.c new file mode 100644 index 0000000..77b22e6 --- /dev/null +++ b/fw/src/app/sh1106_spi.c @@ -0,0 +1,514 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include +LOG_MODULE_REGISTER(sh1106, CONFIG_DISPLAY_LOG_LEVEL); + +#include +#include +#include +#include +#include +#include + +#include "sh1106_regs.h" + +#define SH1106_SPI_FREQ DT_INST_0_SINO_SH1106_SPI_MAX_FREQUENCY + +/* -- CS Pin -- */ +//#ifdef DT_INST_0_SINO_SH1106_CS_GPIOS_CONTROLLER +#define SH1106_CS_CONTROLLER DT_INST_0_SINO_SH1106_CS_GPIOS_CONTROLLER +#define SH1106_CS_PIN DT_INST_0_SINO_SH1106_CS_GPIOS_PIN +#define SH1106_CS_FLAGS DT_INST_0_SINO_SH1106_CS_GPIOS_FLAGS +//#endif + +/* -- Reset Pin -- */ +#define SH1106_RESET_CONTROLLER DT_INST_0_SINO_SH1106_RESET_GPIOS_CONTROLLER +#define SH1106_RESET_PIN DT_INST_0_SINO_SH1106_RESET_GPIOS_PIN +#define SH1106_RESET_FLAGS DT_INST_0_SINO_SH1106_RESET_GPIOS_FLAGS + +/* -- A0 Pin (4-wire mode) -- */ +//#ifdef DT_INST_0_SINO_SH1106_A0_GPIOS +#define SH1106_4WIRE +#define SH1106_A0_CONTROLLER DT_INST_0_SINO_SH1106_A0_GPIOS_CONTROLLER +#define SH1106_A0_PIN DT_INST_0_SINO_SH1106_A0_GPIOS_PIN +#define SH1106_A0_FLAGS DT_INST_0_SINO_SH1106_A0_GPIOS_FLAGS +//#endif + +//#define CONFIG_SH1106_REVERSE_MODE + +#ifndef CONFIG_SH1106_DEFAULT_CONTRAST +#define CONFIG_SH1106_DEFAULT_CONTRAST 0xAF +#endif + +#if DT_INST_0_SINO_SH1106_SEGMENT_REMAP == 1 +#define SH1106_PANEL_SEGMENT_REMAP true +#else +#define SH1106_PANEL_SEGMENT_REMAP false +#endif + +#if DT_INST_0_SINO_SH1106_COM_INVDIR == 1 +#define SH1106_PANEL_COM_INVDIR true +#else +#define SH1106_PANEL_COM_INVDIR false +#endif + +#if DT_INST_0_SINO_SH1106_COM_SEQUENTIAL == 1 +#define SH1106_COM_PINS_HW_CONFIG SH1106_SET_PADS_HW_SEQUENTIAL +#else +#define SH1106_COM_PINS_HW_CONFIG SH1106_SET_PADS_HW_ALTERNATIVE +#endif + +#define SH1106_PANEL_NUMOF_PAGES (DT_INST_0_SINO_SH1106_HEIGHT / 8) +#define SH1106_CLOCK_DIV_RATIO 0x1 +#define SH1106_CLOCK_FREQUENCY 0x9 +#define SH1106_PANEL_VCOM_DESEL_LEVEL 0x25 +#define SH1106_PANEL_PUMP_VOLTAGE SH1106_SET_PUMP_VOLTAGE_90 + +#define SH1106_BUF_SIZE (SH1106_PANEL_NUMOF_PAGES * ) + + +#define SH1106_PANEL_NUMOF_COLUMS 132 + + +#ifndef SH1106_ADDRESSING_MODE +#define SH1106_ADDRESSING_MODE (SH1106_SET_MEM_ADDRESSING_HORIZONTAL) +#endif + +struct sh1106_data { +//#ifdef SH1106_4WIRE + struct device *a0; +//#endif + struct device *cs; + struct spi_cs_control cs_ctrl; + struct device *reset; + struct device *spi; + struct spi_config spi_cfg; + u8_t contrast; + u8_t scan_mode; +}; + +static int sh1106_spi_write(const struct device *dev, const u8_t *data, size_t length) +{ + struct sh1106_data *driver = dev->driver_data; + + const struct spi_buf buf[1] = + { + { + .buf = data, + .len = length + } + }; + + struct spi_buf_set tx = + { + .buffers = buf, + }; + + tx.count = 1; + + return spi_write(driver->spi, &driver->spi_cfg, &tx); +} + +static int sh1106_cmd_write(const struct device *dev, const u8_t *data, size_t length) +{ + struct sh1106_data *driver = dev->driver_data; + + gpio_pin_write(driver->a0, SH1106_A0_PIN, 0); + return sh1106_spi_write(dev, data, length); +} + +static int sh1106_data_write(const struct device *dev, const u8_t *data, size_t length) +{ + struct sh1106_data *driver = dev->driver_data; + + gpio_pin_write(driver->a0, SH1106_A0_PIN, 1); + return sh1106_spi_write(dev, data, length); +} + +static inline int sh1106_set_panel_orientation(const struct device *dev) +{ + u8_t cmd_buf[] = { + (SH1106_PANEL_SEGMENT_REMAP ? + SH1106_SET_SEGMENT_MAP_REMAPED : + SH1106_SET_SEGMENT_MAP_NORMAL), + (SH1106_PANEL_COM_INVDIR ? + SH1106_SET_COM_OUTPUT_SCAN_FLIPPED : + SH1106_SET_COM_OUTPUT_SCAN_NORMAL) + }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +static inline int sh1106_set_timing_setting(const struct device *dev) +{ + u8_t cmd_buf[] = { + SH1106_SET_CLOCK_DIV_RATIO, + (SH1106_CLOCK_FREQUENCY << 4) | SH1106_CLOCK_DIV_RATIO, + SH1106_SET_CHARGE_PERIOD, + DT_INST_0_SINO_SH1106_PRECHARGEP, + SH1106_SET_VCOM_DESELECT_LEVEL, + SH1106_PANEL_VCOM_DESEL_LEVEL + }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +static inline int sh1106_set_hardware_config(const struct device *dev) +{ + u8_t cmd_buf[] = { + SH1106_SET_START_LINE, + SH1106_SET_DISPLAY_OFFSET, + DT_INST_0_SINO_SH1106_DISPLAY_OFFSET, + SH1106_SET_PADS_HW_CONFIG, + SH1106_COM_PINS_HW_CONFIG, + SH1106_SET_MULTIPLEX_RATIO, + DT_INST_0_SINO_SH1106_MULTIPLEX_RATIO + }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +static inline int sh1106_set_charge_pump(const struct device *dev) +{ + u8_t cmd_buf[] = { + SH1106_SET_CHARGE_PUMP_ON, + SH1106_SET_CHARGE_PUMP_ON_ENABLED, + SH1106_SET_DCDC_MODE, + SH1106_SET_DCDC_ENABLED, + SH1106_PANEL_PUMP_VOLTAGE, + }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +int sh1106_resume(const struct device *dev) +{ + /* set display on */ + u8_t cmd_buf[] = { SH1106_DISPLAY_ON }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +int sh1106_suspend(const struct device *dev) +{ + /* set display off */ + u8_t cmd_buf[] = { SH1106_DISPLAY_OFF }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +int sh1106_set_pos(const struct device *dev, const u16_t x, const u16_t y) +{ + //struct sh1106_data *driver = dev->driver_data; + + u16_t column = x; + u8_t page = y; + + /* set posistion command */ + u8_t cmd_buf[] = + { + SH1106_SET_PAGE_START_ADDRESS + page, + SH1106_SET_HIGHER_COL_ADDRESS_MASK & column, + SH1106_SET_HIGHER_COL_ADDRESS | (column >> 4) + }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +int sh1106_write_page(const struct device *dev, u8_t page, void const *data, size_t length) +{ + u8_t cmd_buf[] = + { + SH1106_SET_LOWER_COL_ADDRESS | (DT_INST_0_SINO_SH1106_SEGMENT_OFFSET & SH1106_SET_LOWER_COL_ADDRESS_MASK), + SH1106_SET_HIGHER_COL_ADDRESS | ((DT_INST_0_SINO_SH1106_SEGMENT_OFFSET >> 4) & SH1106_SET_LOWER_COL_ADDRESS_MASK), + SH1106_SET_PAGE_START_ADDRESS | page + }; + + if (page >= SH1106_PANEL_NUMOF_PAGES) { + return -1; + } + + if (length > SH1106_PANEL_NUMOF_COLUMS) { + return -1; + } + + if (sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf))) + { + return -1; + } + + return sh1106_data_write(dev, data, length); +} + +static u8_t sh1106_reverseBits(u8_t num) +{ + unsigned int count = sizeof(num) * 8 - 1; + unsigned int reverse_num = num; + + num >>= 1; + while(num) + { + reverse_num <<= 1; + reverse_num |= num & 1; + num >>= 1; + count--; + } + reverse_num <<= count; + return reverse_num; +} + + +static int sh1106_write(const struct device *dev, const u16_t x, const u16_t y, const struct display_buffer_descriptor *desc, const void *buf) +{ + if (desc->pitch < desc->width) + { + LOG_ERR("Pitch is smaller then width"); + return -1; + } + + if (buf == NULL || desc->buf_size == 0U) + { + LOG_ERR("Display buffer is not available"); + return -1; + } + + if (desc->pitch > desc->width) + { + LOG_ERR("Unsupported mode"); + return -1; + } + + u8_t row1 = y >> 3; + u8_t row2 = (y + desc->height) >> 3; + u16_t column1 = x; + u16_t column2 = x + desc->width - 1; + //const uint8_t *seg = (uint8_t*)buf; + + // reverse display addresses + const u8_t* seg_end = &((uint8_t*)buf)[desc->buf_size - 1]; + + for (u8_t row = row1; row < row2; row ++) + { + if (sh1106_set_pos(dev, column1, row)) + { + LOG_ERR("Unable to set pos: %d, %d", x, y); + return -1; + } + + for (u16_t column = column1; column <= column2; column++) + { + // reverse data + u8_t reversed_bits = sh1106_reverseBits(*seg_end); + sh1106_data_write(dev, &reversed_bits, 1); + seg_end--; + } + } + + return 0; +} + +static int sh1106_read(const struct device *dev, const u16_t x, const u16_t y, + const struct display_buffer_descriptor *desc, void *buf) +{ + LOG_ERR("Unsupported"); + return -ENOTSUP; +} + +static void *sh1106_get_framebuffer(const struct device *dev) +{ + LOG_ERR("Unsupported"); + return NULL; +} + +static int sh1106_set_brightness(const struct device *dev, const u8_t brightness) +{ + LOG_WRN("Unsupported"); + return -ENOTSUP; +} + +int sh1106_set_contrast(const struct device *dev, const u8_t contrast) +{ + u8_t cmd_buf[] = { + SH1106_SET_CONTRAST_CTRL, + contrast, + }; + + return sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf)); +} + +static void sh1106_get_capabilities(const struct device *dev, struct display_capabilities *caps) +{ + memset(caps, 0, sizeof(struct display_capabilities)); + caps->x_resolution = DT_INST_0_SINO_SH1106_WIDTH; + caps->y_resolution = DT_INST_0_SINO_SH1106_HEIGHT; + caps->supported_pixel_formats = PIXEL_FORMAT_MONO01; + caps->current_pixel_format = PIXEL_FORMAT_MONO01; + caps->screen_info = SCREEN_INFO_MONO_VTILED; +} + +static int sh1106_set_orientation(const struct device *dev, const enum display_orientation orientation) +{ + LOG_ERR("Unsupported"); + return -ENOTSUP; +} + +static int sh1106_set_pixel_format(const struct device *dev, const enum display_pixel_format pf) +{ + if (pf == PIXEL_FORMAT_MONO01) { + return 0; + } + LOG_ERR("Unsupported"); + return -ENOTSUP; +} + +static int sh1106_clear(struct device *dev) +{ + u8_t page_data[DT_INST_0_SINO_SH1106_WIDTH]; + memset(page_data, 0, sizeof(page_data)); + + for (size_t pidx = 0; pidx < SH1106_PANEL_NUMOF_PAGES; pidx++) + { + if (sh1106_write_page(dev, pidx, page_data, DT_INST_0_SINO_SH1106_WIDTH)) + { + return -1; + } + } + + return 0; +} + +static int sh1106_init_device(struct device *dev) +{ + struct sh1106_data *driver = dev->driver_data; + + u8_t cmd_buf[] = { + SH1106_SET_ENTIRE_DISPLAY_OFF, +#ifdef CONFIG_SH1106_REVERSE_MODE + SH1106_SET_REVERSE_DISPLAY, +#else + SH1106_SET_NORMAL_DISPLAY, +#endif + }; + + + /* -- Toggle Reset -- */ + gpio_pin_write(driver->reset, SH1106_RESET_PIN, 1); + k_sleep(SH1106_RESET_DELAY); + gpio_pin_write(driver->reset, SH1106_RESET_PIN, 0); + k_sleep(SH1106_RESET_DELAY); + gpio_pin_write(driver->reset, SH1106_RESET_PIN, 1); + + + /* Turn display off */ + if (sh1106_suspend(dev)) { + return -EIO; + } + + if (sh1106_set_timing_setting(dev)) { + return -EIO; + } + + if (sh1106_set_hardware_config(dev)) { + return -EIO; + } + + if (sh1106_set_panel_orientation(dev)) { + return -EIO; + } + + if (sh1106_set_charge_pump(dev)) { + return -EIO; + } + + if (sh1106_cmd_write(dev, cmd_buf, sizeof(cmd_buf))) { + return -EIO; + } + + if (sh1106_set_contrast(dev, CONFIG_SH1106_DEFAULT_CONTRAST)) { + return -EIO; + } + + sh1106_resume(dev); + + sh1106_clear(dev); + + return 0; +} + +static int sh1106_init(struct device *dev) +{ + struct sh1106_data *driver = dev->driver_data; + + LOG_DBG(""); + + /* -- SPI Setup -- */ + driver->spi = device_get_binding(DT_INST_0_SINO_SH1106_BUS_NAME); + if (!driver->spi) { + LOG_ERR("spi device not found: %s", DT_INST_0_SINO_SH1106_BUS_NAME); + return -EINVAL; + } + /* CPOL=0, CPHA=0 */ + driver->spi_cfg.operation = SPI_WORD_SET(8) | SPI_TRANSFER_MSB; + driver->spi_cfg.frequency = SH1106_SPI_FREQ; + + + /* -- SPI CS thru GPIO -- */ + driver->cs = device_get_binding(SH1106_CS_CONTROLLER); + if (!driver->cs) { + LOG_ERR("Unable to get GPIO SPI CS device"); + return -ENODEV; + } + + driver->cs_ctrl.gpio_dev = driver->cs; + driver->cs_ctrl.gpio_pin = SH1106_CS_PIN; + driver->cs_ctrl.delay = 0U; + + driver->spi_cfg.cs = &driver->cs_ctrl; + + /* -- Reset Setup -- */ + driver->reset = device_get_binding(SH1106_RESET_CONTROLLER); + if (!driver->reset) { + LOG_ERR("Unable to get GPIO Reset device"); + return -ENODEV; + } + + gpio_pin_configure(driver->reset, SH1106_RESET_PIN, GPIO_DIR_OUT); + + + /* -- A0 Setup -- */ + driver->a0 = device_get_binding(SH1106_A0_CONTROLLER); + if (!driver->a0) { + LOG_ERR("Unable to get GPIO A0 device"); + return -ENODEV; + } + + if (gpio_pin_configure(driver->a0, SH1106_A0_PIN, GPIO_DIR_OUT)) + { + LOG_ERR("Unable to get configure A0 device"); + return -ENODEV; + } + + gpio_pin_write(driver->a0, SH1106_A0_PIN, 0); + + return sh1106_init_device(dev); +} + +static struct sh1106_data sh1106_driver; + +static struct display_driver_api sh1106_driver_api = { + .blanking_on = sh1106_suspend, + .blanking_off = sh1106_resume, + .write = sh1106_write, + .read = sh1106_read, + .get_framebuffer = sh1106_get_framebuffer, + .set_brightness = sh1106_set_brightness, + .set_contrast = sh1106_set_contrast, + .get_capabilities = sh1106_get_capabilities, + .set_pixel_format = sh1106_set_pixel_format, + .set_orientation = sh1106_set_orientation, +}; + +DEVICE_AND_API_INIT(sh1106, DT_INST_0_SINO_SH1106_LABEL, sh1106_init, + &sh1106_driver, NULL, + POST_KERNEL, CONFIG_APPLICATION_INIT_PRIORITY, + &sh1106_driver_api); diff --git a/fw/src/app/shell.c b/fw/src/app/shell.c new file mode 100644 index 0000000..287500e --- /dev/null +++ b/fw/src/app/shell.c @@ -0,0 +1,431 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include "headers.h" +#include "plate.h" +#include "joystick.h" +#include "display.h" +#include "app_version.h" + +LOG_MODULE_REGISTER(shell); + +#define OTP_BASE_ADDR 0x1FFF7800 +#define OTP_BANK_SIZE 0x20 +#define OTP_LOCK_ADDR 0x1FFF7A00 + +#define TYPICAL_MAX 2250 +#define TYPICAL_MID 1950 +#define TYPICAL_MIN 1450 +#define MINPULSEWIDTH 375 +#define MAXPULSEWIDTH 2400 + +extern joystick_cal_t calibration; +joystick_cal_t otp_cal; +volatile uint32_t * flash_cr = (uint32_t *)0x40023C10; +volatile uint32_t * flash_sr = (uint32_t *)0x40023C0C; + +// Plate commands + +static int cmd_plate_enable(const struct shell *shell) +{ + return plate_servo_enable(1); +} + +static int cmd_plate_disable(const struct shell *shell) +{ + return plate_servo_enable(0); +} + +static int cmd_plate_servo_angle(const struct shell *shell, size_t argc, char **argv) +{ + int err = 0; + u8_t id = 0; + float angle = 0.0; + + if (argc < 3) + { + shell_error(shell, "Invalid number of arguments."); + return -EINVAL; + } + + id = atoi(argv[1]); + angle = atoi(argv[2]); + + if ((id < 0) | (id > 2)) + { + shell_error(shell, "Invalid servo id (0-2)."); + return -EINVAL; + } + + if ((angle < 0) | (angle > 180)) + { + shell_error(shell, "Invalid servo angle (0-180)."); + return -EINVAL; + } + + if ((err = plate_servo_update_position(id, angle)) != 0) + { + shell_error(shell, "Failed to set servo %d. Err = %d", id, err); + return -EINVAL; + } + + return err; +} + +SHELL_STATIC_SUBCMD_SET_CREATE(sub_plate, + SHELL_CMD(enable, NULL, "Enable servos.", cmd_plate_enable), + SHELL_CMD(enable, NULL, "Disable servos.", cmd_plate_disable), + SHELL_CMD(servo, NULL, "Set the angle of a servo. ", cmd_plate_servo_angle), + SHELL_SUBCMD_SET_END /* Array terminated. */ +); +SHELL_CMD_REGISTER(plate, &sub_plate, "Plate control commands", NULL); + + +// Joystick Commands + +static int cmd_joystick_position(const struct shell *shell, size_t argc, char **argv) +{ + int err = 0; + int8_t x, y; + + + if ((err = joystick_position(&x, &y, &calibration)) != 0) + { + shell_error(shell, "Failed to read joystick. Err = %d", err); + return err; + } + + shell_print(shell, "x = %d, y = %d", (int)x, (int)y); + + return err; +} + +SHELL_CMD_REGISTER(joystick, NULL, "Read joystick position", cmd_joystick_position); + + +// Kernel Commands + +static int cmd_version(const struct shell *shell, size_t argc, char **argv) +{ + ARG_UNUSED(argc); + ARG_UNUSED(argv); + + shell_print(shell, "Moab version %s", APP_SEMVER); + + return 0; +} + +SHELL_CMD_ARG_REGISTER(version, NULL, "Show kernel version", cmd_version, 1, 0); + + +// Non-volatile memory banks (OTP) + +void print_bank(const struct shell *sh, u8_t bank) +{ + uint32_t address = (OTP_BASE_ADDR + (bank * OTP_BANK_SIZE)); + uint8_t otp[32]; + memcpy(&otp, (const void *)address, sizeof(otp)); + + shell_print(sh, "Bank %i", bank); + + shell_print(sh, "0x%08X: %02X %02X %02X %02X %02X %02X %02X %02X\r", address, + otp[0], otp[1], otp[2], otp[3], otp[4], otp[5], otp[6], otp[7]); + + shell_print(sh, "0x%08X: %02X %02X %02X %02X %02X %02X %02X %02X\r", address+8, + otp[8], otp[9], otp[10], otp[11], otp[12], otp[13], otp[14], otp[15]); + + shell_print(sh, "0x%08X: %02X %02X %02X %02X %02X %02X %02X %02X\r", address+16, + otp[16], otp[17], otp[18], otp[19], otp[20], otp[21], otp[22], otp[23]); + + shell_print(sh, "0x%08X: %02X %02X %02X %02X %02X %02X %02X %02X\r\n", address+24, + otp[24], otp[25], otp[26], otp[27], otp[28], otp[29], otp[30], otp[31]); +} + +/* "banks" will print the contents of the OTP flash. Simply calling it with no + arguments will output all 16 banks; with one argument will output one single + bank, and with two arguments will print from bank %1 to bank %2. */ + +static int cmd_banks(const struct shell *sh, size_t argc, char **argv) +{ + // no arguments: show all banks + if (argc-1 == 0) + { + for (u8_t i = 0; i < 16; i++) + { + print_bank(sh, i); + } + } + + // 1 arg: show one bank + if (argc-1 == 1) + { + uint8_t bank = atoi(argv[1]); + if ((bank < 0) | (bank > 15)) + { + shell_error(sh, "Invalid bank (0-15): %d", bank); + return -EINVAL; + } + print_bank(sh, bank); + + } + + // 2 args: show range of banks + if (argc-1 == 2) + { + u8_t b1 = atoi(argv[1]); + u8_t b2 = atoi(argv[2]); + + if ((b1 < 0) | (b1 > 15) | (b2 < 0) | (b2 > 15)) + { + shell_error(sh, "Invalid bank range (0-15) (0-15): %d %d", b1, b2); + return -EINVAL; + } + + if (b1 > b2) + { + shell_error(sh, "Bank %d must be less than %d", b1, b2); + return -EINVAL; + } + + for (u8_t i = b1; i <= b2; i++) + { + print_bank(sh, i); + } + + } + + return 0; +} + +SHELL_CMD_REGISTER(banks, NULL, "Print OTP banks [0-15]", cmd_banks); + +/* "calibjoy" searches OTP flash for the most recent joystick calibration and + outputs the values it finds (if any). Mostly useful for debugging. */ + +static int cmd_calibjoy(const struct shell *sh, size_t argc, char **argv) +{ + joystick_cal_t pizza; // This variable name was Scott's idea, don't blame me + + int bank = 14; + int i; + char cal[sizeof(joystick_cal_t)]; + char c; + uint32_t address = (OTP_BASE_ADDR + (OTP_BANK_SIZE*bank)); + + shell_print(sh, "starting."); + bank = 14; + for (i=0; i<8; i++) + { + c = *(unsigned char *)address; + if (c == 0xCB) + { + break; + } + else + { + bank-=2; + } + address = (OTP_BASE_ADDR + (OTP_BANK_SIZE * bank)); + } + + if (*(unsigned char *)address != 0xCB) { + shell_print(sh, "Could not find calibration data"); + pizza.x_error = (0); + pizza.y_error = (0); + pizza.xp_scale = (0.5); + pizza.xn_scale = (0.5); + pizza.yp_scale = (0.5); + pizza.yn_scale = (0.5); + } + else + { + shell_print(sh, "Found calibration data in bank %i", bank); + address++; + for (i=0; i MAXPULSEWIDTH) || (servocal.servo_max[i] < MINPULSEWIDTH)) cal_invalid = 1; + if ((servocal.servo_min[i] > MAXPULSEWIDTH) || (servocal.servo_min[i] < MINPULSEWIDTH)) cal_invalid = 1; + if ((servocal.servo_133[i] > MAXPULSEWIDTH) || (servocal.servo_133[i] < MINPULSEWIDTH)) cal_invalid = 1; + } + } + + if (cal_invalid) + { + shell_error(sh, "Servo calibration data is corrupt! Setting to defaults"); + for (i=0; i<3; i++) + { + + servocal.servo_max[i] = TYPICAL_MAX; + servocal.servo_133[i] = TYPICAL_MID; + servocal.servo_min[i] = TYPICAL_MIN; + } + } + + for (i=0; i<3; i++) shell_print(sh, "Servo %i: Max %i Mid %i Min %i", i, servocal.servo_max[i], servocal.servo_133[i], servocal.servo_min[i]); + return 0; +} + +SHELL_CMD_REGISTER(calibservo, NULL, "Show servo calibration bank", cmd_calibservo); + +/* "resetservo" will write a set of default servo calibration values to the next available OTP bank. + This is useful in cases where the bot simply refuses to calibrate properly. + + Since this is potentially destructive and, at present, not recoverable ex- + cept by performing another calibration, this command will not work unless + you feed it the right password, which is "shazam" at Scott's suggestion. */ + +static int cmd_resetservo(const struct shell *sh, size_t argc, char **argv) +{ + servo_cal_t servocal; + + int i; + char cal[sizeof(servo_cal_t)]; + char c; + uint32_t address = (OTP_BASE_ADDR + (OTP_BANK_SIZE)); + + if (argc != 2) + { + shell_error(sh, "Syntax: resetservo password"); + return -EINVAL; + } + + if (strncmp(argv[1], "shazam", 6)) + { + shell_error(sh, "Error: password incorrect"); + return -EINVAL; + } + + shell_print(sh, "Password accepted"); + + for (i=0; i<3; i++) + { + + servocal.servo_max[i] = TYPICAL_MAX; + servocal.servo_133[i] = TYPICAL_MID; + servocal.servo_min[i] = TYPICAL_MIN; + } + + // Addition: This seems to be a better default setting for S0 + servocal.servo_min[0] -= 50; + servocal.servo_max[0] -= 50; + servocal.servo_133[0] -= 50; + + for (i=0; i<8; i++) + { + c = *(unsigned char *)address; + if (c == 0xFF) break; + else address+=(OTP_BANK_SIZE*2); + } + shell_print(sh, "Writing OTP bank %i", (i*2)+1); + *flash_cr = 0x00000001; + memcpy(&cal, &servocal, sizeof(servo_cal_t)); + for (i=0; imsg; + k_free(rx_data); + return 0; +} + +void spi_task(void) +{ + struct device *spi; + struct spi_config spi_cfg; + struct spi_cs_control spi_cs; + + spi = device_get_binding("SPI_1"); + if (!spi) + { + LOG_ERR("Could not find SPI driver\n"); + return; + } + + spi_cfg.operation = SPI_WORD_SET(8) | SPI_OP_MODE_SLAVE; + spi_cfg.frequency = 25000000; + + spi_cs.gpio_dev = device_get_binding(DT_INST_0_ST_STM32_SPI_CS_GPIOS_CONTROLLER); + spi_cs.gpio_pin = DT_INST_0_ST_STM32_SPI_CS_GPIOS_PIN; + spi_cs.delay = 0; + spi_cfg.cs = &spi_cs; + + LOG_INF("SPI interface listening"); + + const struct spi_buf tx_buf = { + .buf = &hat_to_pi, + .len = sizeof(hat_to_pi) + }; + const struct spi_buf rx_buf = + { + .buf = &pi_to_hat, + .len = sizeof(pi_to_hat) + }; + const struct spi_buf_set tx = { .buffers = &tx_buf, .count = 1 }; + const struct spi_buf_set rx = { .buffers = &rx_buf, .count = 1 }; + + while(true) + { + memset(&pi_to_hat, 0, sizeof(pi_to_hat)); // 8 bytes from Raspberry Pi (Tx) + memset(&hat_to_pi, 0, sizeof(hat_to_pi)); // 8 bytes to Raspberry Pi (Rx) + + hat_to_pi.menu_button = atomic_get(&g_btn_menu); + hat_to_pi.joystick_button = atomic_get(&g_btn_joy); + hat_to_pi.joystick_x = (int) atomic_get(&g_joy_x); + hat_to_pi.joystick_y = (int) atomic_get(&g_joy_y); + + // tx: outbound (button state and joystick positions) + // rx: incoming (command verbs) + + if (spi_transceive(spi, &spi_cfg, &tx, &rx) > 0) + { + size_t size = sizeof(fifo_item_t); + fifo_item_t *ptr = (fifo_item_t *) k_malloc(size); + __ASSERT_NO_MSG(ptr != 0); + + ptr->fifo_reserved = 0x0; // don't care + memcpy(&ptr->msg, &pi_to_hat, sizeof(pi_to_hat)); + + k_fifo_put(&my_fifo, ptr); + } + } +} + +K_THREAD_DEFINE(spi_task_id, STACKSIZE, spi_task, NULL, NULL, NULL, PRIORITY, 0, K_NO_WAIT); diff --git a/fw/src/app/spi.h b/fw/src/app/spi.h new file mode 100644 index 0000000..181fa69 --- /dev/null +++ b/fw/src/app/spi.h @@ -0,0 +1,70 @@ +#ifndef PI_MSGR_H_ +#define PI_MSGR_H_ + +#include +#include + + +// Messaging from the Pi to the hat -------------------------------------------- +#define NOOP 0x00 +#define SERVO_ENABLE 0x01 // The servos should be turned off +#define SERVO_DISABLE 0x02 // The servos should be turned on +#define CONTROL_INFO 0x03 // This packet contains control info +#define SET_PLATE_ANGLES 0x04 // Set the plate angles (x and y angles) +#define SET_SERVOS 0x05 // Set the servo positions manually + +#define COPY_STRING 0x80 // There is a arbitrary length string being transmitted (max len 240 bytes) and copy into the text buffer +#define DISPLAY_BIG_TEXT_ICON 0x81 // Display what is currently in the buffer (large font) along with an icon sent in this message. Does not scroll. +#define DISPLAY_BIG_TEXT 0x82 // Display only what is currently in the buffer (large font). Does not scroll. +#define DISPLAY_SMALL_TEXT 0x83 // Display only what is currently in the buffer (small font). Scroll if required. +#define DISPLAY_POWER_SYMBOL 0x84 // Display text (and icon) using one of the five IEC Power Symbols now in Unicode 9.0, as "0"..."5" + + +typedef union +{ + struct + { + u8_t icon; // Selects 1 icon out of (currently) 8 options + }; + struct + { + // Both are in hundredths of a degree + int8_t plate_angle1; // Plate X (pitch) angle + int8_t plate_angle2; // Plate Y (roll) angle + }; + struct + { + // All are in hundredths of a degree + u8_t servo1_pos_centi_deg_high_byte; // Servo 1 angle (for direct servo control) + u8_t servo1_pos_centi_deg_low_byte; + u8_t servo2_pos_centi_deg_high_byte; // Servo 2 angle + u8_t servo2_pos_centi_deg_low_byte; + u8_t servo3_pos_centi_deg_high_byte; // Servo 3 angle + u8_t servo3_pos_centi_deg_low_byte; + }; + struct + { + char characters[7]; + }; + u8_t raw[7]; +} pi_to_hat_data_t; + +// All CONTROL packets are 8 bytes long +typedef struct +{ + u8_t control; // 1 byte: Control byte (always the same) + pi_to_hat_data_t data; // 7 bytes: Data (dependent on control byte) +} pi_to_hat_t; + +typedef struct +{ + u8_t menu_button; // byte 0: 0 or 1 + u8_t joystick_button; // byte 1: 0 or 1 + int8_t joystick_x; // byte 2: Joystick X (-100 to +100) + int8_t joystick_y; // byte 3: Joystick Y (-100 to +100) + u8_t padding[4]; // byte 4-7: always 0 +} hat_to_pi_t; + +int wait_for_pi_message(pi_to_hat_t* msg, int32_t timeout); + +#endif diff --git a/fw/src/app/state.c b/fw/src/app/state.c new file mode 100644 index 0000000..7d1337b --- /dev/null +++ b/fw/src/app/state.c @@ -0,0 +1,9 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. +#include "headers.h" +#include "state.h" + +atomic_t g_joy_x = ATOMIC_INIT(0); +atomic_t g_joy_y = ATOMIC_INIT(0); +atomic_t g_btn_joy = ATOMIC_INIT(0); +atomic_t g_btn_menu = ATOMIC_INIT(0); diff --git a/fw/src/app/state.h b/fw/src/app/state.h new file mode 100644 index 0000000..f97d2ba --- /dev/null +++ b/fw/src/app/state.h @@ -0,0 +1,10 @@ +#ifndef STATUS_H +#define STATUS_H + +// 32-bit integers are the only atomic types +extern atomic_t g_joy_x; +extern atomic_t g_joy_y; +extern atomic_t g_btn_menu; +extern atomic_t g_btn_joy; + +#endif diff --git a/fw/src/boards/arm/moab_hat/CMakeLists.txt b/fw/src/boards/arm/moab_hat/CMakeLists.txt new file mode 100644 index 0000000..3b22ab6 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/CMakeLists.txt @@ -0,0 +1,5 @@ +if(CONFIG_PINMUX) +zephyr_library() +zephyr_library_sources(pinmux.c) +zephyr_library_include_directories(${ZEPHYR_BASE}/drivers) +endif() diff --git a/fw/src/boards/arm/moab_hat/Kconfig.board b/fw/src/boards/arm/moab_hat/Kconfig.board new file mode 100644 index 0000000..f64bdb1 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/Kconfig.board @@ -0,0 +1,6 @@ +# Kconfig - MOAB Hat with STM32F030CCT MCU +# + +config BOARD_MOAB_HAT + bool "MOAB Hat Development Board" + depends on SOC_STM32F415XX diff --git a/fw/src/boards/arm/moab_hat/Kconfig.defconfig b/fw/src/boards/arm/moab_hat/Kconfig.defconfig new file mode 100644 index 0000000..3736698 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/Kconfig.defconfig @@ -0,0 +1,61 @@ +# Kconfig - MOAB Hat with STM32F030CCT MCU +# + +if BOARD_MOAB_HAT + +config BOARD + default "moab_hat" + +config USE_CODE_PARTITION + default y + +config UART_1 + default y + +if SHELL +config UART_3 + default y +endif # SHELL + +if I2C +config I2C_2 + default y + +config I2C_STM32_INTERRUPT + default y +endif # I2C + +if PWM +config PWM_STM32_3 + default y +endif # PWM + +if LVGL +config LVGL_LOG_LEVEL + default 2 + +config LVGL_DISPLAY_DEV_NAME + default "SH1106" + +config LVGL_HOR_RES + default 128 + +config LVGL_VER_RES + default 32 + +config LVGL_VDB_SIZE + default 100 + +config LVGL_DPI + default 128 + +config LVGL_BITS_PER_PIXEL + default 1 + +choice LVGL_COLOR_DEPTH + default LVGL_COLOR_DEPTH_1 +endchoice +endif + + +endif # BOARD_MOAB_HAT diff --git a/fw/src/boards/arm/moab_hat/board.cmake b/fw/src/boards/arm/moab_hat/board.cmake new file mode 100644 index 0000000..4c57cdc --- /dev/null +++ b/fw/src/boards/arm/moab_hat/board.cmake @@ -0,0 +1,4 @@ +board_runner_args(jlink "--device=STM32F415RG" "--speed=4000") + +#include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake) +include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake) diff --git a/fw/src/boards/arm/moab_hat/moab_hat.dts b/fw/src/boards/arm/moab_hat/moab_hat.dts new file mode 100644 index 0000000..9ffd5c6 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/moab_hat.dts @@ -0,0 +1,148 @@ +/dts-v1/; +#include + +/ { + model = "MOAB Hat board"; + compatible = "st,stm32f415rg"; + + chosen { + zephyr,console = &usart1; + zephyr,shell-uart = &usart3; + zephyr,sram = &sram0; + zephyr,flash = &flash0; + zephyr,ccm = &ccm0; + zephyr,code-partition = &slot0_partition; + }; + + leds { + compatible = "gpio-leds"; + red_led_1: led_1 { + gpios = <&gpioc 13 GPIO_INT_ACTIVE_HIGH>; + label = "User LD1"; + }; + servo_en_led: led_2 { + gpios = <&gpioa 12 GPIO_INT_ACTIVE_HIGH>; + label = "User LD2"; + }; + spi_msg_led: led_3 { + gpios = <&gpioc 4 GPIO_INT_ACTIVE_HIGH>; + label = "User LD3"; + }; + }; + + + gpio_keys { + compatible = "gpio-keys"; + user_button1: key1 { + label = "button1"; + gpios = <&gpioc 0 GPIO_INT_ACTIVE_HIGH>; + }; + user_button2: key2 { + label = "button2"; + gpios = <&gpioc 1 GPIO_INT_ACTIVE_HIGH>; + }; + }; + + aliases { + led-red = &red_led_1; + button-menu = &user_button1; + button-joystick = &user_button2; + servo-enable = &servo_en_led; + spi-msg-ready = &spi_msg_led; + }; +}; + + + +&usart1 { + current-speed = <115200>; + //status = "okay"; +}; + +&usart3 { + current-speed = <115200>; + //status = "okay"; +}; + +&timers3 { + //status = "okay"; + + // pwm { + // st,prescaler = <100>; + // status = "okay"; + // }; +}; + +&i2c2 { + //status = "okay"; + clock-frequency = ; + + // lp5024@62 { + // compatible = "ti,lp50xx"; + // reg = <0x62>; + // label = "LP5024"; + // rgb-count = <8>; + // }; +}; + +&spi1 { + //status = "okay"; + cs-gpios = <&gpioa 4 GPIO_INT_ACTIVE_LOW>; +}; + +&spi2 { + //status = "okay"; + cs-gpios = <&gpiob 12 GPIO_INT_ACTIVE_LOW>; + sh1106-spi@0 { + compatible = "sino,sh1106"; + reg = <0x0>; + label = "SH1106"; + width = <128>; + height = <32>; + segment-offset = <2>; + page-offset = <0>; + display-offset = <0x7>; // <0x7>; + multiplex-ratio = <0xA8>; // 63 + segment-remap; + com-invdir; + //com-sequential; + prechargep = <0x1F>; + reset-gpios = <&gpioc 5 GPIO_INT_ACTIVE_LOW>; + a0-gpios = <&gpioc 9 GPIO_INT_ACTIVE_LOW>; + spi-max-frequency = <4000000>; + }; +}; + +&adc1 { + //status = "okay"; +}; + +&flash0 { + partitions { + compatible = "fixed-partitions"; + #address-cells = <1>; + #size-cells = <1>; + + /* 128K */ + boot_partition: partition@0 { + label = "mcuboot"; + reg = <0x00000000 0x20000>; + #read-only; + }; + /* 256K */ + slot0_partition: partition@20000 { + label = "image-0"; + reg = <0x00020000 0x40000>; + }; + /* 256K */ + slot1_partition: partition@60000 { + label = "image-1"; + reg = <0x00060000 0x40000>; + }; + /* 256K */ + scratch_partition: partition@A0000 { + label = "image-scratch"; + reg = <0x000A0000 0x40000>; + }; + }; +}; diff --git a/fw/src/boards/arm/moab_hat/moab_hat.yaml b/fw/src/boards/arm/moab_hat/moab_hat.yaml new file mode 100644 index 0000000..81ec752 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/moab_hat.yaml @@ -0,0 +1,18 @@ +identifier: moab_hat +name: MOAB_HAT +type: mcu +arch: arm +toolchain: + - zephyr + - gnuarmemb + - xtools +ram: 128 +flash: 1024 +supported: + - uart + - gpio + - i2c + - spi + - pwm + - usb + diff --git a/fw/src/boards/arm/moab_hat/moab_hat_defconfig b/fw/src/boards/arm/moab_hat/moab_hat_defconfig new file mode 100644 index 0000000..cbe2eb6 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/moab_hat_defconfig @@ -0,0 +1,35 @@ +# Zephyr Kernel Configuration +CONFIG_ARM=y + +# Platform Configuration +CONFIG_SOC_SERIES_STM32F4X=y +CONFIG_SOC_STM32F415XX=y +# 168MHz system clock +CONFIG_CORTEX_M_SYSTICK=y +CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=168000000 + +# Enable MPU +CONFIG_ARM_MPU=y + +# Pinmux Driver +CONFIG_PINMUX=y + +# GPIO Controller +CONFIG_GPIO=y + +# Clock configuration +CONFIG_CLOCK_CONTROL=y + +# Clock configuration for Cube Clock control driver +CONFIG_CLOCK_STM32_HSE_CLOCK=8000000 +CONFIG_CLOCK_STM32_SYSCLK_SRC_PLL=y +# use HSE as PLL input +CONFIG_CLOCK_STM32_PLL_SRC_HSE=y +# produce 168MHz clock at PLL output +CONFIG_CLOCK_STM32_PLL_M_DIVISOR=8 +CONFIG_CLOCK_STM32_PLL_N_MULTIPLIER=336 +CONFIG_CLOCK_STM32_PLL_P_DIVISOR=2 +CONFIG_CLOCK_STM32_PLL_Q_DIVISOR=7 +CONFIG_CLOCK_STM32_AHB_PRESCALER=1 +CONFIG_CLOCK_STM32_APB1_PRESCALER=4 +CONFIG_CLOCK_STM32_APB2_PRESCALER=2 diff --git a/fw/src/boards/arm/moab_hat/pinmux.c b/fw/src/boards/arm/moab_hat/pinmux.c new file mode 100644 index 0000000..779ea12 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/pinmux.c @@ -0,0 +1,88 @@ +#include +#include +#include +#include +#include +#include "pinmux/pinmux.h" + +#include "pinmux/stm32/pinmux_stm32.h" + +#define STM32F4_PINMUX_FUNC_PB5_PWM3_CH2 \ + (STM32_PINMUX_ALT_FUNC_2 | STM32_PUSHPULL_NOPULL) +#define STM32F4_PINMUX_FUNC_PB0_PWM3_CH3 \ + (STM32_PINMUX_ALT_FUNC_2 | STM32_PUSHPULL_NOPULL) +#define STM32F4_PINMUX_FUNC_PB1_PWM3_CH4 \ + (STM32_PINMUX_ALT_FUNC_2 | STM32_PUSHPULL_NOPULL) + +static const struct pin_config pinconf[] = { +// UART1 +#ifdef CONFIG_UART_1 + {STM32_PIN_PB6, STM32F4_PINMUX_FUNC_PB6_USART1_TX}, + {STM32_PIN_PB7, STM32F4_PINMUX_FUNC_PB7_USART1_RX}, +#endif + +// UART3 +#ifdef CONFIG_UART_3 + {STM32_PIN_PC10, STM32F4_PINMUX_FUNC_PC10_USART3_TX}, + {STM32_PIN_PC11, STM32F4_PINMUX_FUNC_PC11_USART3_RX}, +#endif + +// PWM +#ifdef CONFIG_PWM_STM32_3 + {STM32_PIN_PB4, STM32F4_PINMUX_FUNC_PB4_PWM3_CH1}, + {STM32_PIN_PB5, STM32F4_PINMUX_FUNC_PB5_PWM3_CH2}, + {STM32_PIN_PB0, STM32F4_PINMUX_FUNC_PB0_PWM3_CH3}, + {STM32_PIN_PB1, STM32F4_PINMUX_FUNC_PB1_PWM3_CH4}, +#endif + +// I2C2 +#ifdef CONFIG_I2C_2 + {STM32_PIN_PB11, STM32F4_PINMUX_FUNC_PB11_I2C2_SDA}, + {STM32_PIN_PB10, STM32F4_PINMUX_FUNC_PB10_I2C2_SCL}, +#endif + +// SPI1 +#ifdef CONFIG_SPI_1 +#ifdef CONFIG_SPI_STM32_USE_HW_SS + {STM32_PIN_PA4, STM32F4_PINMUX_FUNC_PA4_SPI1_NSS}, +#endif /* CONFIG_SPI_STM32_USE_HW_SS */ + {STM32_PIN_PA5, STM32F4_PINMUX_FUNC_PA5_SPI1_SCK}, + {STM32_PIN_PA6, STM32F4_PINMUX_FUNC_PA6_SPI1_MISO}, + {STM32_PIN_PA7, STM32F4_PINMUX_FUNC_PA7_SPI1_MOSI}, +#endif + +// SPI2 +#ifdef CONFIG_SPI_2 +#ifdef CONFIG_SPI_STM32_USE_HW_SS + {STM32_PIN_PB12, STM32F4_PINMUX_FUNC_PB12_SPI2_NSS}, +#endif /* CONFIG_SPI_STM32_USE_HW_SS */ + {STM32_PIN_PB13, STM32F4_PINMUX_FUNC_PB13_SPI2_SCK}, + {STM32_PIN_PB14, STM32F4_PINMUX_FUNC_PB14_SPI2_MISO}, + {STM32_PIN_PB15, STM32F4_PINMUX_FUNC_PB15_SPI2_MOSI}, +#endif + +// SPI3 +#ifdef CONFIG_SPI_3 + {STM32_PIN_PB3, STM32F4_PINMUX_FUNC_PB3_SPI3_SCK}, + {STM32_PIN_PC12, STM32F4_PINMUX_FUNC_PC12_SPI3_MOSI}, +#endif + +// ADC +#ifdef CONFIG_ADC + {STM32_PIN_PA0, STM32F4_PINMUX_FUNC_PA0_ADC123_IN0}, + {STM32_PIN_PA1, STM32F4_PINMUX_FUNC_PA1_ADC123_IN1}, + //{STM32_PIN_PA2, STM32F4_PINMUX_FUNC_PA2_ADC123_IN2}, + //{STM32_PIN_PA3, STM32F4_PINMUX_FUNC_PA3_ADC123_IN3}, +#endif +}; + +static int pinmux_stm32_init(struct device *port) +{ + ARG_UNUSED(port); + + stm32_setup_pins(pinconf, ARRAY_SIZE(pinconf)); + + return 0; +} + +SYS_INIT(pinmux_stm32_init, PRE_KERNEL_1, CONFIG_PINMUX_STM32_DEVICE_INITIALIZATION_PRIORITY); diff --git a/fw/src/boards/arm/moab_hat/support/openocd.cfg b/fw/src/boards/arm/moab_hat/support/openocd.cfg new file mode 100644 index 0000000..b97b1a0 --- /dev/null +++ b/fw/src/boards/arm/moab_hat/support/openocd.cfg @@ -0,0 +1,24 @@ +source [find interface/stlink.cfg] + +set WORKAREASIZE 0x30000 + +transport select hla_swd + +source [find target/stm32f4x.cfg] + +adapter_khz 1000 +adapter_nsrst_delay 100 +jtag_ntrst_delay 100 + +reset_config srst_only srst_nogate connect_assert_srst + +$_TARGETNAME configure -event gdb-attach { + echo "Debugger attaching: halting execution" + reset halt + gdb_breakpoint_override hard +} + +$_TARGETNAME configure -event gdb-detach { + echo "Debugger detaching: resuming execution" + resume +} diff --git a/fw/src/doit b/fw/src/doit new file mode 100755 index 0000000..f33d74f --- /dev/null +++ b/fw/src/doit @@ -0,0 +1,95 @@ +#!/usr/bin/env bash +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. +# vim:filetype=sh: + +set -euo pipefail +trap 's=$?; echo "$0: Error on line "$LINENO": $BASH_COMMAND"; exit $s' ERR + +require() { hash "$@" || exit 127; } + +require west + +## Log script output +exec 1> >(tee "/tmp/stdout.log") +exec 2> >(tee "/tmp/stderr.log") + + +# Steps to build from scratch: +# cd app +# cmake -B build +# cd build +# make -j 12 + + +# Version Schema +# major.minor.patch.timestamp +# 3.0.4: atomic get/set of joystick/menu +# 3.0.5: mutexes +# 3.0.6: display calls handled by main.c loop w/timer instead of sleep +# 3.0.7: restored display to it's own thread (due to main blocking on FIFO queue) +# 3.0.8: unused +# 3.0.10: always copy string from pi (instead of using text index) +# 3.0.11: three display string/icon types +# 3.0.12: add MOON icon +# 3.0.13: add all IEC Power Symbols +# 3.0.14: no changes, just bumping versions to match SW +# 3.0.15: merge into moabian +# 3.0.16: off-by-one icon errors +# 3.0.17: Testing new MUTEX protected display.c code in MUTEX branch +# 3.0.19: Arbitrary version bump to be in sync with the software stack +# 3.0.20: Pitch/roll to servo 1/2/3 coordinate transform removed (now in hat.py) +# 3.0.21: Tighten up the log info messages +# 3.0.22: Trying to capture 3 Rx buffer overruns with WARN message +# 3.0.23: Show FW version on boot; tighter FW logs + +VERSION="3.0.24" + +# YRDDDHR: 2103908. 2021, 39th day of the year, 08th hour (PDT) +TIMESTAMP=$(TZ='America/Los_Angeles' date +"%j%H%M") +export MAJORMINORPATCH=$VERSION +export SEMVER=$VERSION.$TIMESTAMP + +# Lets you run this script from anywhere +readonly _D="$(dirname "$(readlink -f "$0")")" && cd $_D + +# Dump firmware binaries here +[[ -d binaries ]] || mkdir binaries +DEST="$_D/binaries" + +# production "app" folder +build () { + echo "Building Moab hat firmware with embedded version:" $SEMVER + + west build -b moab_hat --pristine auto + west sign -d build -t imgtool -- --key ~/root-rsa-2048.pem + + # SHA=$(git rev-parse HEAD | cut -b 1-4) + # DMY=$(date +"%Y%m%d-%H%M") + FN="$SEMVER.bin" + cp build/zephyr/zephyr.signed.bin "$DEST/$FN" +} + +install() { + # "moab" must be setup for password-less ssh in ~/.ssh/config + if [[ $(ssh moab "hostname") ]]; then + # copy the last build to the pi + FN=$(ls -1 $DEST | tail -1) + + echo "Installing $DEST/$FN on moab" + scp "$DEST/$FN" moab:$FN || echo "scp copy to moab failed" + ssh moab "sudo moab/bin/flash /home/pi/$FN" + fi +} + +clean() { + echo "removing temporary folders" + rm -rf build + rm -rf binaries +} + +cmd="${1:-build}" + +[[ "$cmd" == "build" ]] && build +[[ "$cmd" == "clean" ]] && clean +[[ "$cmd" == "install" ]] && install diff --git a/fw/src/dts.overlay b/fw/src/dts.overlay new file mode 100644 index 0000000..8fcc83a --- /dev/null +++ b/fw/src/dts.overlay @@ -0,0 +1,32 @@ +&usart1 { + status = "okay"; +}; + +&usart3 { + status = "okay"; +}; + +&timers3 { + status = "okay"; + + pwm { + st,prescaler = <100>; + status = "okay"; + }; +}; + +&i2c2 { + status = "okay"; +}; + +&spi1 { + status = "okay"; +}; + +&spi2 { + status = "okay"; +}; + +&adc1 { + status = "okay"; +}; diff --git a/fw/src/dts/bindings/sino,sh1106-spi.yaml b/fw/src/dts/bindings/sino,sh1106-spi.yaml new file mode 100644 index 0000000..c76dde6 --- /dev/null +++ b/fw/src/dts/bindings/sino,sh1106-spi.yaml @@ -0,0 +1,70 @@ +title: SH1106 128x64 Dot Matrix Display Controller + +description: | + This is a representation of the SH1106 132x64 Dot Matrix Display Controller, + accessed through SPI bus + +compatible: "sino,sh1106" + +include: spi-device.yaml + +properties: + height: + type: int + required: true + description: Height in pixel of the panel driven by the controller + + width: + type: int + required: true + description: Width in pixel of the panel driven by the controller + + segment-offset: + type: int + required: true + description: 8-bit column start address for Page Addressing Mode + + page-offset: + type: int + required: true + description: Start address for Page Addressing Mode + + display-offset: + type: int + required: true + description: mapping of the display start line to one of COM0 .. COM63 + + multiplex-ratio: + type: int + required: true + description: Multiplex Ratio + + segment-remap: + type: boolean + required: false + description: Last column address is mapped to first segment + + com-invdir: + type: boolean + required: false + description: Scan direction is from last COM output to first COM output + + com-sequential: + type: boolean + required: false + description: Sequential COM pin configuration + + prechargep: + type: int + required: true + description: Duration of the pre-charge period + + reset-gpios: + type: phandle-array + required: true + description: Reset pin + + a0-gpios: + type: phandle-array + required: false + description: A0 pin (used in 4-wire mode) diff --git a/fw/src/dts/bindings/ti,lp50xx.yaml b/fw/src/dts/bindings/ti,lp50xx.yaml new file mode 100644 index 0000000..6bc98bd --- /dev/null +++ b/fw/src/dts/bindings/ti,lp50xx.yaml @@ -0,0 +1,16 @@ +title: TI LP50xx LED Driver + +description: TI LP50xx LED binding + +compatible: "ti,lp50xx" + +include: i2c-device.yaml + +# Describes number of RGB LEDS supported by the specific chip +# example: 5018 is 6, 5024 is 8, 5030 is 10, and 5036 is 12 +properties: + rgb-count: + type: int + required: true + + diff --git a/fw/src/prj.conf b/fw/src/prj.conf new file mode 100644 index 0000000..cbb6402 --- /dev/null +++ b/fw/src/prj.conf @@ -0,0 +1,76 @@ +CONFIG_BOOTLOADER_MCUBOOT=y +CONFIG_DEBUG=y +CONFIG_THREAD_MONITOR=y +CONFIG_INIT_STACKS=y +CONFIG_THREAD_NAME=y +CONFIG_OBJECT_TRACING=y +CONFIG_BOOT_BANNER=n +CONFIG_NEWLIB_LIBC=y +CONFIG_HEAP_MEM_POOL_SIZE=16384 + +CONFIG_CONSOLE=y + +# Serial Drivers +CONFIG_SERIAL=y +CONFIG_UART_INTERRUPT_DRIVEN=y +# enable console +CONFIG_UART_CONSOLE=y +CONFIG_UART_1=y +CONFIG_UART_3=y + +# Log +CONFIG_LOG=y +CONFIG_LOG_BACKEND_UART=y +CONFIG_LOG_BACKEND_SHOW_COLOR=y +CONFIG_LOG_IMMEDIATE=y + + +# Shell +CONFIG_SHELL=y + +#CONFIG_KERNEL_SHELL=n +CONFIG_ADC_SHELL=y +CONFIG_SHELL_PRINTF_BUFF_SIZE=30 +CONFIG_SHELL_HISTORY=y +CONFIG_SHELL_STACK_SIZE=1024 +CONFIG_SHELL_WILDCARD=n +CONFIG_SHELL_ARGC_MAX=12 +CONFIG_SHELL_STATS=n +CONFIG_SHELL_CMDS=y +CONFIG_SHELL_CMD_BUFF_SIZE=128 +CONFIG_SHELL_BACKENDS=y +CONFIG_SHELL_BACKEND_SERIAL=y +CONFIG_SHELL_BACKEND_SERIAL_LOG_LEVEL_NONE=y +CONFIG_SHELL_BACKEND_SERIAL_INTERRUPT_DRIVEN=y +CONFIG_SHELL_BACKEND_SERIAL_TX_RING_BUFFER_SIZE=8 +CONFIG_SHELL_BACKEND_SERIAL_RX_RING_BUFFER_SIZE=64 + +# Display +CONFIG_DISPLAY=y +CONFIG_DISPLAY_LOG_LEVEL_ERR=y +CONFIG_LVGL=y +CONFIG_LVGL_BUFFER_ALLOC_STATIC=y +CONFIG_LVGL_OBJ_LABEL=y +CONFIG_LVGL_ANIMATION=y + +# Devices +CONFIG_UART_CONSOLE=y +#CONFIG_I2C=y +CONFIG_SPI=y +CONFIG_SPI_STM32=y +CONFIG_SPI_SLAVE=y +CONFIG_SPI_INIT_PRIORITY=70 +CONFIG_SPI_0=y +CONFIG_SPI_0_OP_MODES=1 +CONFIG_SPI_1=y +CONFIG_SPI_1_OP_MODES=1 +CONFIG_SPI_2=y +CONFIG_SPI_2_OP_MODES=1 +CONFIG_SPI_STM32_INTERRUPT=y +CONFIG_SPI_STM32_USE_HW_SS=y +CONFIG_ADC=y +CONFIG_ADC_STM32=y + +# PWM +CONFIG_PWM=y +CONFIG_PWM_3=y diff --git a/fw/firmware.bin b/fw/v2.4.1.bin similarity index 100% rename from fw/firmware.bin rename to fw/v2.4.1.bin diff --git a/fw/v3.bin b/fw/v3.bin new file mode 100644 index 0000000..91274e8 Binary files /dev/null and b/fw/v3.bin differ diff --git a/os/files/bin/diagnose b/os/files/bin/diagnose deleted file mode 100755 index 84a0d5e..0000000 --- a/os/files/bin/diagnose +++ /dev/null @@ -1,63 +0,0 @@ -#!/usr/bin/env bats - -@test "Year is at least 2020" { - [[ `date +"%Y"` -ge 2020 ]] -} - -@test "DNS working" { - ping -c 1 github.com -} - -@test "pymoab permissions nominal" { - lib="/usr/local/lib/python3.7/dist-packages/pymoab-1.0.0.dist-info" - if [ -e "$lib" ]; then - [ $(stat -c "%a" "/usr/local/lib/python3.7/dist-packages/pymoab-1.0.0.dist-info") = "2755" ] - fi -} - -@test "libmoab permissions nominal" { - [ -r /usr/local/lib/libmoab.so.1.0 ] -} - -@test "Docker is running" { - pgrep -l docker -} - -@test 'Hostname is "moab"' { - hostname | grep moab -} - -@test 'Pi UART disabled' { - grep -v 'console=serial0,115200 console=tty1' /boot/cmdline.txt -} - -@test "Camera detected" { - vcgencmd get_camera | grep 'detected=1' -} - -@test "splash details on login is executable" { - [[ -x /usr/local/bin/splash ]] -} - -@test "power/fan/moab services started without GPIO error" { - journalctl | grep -v gpio.setup -} - -@test "fan and power services are running" { - systemctl is-active fan.service - systemctl is-active power.service -} - -@test "/home/pi/moab/docker-compose.yml exists" { - [[ -e /home/pi/moab/docker-compose.yml ]] -} - -@test "docker-compose is installed and can launch" { - docker-compose -v -} - -@test "docker-compose has containers up" { - pgrep -f main.py - pgrep -f predict -} - diff --git a/os/files/bin/oled b/os/files/bin/oled deleted file mode 100755 index c69e78f..0000000 Binary files a/os/files/bin/oled and /dev/null differ diff --git a/os/files/etc/environment b/os/files/etc/environment index 97a222b..ab8c255 100644 --- a/os/files/etc/environment +++ b/os/files/etc/environment @@ -1 +1 @@ -MOABIAN=2.4.1 +MOABIAN=3.0.24 diff --git a/os/files/etc/profile b/os/files/etc/profile deleted file mode 100644 index db3315a..0000000 --- a/os/files/etc/profile +++ /dev/null @@ -1,36 +0,0 @@ -# /etc/profile: system-wide .profile file for the Bourne shell (sh(1)) -# and Bourne compatible shells (bash(1), ksh(1), ash(1), ...). - -if [ "`id -u`" -eq 0 ]; then - PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin" -else - PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games" -fi -export PATH - -if [ "${PS1-}" ]; then - if [ "${BASH-}" ] && [ "$BASH" != "/bin/sh" ]; then - # The file bash.bashrc already sets the default PS1. - # PS1='\h:\w\$ ' - if [ -f /etc/bash.bashrc ]; then - . /etc/bash.bashrc - fi - else - if [ "`id -u`" -eq 0 ]; then - PS1='# ' - else - PS1='$ ' - fi - fi -fi - -if [ -d /etc/profile.d ]; then - for i in /etc/profile.d/*.sh; do - if [ -r $i ]; then - . $i - fi - done - unset i -fi - -PATH="$HOME/moab/bin:$PATH:."; export PATH diff --git a/os/files/home/bashrc b/os/files/home/bashrc index 1082b11..aac4346 100644 --- a/os/files/home/bashrc +++ b/os/files/home/bashrc @@ -1,20 +1,19 @@ export CLICOLOR=1 export LANG="en_US.UTF-8" export GOPATH=$HOME/.go -export PATH=$HOME/.local/bin:$PATH:/usr/local/go/bin:$GOPATH/bin:. +export PATH=$HOME/.local/bin:$PATH:$HOME/moab/bin:/usr/local/go/bin:$GOPATH/bin:. export LESS="--quit-if-one-screen --no-init --ignore-case --RAW-CONTROL-CHARS --quiet --dumb --LONG-PROMPT" export EDITOR="vim" export BLOCK_SIZE="'1" # add commas to file size listings -# Don't process the rest of the file for non-interactive shells -# as indicated by a PS1 prompt -[ -z "$PS1" ] && return - # Moab specific alias logs="docker logs control -f" alias t="tmux -2 new-session -A -s moabian" alias dc="docker-compose" +alias fwlog="sudo minicom --device=/dev/ttyAMA0" +alias fwshell="sudo minicom --device=/dev/ttyAMA1" +alias ports="sudo netstat -atlp" # General aliases lsflags="--color=auto --group-directories-first -F " @@ -27,26 +26,32 @@ alias lls="ls ${lsflags} -l --sort=size --reverse" # sort by date alias lle="ls ${lsflags} -l --sort=extension " # sort by extension alias ,="cd .." -alias m="less" -alias h='history' -alias hg="history | grep -i" -alias @="printenv | grep -i" - +alias ga='git add' +alias gb='git branch' +alias gc='git commit -m' +alias gco="git checkout" alias gd='git diff' -alias cp='cp --archive' -alias df='df --human-readable' -alias pd='pushd' -alias gs="git status" -alias gd="git diff" -alias vi="vim -o" +alias gf='git fetch' +alias gk='git checkout' +alias gp='git pull' +alias gpush='git push' +alias gs='git status' + +alias hg="history | grep -i" +alias h='history' +alias m="less" alias path='echo $PATH | tr : "\n" | cat -n' +alias p="python3" +alias @="printenv | grep -i" alias rg="rg --pretty --smart-case" +alias vi="vim -o" +alias vim="vim -o" shopt -s checkwinsize # reset lines & cols after resize shopt -s histappend # append rather than overwrite history -export HISTCONTROL=ignoreboth export HISTSIZE=1000 # save last 100k commands export HISTFILESIZE=1000 # save last 100k commands +export HISTCONTROL=ignoreboth # auto cd to a folder by typing it's name shopt -s autocd @@ -59,3 +64,74 @@ function cd { if [ -x /usr/bin/dircolors ]; then test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" fi + + +# Set prompt and title (for interactive shells only) +if [ "$(expr $- : '.*i')" -ne 0 ]; then + + # this works for sh and bash + if [ -z "$ZSH_VERSION" ]; then + # first get exit code of last command, and set colors + PS1="\$(\ + EXIT=\"\$?\" ; \ + BLUE=\"\[\e[38;5;39m\]\" ; \ + RED=\"\[\e[31m\]\" ; \ + ORANGE=\"\[\e[38;5;208m\]\" ; \ + WHITE=\"\[\e[0m\]\" ; " + # endchar + # use # for root and $ for non-root users + # use white for default color, and red if last exit code is non-zero + # username + # use red for root blue(39) for non-root users + PS1+="\ + endchar=\"\\$\${WHITE}\" ; \ + username=\"\${BLUE}\u\${WHITE}\" ; \ + if [ \"\$UID\" = \"0\" ]; then + username=\"\${RED}\u\${WHITE}\" ; \ + fi ; \ + if [ \"\$EXIT\" -eq 0 ]; then + endchar=\"\${WHITE}\$endchar\" ; \ + else \ + endchar=\"\${RED}\$endchar\" + fi ; " + # hostname in orange + PS1+="\ + host=\"\${ORANGE}\H\${WHITE}\" ; " + # current directory in blue(39) + PS1+="\ + dir=\"\${BLUE}\w\${WHITE}\" ; " + # set prompt, and additionally set window title for xterm + if [ "${TERM:0:5}" = "xterm" ]; then + PS1+="echo \"\[\e]2;\u@\H :: \w\a\]\${username}@\${host}\${dir} \${endchar} \" )" + else + PS1+="echo \"\${username}@\${host} \${dir} \${endchar} \" )" + fi + + else + # this works for zsh + # endchar + # use red if last command has non-zero exit + # use # for root and $ for non-root users + local _root_endch="%(?.#.%F{red}#%f)" + local _other_endch="%(?.$.%F{red}$%f)" + local _endchar="%(#.${_root_endch}.${_other_endch})" + # use red for root and blue(39) for non-root users + local _username="%F{%(#.red.39)}%n%f" + # hostname in orange + local _host="%F{208}%m%f" + # current directory in blue(39) + local _dir="%F{39}%~%f" + # set prompt + PS1="${_username}@${_host} ${_dir} ${_endchar} " + # additionally set window title for xterm + __stateless_title () { # for xterm, set window title + if [ "${TERM:0:5}" = "xterm" ]; then + print -Pn "\e]2;%n\@%m :: %~\a" + fi + } + __stateless_title + autoload -Uz add-zsh-hook + add-zsh-hook chpwd __stateless_title + fi + export PS1 +fi diff --git a/os/files/home/profile b/os/files/home/profile new file mode 100644 index 0000000..ab8be84 --- /dev/null +++ b/os/files/home/profile @@ -0,0 +1,25 @@ +# ~/.profile: executed by the command interpreter for login shells. +# This file is not read by bash(1), if ~/.bash_profile or ~/.bash_login +# exists. +# see /usr/share/doc/bash/examples/startup-files for examples. +# the files are located in the bash-doc package. + +# the default umask is set in /etc/profile; for setting the umask +# for ssh logins, install and configure the libpam-umask package. +#umask 022 + +if [ -n "$BASH_VERSION" ]; then + # include .bashrc if it exists + if [ -f "$HOME/.bashrc" ]; then + . "$HOME/.bashrc" + fi +fi + +if [[ $- == *i* ]]; then + + # Bail if inside a TMUX session + # as the splash/motd has already been shown + [ -z $TMUX ] || return + + [ -e ~/moab/bin/splash ] && ~/moab/bin/splash +fi diff --git a/os/files/home/tmux.conf b/os/files/home/tmux.conf index b23324a..2b3ac54 100644 --- a/os/files/home/tmux.conf +++ b/os/files/home/tmux.conf @@ -12,6 +12,9 @@ set -g base-index 1 bind r source-file ~/.tmux.conf +unbind q +bind q kill-session + ##################### # random key bindings ##################### diff --git a/os/files/lib/libmoab.so.1.0 b/os/files/lib/libmoab.so.1.0 deleted file mode 100644 index 1815f37..0000000 Binary files a/os/files/lib/libmoab.so.1.0 and /dev/null differ diff --git a/os/files/profile.d/50-prompt.sh b/os/files/profile.d/50-prompt.sh deleted file mode 100644 index f529aff..0000000 --- a/os/files/profile.d/50-prompt.sh +++ /dev/null @@ -1,72 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -# Set prompt and title (for interactive shells only) -if [ "$(expr $- : '.*i')" -ne 0 ]; then - - # this works for sh and bash - if [ -z "$ZSH_VERSION" ]; then - # first get exit code of last command, and set colors - PS1="\$(\ - EXIT=\"\$?\" ; \ - BLUE=\"\[\e[38;5;39m\]\" ; \ - RED=\"\[\e[31m\]\" ; \ - ORANGE=\"\[\e[38;5;208m\]\" ; \ - WHITE=\"\[\e[0m\]\" ; " - # endchar - # use # for root and $ for non-root users - # use white for default color, and red if last exit code is non-zero - # username - # use red for root blue(39) for non-root users - PS1+="\ - endchar=\"\\$\${WHITE}\" ; \ - username=\"\${BLUE}\u\${WHITE}\" ; \ - if [ \"\$UID\" = \"0\" ]; then - username=\"\${RED}\u\${WHITE}\" ; \ - fi ; \ - if [ \"\$EXIT\" -eq 0 ]; then - endchar=\"\${WHITE}\$endchar\" ; \ - else \ - endchar=\"\${RED}\$endchar\" - fi ; " - # hostname in orange - PS1+="\ - host=\"\${ORANGE}\H\${WHITE}\" ; " - # current directory in blue(39) - PS1+="\ - dir=\"\${BLUE}\w\${WHITE}\" ; " - # set prompt, and additionally set window title for xterm - if [ "${TERM:0:5}" = "xterm" ]; then - PS1+="echo \"\[\e]2;\u@\H :: \w\a\]\${username}@\${host}\${dir} \${endchar} \" )" - else - PS1+="echo \"\${username}@\${host} \${dir} \${endchar} \" )" - fi - - else - # this works for zsh - # endchar - # use red if last command has non-zero exit - # use # for root and $ for non-root users - local _root_endch="%(?.#.%F{red}#%f)" - local _other_endch="%(?.$.%F{red}$%f)" - local _endchar="%(#.${_root_endch}.${_other_endch})" - # use red for root and blue(39) for non-root users - local _username="%F{%(#.red.39)}%n%f" - # hostname in orange - local _host="%F{208}%m%f" - # current directory in blue(39) - local _dir="%F{39}%~%f" - # set prompt - PS1="${_username}@${_host} ${_dir} ${_endchar} " - # additionally set window title for xterm - __stateless_title () { # for xterm, set window title - if [ "${TERM:0:5}" = "xterm" ]; then - print -Pn "\e]2;%n\@%m :: %~\a" - fi - } - __stateless_title - autoload -Uz add-zsh-hook - add-zsh-hook chpwd __stateless_title - fi - export PS1 -fi diff --git a/os/files/profile.d/90-splash.sh b/os/files/profile.d/90-splash.sh deleted file mode 100644 index cda22ef..0000000 --- a/os/files/profile.d/90-splash.sh +++ /dev/null @@ -1,15 +0,0 @@ - -# Show splash screen(for interactive shells only) - -# Bash shell sets special variable $- to include the letter "i" -# to indicate an interactive shell. - -if [[ $- == *i* ]]; then - - # Bail if inside a TMUX session - # as the splash/motd has already been shown - [ -z $TMUX ] || return - - - [ -e /usr/local/bin/splash ] && /usr/local/bin/splash -fi diff --git a/os/services/moab.service b/os/services/brain.service similarity index 85% rename from os/services/moab.service rename to os/services/brain.service index aca2e96..7eadec3 100644 --- a/os/services/moab.service +++ b/os/services/brain.service @@ -1,5 +1,5 @@ [Unit] -Description=Moab Autostart Docker +Description=Moab Brain DefaultDependencies=false After=docker.service diff --git a/os/services/fan.py b/os/services/fan.py index 60a58d2..d64be7c 100755 --- a/os/services/fan.py +++ b/os/services/fan.py @@ -58,11 +58,11 @@ def main(args): temp = int(file.read()) / 1000.0 if temp >= args.temperature and fanIsRunning == False: - print(f"{temp:.1f}º C; FAN: ON", flush=True) + print(f"{temp:.1f}° C; FAN: ON", flush=True) turnOn() if temp < (args.temperature - args.delta) and fanIsRunning == True: - print(f"{temp:.1f}º C; FAN: OFF", flush=True) + print(f"{temp:.1f}° C; FAN: OFF", flush=True) turnOff() time.sleep(args.sec) diff --git a/os/services/fan.service b/os/services/fan.service index 072308d..e53674b 100644 --- a/os/services/fan.service +++ b/os/services/fan.service @@ -4,7 +4,7 @@ DefaultDependencies=false After=basic.target [Service] -ExecStart=/usr/bin/python3 fan.py --temperature 60 +ExecStart=/usr/bin/python3 fan.py --temperature 63 WorkingDirectory=/home/pi/moab/os/services User=pi Restart=on-failure diff --git a/os/services/install b/os/services/install index 3911d66..37de2a6 100755 --- a/os/services/install +++ b/os/services/install @@ -9,15 +9,27 @@ readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" function setup() { # next line failing in nominal on new systems - sudo systemctl disable "$1" || true + sudo systemctl disable "$1" 2>/dev/null || true sudo ln -sf "$PWD/$1" /etc/systemd/system/"$1" sudo systemctl enable "$1" sudo chmod 0644 "$1" } -setup moab.service -setup power.service -setup fan.service +# v3 no longer needs version 2.4.1 moab.service +systemctl disable moab 2>/dev/null || true -sudo systemctl daemon-reload +setup fan.service # 5 sec monitoring the /sys/cpu/temp +setup power.service # Monitors power button: 2 seconds shuts down +setup brain.service # 3 docker containers 5000 REST <-- +setup menu.service # menu.py +setup stream.service # gunicorn(flask.py) <- reverse proxy nginx + +systemctl daemon-reload + +unlink /etc/nginx/sites-enabled/default +cp stream.conf /etc/nginx/sites-enabled +cp stream.conf /etc/nginx/sites-available + +echo "restarting nginx" +service nginx reload diff --git a/os/services/menu.service b/os/services/menu.service new file mode 100644 index 0000000..7fbe018 --- /dev/null +++ b/os/services/menu.service @@ -0,0 +1,17 @@ +[Unit] +Description=Moab Menu +DefaultDependencies=false +After=dhcpd.service + +[Service] +Environment="MOABIAN=3.0.24" +Environment="PYTHONUNBUFFERED=1" +WorkingDirectory=/home/pi/moab/sw +ExecStart=/usr/bin/python3 menu.py --debug --verbose --reset +User=pi + +Restart=on-failure +RestartSec=5s + +[Install] +WantedBy=multi-user.target diff --git a/os/services/oled.service b/os/services/oled.service deleted file mode 100644 index f4444c0..0000000 --- a/os/services/oled.service +++ /dev/null @@ -1,11 +0,0 @@ -[Unit] -Description=OLED Service -DefaultDependencies=false - -[Service] -ExecStart=/usr/local/bin/oled 0 1 -ExecStop=/usr/local/bin/oled 0 0 -User=root - -[Install] -WantedBy=basic.target diff --git a/os/services/power.py b/os/services/power.py index b056522..3ae087c 100755 --- a/os/services/power.py +++ b/os/services/power.py @@ -16,7 +16,7 @@ power_pin = 3 # HAT puts button signal here https://pinout.xyz/pinout/pin5_gpio3 pressed = 0 # button is active low, so depressed is 0 -countdown = 0.5 # two seconds; it's longer than you think +countdown = 3.0 # two seconds before power is cut # countdown timer thread T = None @@ -36,10 +36,11 @@ def shutdown(): global too_late too_late = True - # Send SIGINT to moab/control container; when caught, Moab + # Send SIGTERM to moab/control container; when caught, Moab # will drop the plate, kill the servo power and clear the screen - os.system("docker kill --signal=2 control &> /dev/null") + cmd = "/bin/kill -s TERM $(cat /tmp/menu.pid) &> /dev/null" + os.system(cmd) os.system("sudo shutdown now") @@ -54,8 +55,9 @@ def power_button_event(pin): else: # kill the timer before it kills us if T is not None and too_late is False: - print("Countdown canceled", flush=True) T.cancel() + print("Tapped. Restarting menu.", flush=True) + os.system("sudo systemctl restart menu") def sigint(signal_received, frame): @@ -67,7 +69,7 @@ def main(): setupGPIO() while True: - time.sleep(5) + time.sleep(1) if __name__ == "__main__": diff --git a/os/services/stream.conf b/os/services/stream.conf new file mode 100644 index 0000000..d10ca3c --- /dev/null +++ b/os/services/stream.conf @@ -0,0 +1,12 @@ +server { + listen 80; + server_name moab www.moab; + + access_log /var/log/nginx/moab.access.log; + error_log /var/log/nginx/moab.error.log; + + location / { + include proxy_params; + proxy_pass http://unix:/tmp/web.sock; + } +} diff --git a/os/services/stream.service b/os/services/stream.service new file mode 100644 index 0000000..97c7a94 --- /dev/null +++ b/os/services/stream.service @@ -0,0 +1,12 @@ +[Unit] +Description=Moab Web Service +After=network.target + +[Service] +Group=www-data +User=pi +WorkingDirectory=/home/pi/moab/sw/stream +ExecStart=/home/pi/moab/sw/stream/launch.sh + +[Install] +WantedBy=multi-user.target diff --git a/os/setup b/os/setup index 86ac3b9..92d5bea 100755 --- a/os/setup +++ b/os/setup @@ -4,25 +4,33 @@ # Copyright (c) Microsoft Corporation. # Licensed under the MIT License. -# add change et to noet if you need tabs in the TOHERE section +# use :set noet when modifying EOF blocks +# eventually fix with .editorconfig for VS Code <-- + +## Moabian v3.0 OS Setup +## +## Pre-flight checklist for developer: +## +## 1) cd ~/moab/sw/huemask && make +## 2) ensure correct v3.bin firwmare file is checked in to ~/moab/fw set -euo pipefail # unofficial bash strict mode -die() { ret=$?; printf '%s\n' "$@" >&2; exit "$ret"; } require() { hash "$@" || exit 127; } +println() { printf '%s\n' "$*"; } +die() { ret=$?; printf "%s\n" "$@" >&2; exit "$ret"; } -## This script needs to run as root -[[ $EUID -eq 0 ]] || die "$0 needs to run as root. Try sudo $0" +[[ $EUID -eq 0 ]] || die "$0 script needs to run as root. Try sudo $0" ## Log script output exec 1> >(tee "/tmp/stdout.log") exec 2> >(tee "/tmp/stderr.log") ## Set CWD to the location where this script is running +## $_D -> full path to folder where script is +## $_P -> parent path (usually /home/pi/moab) readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" - -## Requirements before continuing -[[ -d files ]] || die 'Need subfolder "files"' +readonly _P=$(dirname $_D) function layer-run-first { @@ -58,7 +66,7 @@ function layer-classic-moabian tmux vim minicom - libffi-dev + raspi-gpio ) apt-get install --no-install-recommends -y ${packages[*]} @@ -70,23 +78,8 @@ function layer-classic-moabian systemctl disable apt-daily-upgrade systemctl disable man-db - ## Pre-compiled moab C library install for certain os/files/bin utilities - install -pvm 644 files/lib/* /usr/local/lib - ldconfig -v -n /usr/local/lib - ln -fs /usr/local/lib/libmoab.so.1 /usr/local/lib/libmoab.so - ldconfig - - ## Set a proper default bash prompt for all users - ## and install a Moab specific message-of-the-day "splash" screen - install -pvm 644 files/profile.d/* /etc/profile.d rm -f /etc/motd - ## This adds $HOME/moab/bin to the global path - install -pvm 644 files/etc/* /etc - - ## /usr/local/bin - install -pvm 755 files/bin/* /usr/local/bin - ## /home/pi for f in files/home/*; do dst="/home/pi/.${f##*/}" @@ -105,18 +98,17 @@ function layer-classic-moabian ## /home/pi/moab chown -R pi:pi /home/pi/moab -} + ## Remove files left over from v2.1 + rm -f /usr/local/bin/{testmoab,ufetch,motd} + ## Remove files from v2.4 + rm -f /usr/local/lib/libmoab* + ## Remove files from v2.5 (now in ~/moab/bin + rm -f /usr/local/lib/libbcm2835* + rm -f /usr/local/bin/{splash,diagnose,oled} -function blah -{ - sudo -u pi -s <<'EOF' - dest="$HOME/.vim/pack/moabian/start" - rm -rf $dest - mkdir -p "$dest" - git clone https://github.com/lifepillar/vim-solarized8 "$dest/solarized8" - git clone https://github.com/scotstan/vim-polyglot "$dest/polyglot" -EOF + ## /etc/environment file sets MOABIAN=3.x.x for all users + install -pvm 644 files/etc/* /etc } @@ -130,6 +122,8 @@ function layer-pip-docker if ! command -v pip3 &> /dev/null; then wget https://bootstrap.pypa.io/get-pip.py -O /tmp/get-pip.py python3 /tmp/get-pip.py + else + python3 -m pip install --upgrade pip fi # Pointer for pip to download pre-compiled Raspberry Pi binary wheels @@ -146,20 +140,27 @@ function layer-pip-docker if ! command -v docker-compose &> /dev/null; then pip3 install docker-compose fi + + # Setup a default docker-compose.yml + if ! [[ -e ../docker-compose.yml ]]; then + cp ../bin/template.yml ../docker-compose.yml + chown pi:pi ../docker-compose.yml + fi } function layer-moab-services { - require 'pip3' - sudo -u pi pip3 install --user RPi.GPIO - services/install 2&> /dev/null + sudo -u pi python3 -m pip install --user RPi.GPIO + services/install } function layer-rename { - sed -i -e 's/raspberrypi/moab/' /etc/hosts /etc/hostname - echo "raspberrypi.local renamed to moab.local" - warn "Please reboot your Moab now by typing: sudo reboot now" + if grep raspberry /etc/hostname; then + sed -i -e 's/raspberrypi/moab/' /etc/hosts /etc/hostname + echo "raspberrypi.local renamed to moab.local" + warn "Please reboot your Moab now by typing: sudo reboot now" + fi } function touched { grep -qF "##moabian" "$1"; } @@ -219,9 +220,22 @@ function touch-console-setup EOF } -function layer-bcm2835 +function layer-baremetal +{ + # install APT packages as root + $_P/sw/setup/packages.sh + + info "Installing python packages" + sudo -u pi -s <<-EOF + python3 -m pip install --upgrade pip + pip3 install --user -r $_P/sw/setup/requirements.txt + pip3 install --user $_P/sw/huemask + EOF +} + +function layer-flash { - ../sw/bin/bcm2835 + $_P/bin/flash $_P/fw/v3.bin } function layer-mcumgr @@ -263,14 +277,16 @@ function info { function main { - info "layer-run-first" && layer-run-first - info "touch-files" && touch-files - info "classic-moabian" && layer-classic-moabian - info "pip-docker" && layer-pip-docker - info "services setup" && layer-moab-services - info "install bcm2835 library" && layer-bcm2835 - info "install go and mcumgr" && layer-mcumgr - info "renaming to moab.local" && layer-rename + info "01/10: updating system packages" && layer-run-first + info "02/10: setting up boot files" && touch-files + info "03/10: moabian package install" && layer-classic-moabian + info "04/10: installing docker" && layer-pip-docker + info "05/10: firmware tooling" && layer-mcumgr + info "06/10: python packages for moab" && layer-baremetal + info "07/10: autorun services setup" && layer-moab-services + info "08/10: flashing Moab HAT to v3 firmware" && layer-flash + info "09/10: cleaning up" && sudo apt-get autoremove --yes + info "10/10: renaming bot to moab" && layer-rename } main diff --git a/sw/.gitignore b/sw/.gitignore new file mode 100644 index 0000000..61e1585 --- /dev/null +++ b/sw/.gitignore @@ -0,0 +1,2 @@ +.ipynb_checkpoints +*.ipynb diff --git a/sw/.ignore b/sw/.ignore new file mode 100644 index 0000000..8b8b6cd --- /dev/null +++ b/sw/.ignore @@ -0,0 +1,2 @@ +huemask/huemask.c +tags diff --git a/sw/Dockerfile b/sw/Dockerfile deleted file mode 100644 index be79d91..0000000 --- a/sw/Dockerfile +++ /dev/null @@ -1,116 +0,0 @@ -FROM arm32v7/python:3.7-slim-buster -# From https://hub.docker.com/r/arm32v7/python -# Moabian uses python 3.7 Debian 10 (Buster) "slim", specifically: -# https://github.com/docker-library/python/blob/35d8d9712c3ea4cbc4004a0e62ab61100b6fed99/3.7/buster/slim/Dockerfile - -ENV LC_ALL C.UTF-8 -ENV DEBIAN_FRONTEND noninteractive -ENV UDEV off - -RUN apt-get update && apt-get install -y --no-install-recommends \ - ca-certificates \ - findutils \ - gnupg \ - dirmngr \ - inetutils-ping \ - netbase \ - curl \ - udev \ - procps \ - iproute2 \ - - git \ - openssh-client \ - autoconf \ - build-essential \ - libbz2-dev \ - libcurl4-openssl-dev \ - libevent-dev \ - libffi-dev \ - libglib2.0-dev \ - libjpeg-dev \ - libncurses-dev \ - libpq-dev \ - libreadline-dev \ - libssl-dev \ - libxml2-dev \ - libxslt-dev \ - libyaml-dev \ - zlib1g-dev \ - && c_rehash - - -# 01_nodoc -RUN echo 'path-exclude /usr/share/doc/*\n\ -# we need to keep copyright files for legal reasons\n\ -path-include /usr/share/doc/*/copyright\n\ -path-exclude /usr/share/man/*\n\ -path-exclude /usr/share/info/*\n\ -path-exclude /usr/share/lintian/*\n\ -path-exclude /usr/share/locale/*\n\ -path-include /usr/share/locale/en*' > /etc/dpkg/dpkg.cfg.d/01_nodoc - - -# 01_buildconfig -RUN echo 'APT::Get::Assume-Yes "true";\n\ -APT::Install-Recommends "0";\n\ -APT::Install-Suggests "0";\n\ -quiet "true";' > /etc/apt/apt.conf.d/01_buildconfig - -RUN mkdir -p /usr/share/man/man1 - - -RUN echo "deb http://archive.raspbian.org/raspbian buster main contrib rpi" >> /etc/apt/sources.list \ - && apt-key adv --batch --keyserver ha.pool.sks-keyservers.net --recv-key 0x9165938D90FDDD2E \ - && echo "deb http://archive.raspberrypi.org/debian buster main ui" >> /etc/apt/sources.list.d/raspi.list \ - && apt-key adv --batch --keyserver ha.pool.sks-keyservers.net --recv-key 0x82B129927FA3303E - - -RUN rm -rf /var/lib/apt/lists/* - -RUN find /usr/share/doc -depth -type f ! -name copyright | xargs rm || true \ - && find /usr/share/doc -empty | xargs rmdir || true \ - && find /usr/share/locale/* -depth -type d ! -name en* | xargs rm -rf || true \ - && rm -rf /usr/share/man/* /usr/share/groff/* /usr/share/info/* \ - && rm -rf /usr/share/lintian/* /usr/share/linda/* /var/cache/man/* - - -RUN apt-get update && apt-get install -y --no-install-recommends \ - less \ - kmod \ - nano \ - net-tools \ - ifupdown \ - iputils-ping \ - i2c-tools \ - usbutils \ - wget - -## -## Moab specific install -## Must use python3.7 -## - -WORKDIR /app -COPY bin /app/bin - -RUN /app/bin/packages - -RUN apt-get -y autoremove && \ - rm -rf /var/cache/apt/archives/* /var/lib/apt/lists/* - -RUN /app/bin/bcm2835 - -COPY requirements.txt /app -RUN pip3 install -r /app/requirements.txt -i https://www.piwheels.org/simple - -COPY libs /app/libs -RUN /app/bin/pymoab - -RUN apt-get autoremove build-essential cpp-8 gcc-8 - -COPY control /app/control -COPY config /app/config -COPY main.py /app -CMD python3 main.py -t 5 - diff --git a/sw/bin/baremetal b/sw/bin/baremetal deleted file mode 100755 index c9b4335..0000000 --- a/sw/bin/baremetal +++ /dev/null @@ -1,36 +0,0 @@ -#!/bin/bash - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -set -euo pipefail - -die() { ret=$?; printf "%s\n", "$@" >&2; exit "$ret"; } -# [[ $EUID -eq 0 ]] || die "Must run $0 as root" - -# change directories to the folder hosting this script -readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" - -function info { - if tput colors &> /dev/null; then - local color=$(tput smso)$(tput setaf 2) # inverse, green - local reset=$(tput sgr0) - printf "${color}○ %s ${reset}\n" "$1" - else - printf '%s\n' "$1" - fi -} - -info "Installing apt-get packages" -sudo ./packages - -info "Installing SPI/GPIO library" -sudo ./bcm2835 - -info "Installing libmoab and pymoab wrapper" -sudo ./pymoab - -info "Installing Python3 packages" -pip3 install -r ../requirements.txt - -info 'Finished. Run: "sudo moab/sw/bin/start" next' diff --git a/sw/bin/bcm2835 b/sw/bin/bcm2835 deleted file mode 100755 index dc7b75f..0000000 --- a/sw/bin/bcm2835 +++ /dev/null @@ -1,37 +0,0 @@ -#!/bin/bash -# vim:ts=4 sw=4 et - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -## -## Install the BCM2835 C library from source -## - -set -euo pipefail # unofficial bash strict mode - -require() { hash "$@" || exit 127; } -println() { printf '%s\n' "$*"; } -die() { ret=$?; printf "%s\n" "$@" >&2; exit "$ret"; } - -# Only continue if we are running as sudo (for the make install) -[[ $EUID -eq 0 ]] || die "$0 needs to run as root. Try again with sudo." - -# Test to see if library is already installed -echo 'int main(){}' | gcc -o /dev/null -x c - -lbcm2835 2>/dev/null && die "lib already installed" - -# Create a temp folder to download and compile in to -T=$(mktemp -d --suffix=.moab) -trap 'rm -rf $T' EXIT -cd "$T" - -ver="-1.64" -wget --no-verbose http://www.airspayce.com/mikem/bcm2835/bcm2835"$ver".tar.gz -tar xf bcm2835"$ver".tar.gz - -cd bcm2835"$ver" -./configure > /dev/null -make > /dev/null -make install > /dev/null - -exit 0 diff --git a/sw/bin/pyclean b/sw/bin/pyclean index cbf0220..d826947 100755 --- a/sw/bin/pyclean +++ b/sw/bin/pyclean @@ -5,6 +5,5 @@ set -euo pipefail die() { ret=$?; printf "%s\n", "$@" >&2; exit "$ret"; } -[[ $EUID -eq 0 ]] || die "$0 run as root" find . -type f -name '*.py[co]' -delete -o -type d -name __pycache__ -delete diff --git a/sw/bin/pymoab b/sw/bin/pymoab deleted file mode 100755 index 498a96c..0000000 --- a/sw/bin/pymoab +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/bash - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -set -euo pipefail # unofficial bash strict mode -trap 's=$?; echo "$0: Error on line "$LINENO": $BASH_COMMAND"; exit $s' ERR - -require() { hash "$@" || exit 127; } -die() { ret=$?; printf "%s\n" "$@" >&2; exit "$ret"; } - -# script requires sudo for shared pymoab library install -[[ $EUID -eq 0 ]] || die "$0 needs to run as root. Try again with sudo." - -# change directories to the folder hosting this script -readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" - -make -C ../libs/moab clean -make -C ../libs/moab install - -make -C ../libs/pymoab clean -make -C ../libs/pymoab install diff --git a/sw/bin/start b/sw/bin/start deleted file mode 100755 index 792906f..0000000 --- a/sw/bin/start +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/bash - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -set -euo pipefail - -die() { ret=$?; printf "%s\n", "$@" >&2; exit "$ret"; } -[[ $EUID -eq 0 ]] || die "Must run $0 as root" - -# change directories to the folder hosting this script -readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" - -cd .. - -# Start a one-off brain for testing -docker run -p 5000:5000 --detach --rm -it moab/brain:latest - -sudo python3 main.py $@ - -# Kill the one we just started, on exit -docker kill "$(docker ps --latest --quiet)" diff --git a/sw/calibrate.py b/sw/calibrate.py new file mode 100644 index 0000000..3aee905 --- /dev/null +++ b/sw/calibrate.py @@ -0,0 +1,402 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +""" +Calibration Controller + +Performs calibration for hue, center of camera position, and servo offsets +""" + +import os +import cv2 +import time +import json +import argparse +import datetime +import numpy as np +import logging as log + +from env import MoabEnv +from typing import Tuple +from common import Vector2 +from detector import hsv_detector +from controllers import pid_controller +from dataclasses import dataclass, astuple +from hat import Hat, plate_angles_to_servo_positions + + +@dataclass +class CalibHue: + hue: int = 44 # Reasonable default + success: bool = False + early_quit: bool = False # If menu is pressed before the calibration is complete + + def __iter__(self): + return iter(astuple(self)) + + +@dataclass +class CalibPos: + position: Tuple[float, float] = (0.0, 0.0) + success: bool = False + early_quit: bool = False # If menu is pressed before the calibration is complete + + def __iter__(self): + return iter(astuple(self)) + + +@dataclass +class CalibServos: + servos: Tuple[float, float, float] = (0.0, 0.0, 0.0) + success: bool = False + early_quit: bool = False # If menu is pressed before the calibration is complete + + def __iter__(self): + return iter(astuple(self)) + + +def ball_close_enough(x, y, radius, max_ball_dist=0.045, min_ball_dist=0.01): + # reject balls which are too far from the center and too small + return ( + np.abs(x) < max_ball_dist + and np.abs(y) < max_ball_dist + and radius > min_ball_dist + ) + + +def calibrate_hue(camera_fn, detector_fn, is_menu_down_fn): + hue_low = 0 + hue_high = 360 + hue_steps = 41 # Is 41 instead of 40 so that the steps are even + + img_frame, elapsed_time = camera_fn() + hue_options = list(np.linspace(hue_low, hue_high, hue_steps)) + + detected_hues = [] + for hue in hue_options: + if is_menu_down_fn(): + return CalibHue(early_quit=True) + + img_frame, elapsed_time = camera_fn() + ball_detected, ((x, y), radius) = detector_fn(img_frame, hue=hue, debug=True) + + # If we found a ball roughly in the center that is large enough + if ball_detected and ball_close_enough(x, y, radius): + log.info( + f"hue={hue:0.3f}, ball_detected={ball_detected}, " + f"(x, y)={x:0.3f} {y:0.3f}, radius={radius:0.3f}" + ) + detected_hues.append(hue) + + if len(detected_hues) > 0: + # https://en.wikipedia.org/wiki/Mean_of_circular_quantities + detected_hues_rad = np.radians(detected_hues) + sines, cosines = np.sin(detected_hues_rad), np.cos(detected_hues_rad) + sin_mean, cos_mean = np.mean(sines), np.mean(cosines) + avg_hue_rad = np.arctan2(sin_mean, cos_mean) + avg_hue = np.degrees(avg_hue_rad) % 360 # Convert back to [0, 360] + + print(f"Hues are: {detected_hues}") + print(f"Hue calibrated: {avg_hue:0.2f}") + print(f"Avg hue: {avg_hue:0.2f}") + return CalibHue(hue=int(avg_hue), success=True) + + else: + log.warning(f"Hue calibration failed.") + return CalibHue() + + +def calibrate_pos(camera_fn, detector_fn, hue, is_menu_down_fn): + for i in range(10): # Try and detect for 10 frames before giving up + if is_menu_down_fn(): + return CalibPos(early_quit=True) + + img_frame, elapsed_time = camera_fn() + ball_detected, ((x, y), radius) = detector_fn(img_frame, hue=hue) + + # If we found a ball roughly in the center that is large enough + if ball_detected and ball_close_enough(x, y, radius): + x_offset = round(x, 3) + y_offset = round(y, 3) + + log.info(f"Offset calibrated: [{x_offset:.3f}, {y_offset:.3f}]") + return CalibPos(position=(x_offset, y_offset), success=True) + + log.warning(f"Offset calibration failed.") + return CalibPos() + + +def calibrate_servo_offsets(pid_fn, env, stationary_vel=0.005, time_limit=20): + start_time = time.time() + action = Vector2(0, 0) + + # Initial high vel_history (to use the vel_hist[-100:] later) + vel_x_hist = [1.0 for _ in range(100)] + vel_y_hist = [1.0 for _ in range(100)] + + # Run until the ball has stabilized or the time limit was reached + while time.time() < start_time + time_limit: + state = env.step(action) + action, info = pid_fn(state) + + (x, y, vel_x, vel_y, sum_x, sum_y), ball_detected, buttons = state + + # Quit on menu down + if buttons.menu_button: + return CalibServos(early_quit=True) + + if ball_detected: + vel_x_hist.append(vel_x) + vel_y_hist.append(vel_y) + prev_100_x = np.mean(np.abs(vel_x_hist[-100:])) + prev_100_y = np.mean(np.abs(vel_y_hist[-100:])) + print("Prev 100: ", (prev_100_x, prev_100_y)) + + # If the average velocity for the last 100 timesteps is under the limit + if (prev_100_x < stationary_vel) and (prev_100_y < stationary_vel): + + # Calculate offsets by calculating servo positions at the + # current stable position and subtracting the `default` zeroed + # position of the servos. + servos = np.array(plate_angles_to_servo_positions(*action)) + servos_zeroed = np.array(plate_angles_to_servo_positions(0, 0)) + servo_offsets = list(servos - servos_zeroed) + + return CalibServos(servos=servo_offsets, success=True) + + # If the plate could be stabilized in time_limit seconds, quit + log.warning(f"Servo calibration failed.") + return CalibServos() + + +def write_calibration(calibration_dict, calibration_file="bot.json"): + log.info("Writing calibration.") + + # write out stuff + with open(calibration_file, "w+") as outfile: + log.info(f"Creating calibration file {calibration_file}") + json.dump(calibration_dict, outfile, indent=4, sort_keys=True) + + +def read_calibration(calibration_file="bot.json"): + log.info("Reading previous calibration.") + + if os.path.isfile(calibration_file): + with open(calibration_file, "r") as f: + calibration_dict = json.load(f) + else: # Use defaults + calibration_dict = { + "ball_hue": 44, + "plate_offsets": (0.0, 0.0), + "servo_offsets": (0.0, 0.0, 0.0), + } + return calibration_dict + + +def wait_for_joystick_or_menu(hat, sleep_time=1 / 30): + """Waits for either the joystick or the menu. Returns the buttons""" + while True: + hat.noop() # Force new transfer to have up to date button reading + buttons = hat.get_buttons() + if buttons.menu_button or buttons.joy_button: + return buttons + time.sleep(sleep_time) + + +def wait_for_menu(hat, sleep_time=1 / 30): + while True: + hat.noop() # Force new transfer to have up to date button reading + menu_button, joy_button, joy_x, joy_y = hat.get_buttons() + time.sleep(sleep_time) + if menu_button: + return + + +def run_calibration(env, pid_fn, calibration_file): + # Get some hidden things from env + hat = env.hat + camera_fn = env.camera + detector_fn = env.detector + + def is_menu_down(hat=hat) -> bool: + hat.noop() + return hat.get_buttons().menu_button + + # lift plate up first + hat.set_angles(0, 0) + + # Display message and wait for joystick + hat.display_long_string( + "put ball on stand\nclick joystick" + # "Place ball in\ncenter using\nclear stand.\n\n" "Click joystick\nwhen ready." + ) + buttons = wait_for_joystick_or_menu(hat) + if buttons.menu_button: # Early quit + hat.go_up() + return + + hat.display_string("Calibrating...") + hue_calib = calibrate_hue(camera_fn, detector_fn, is_menu_down) + if hue_calib.early_quit: + hat.go_up() + return + + # Calibrate position + pos_calib = calibrate_pos(camera_fn, detector_fn, hue_calib.hue, is_menu_down) + if pos_calib.early_quit: + hat.go_up() + return + + # Save calibration + calibration_dict = read_calibration(calibration_file) + calibration_dict["ball_hue"] = hue_calib.hue + calibration_dict["plate_offsets"] = pos_calib.position + x_offset, y_offset = pos_calib.position + write_calibration(calibration_dict) + + # Update the environment to use the new calibration + # Warning! This mutates the state! + env.reset_calibration(calibration_file=calibration_file) + + if pos_calib.success and hue_calib.success: # and servo_calib.success: + hat.display_long_string(f"Ok! Ball hue={hue_calib.hue}\nClick menu...") + elif not (pos_calib.success or hue_calib.success): # or servo_calib.success): + hat.display_long_string("Calibration failed\nClick menu...") + else: + hue_str = ( + f"Hue calib:\nsuccessful\nBall hue = {hue_calib.hue}\n\n" + if hue_calib.success + else "Hue calib:\nfailed\n\n" + ) + pos_str = ( + f"Position \ncalib:\nsuccessful\nPosition = \n({100*x_offset:.1f}, {100*y_offset:.1f})cm\n\n" + if hue_calib.success + else "(X, Y) calib:\nfailed\n\n" + ) + hat.display_long_string( + "Calibration\npartially succeeded\n\n" + + hue_str + + pos_str + + "Click menu\nto return...\n" + ) + + # When the calibration is complete, save the image of what the moab camera + # sees (useful for debugging when the hue calibration fails) + # Have a nice filename with the time and whether it succeeded or failed + + time_of_day = datetime.datetime.now().strftime("%H%M%S") + filename = "/tmp/hue" + if hue_calib.success: + filename += f".{hue_calib.hue}.{time_of_day}.jpg" + else: + filename += f".fail.{time_of_day}.jpg" + + img_frame, _ = camera_fn() + + # Huemask keeps an internal cache. By sending a new hue (hue + 1) invalidates + # the cache. TODO: added this while searching for a state bug + detector_fn(img_frame, hue=hue_calib.hue + 1, debug=True, filename=filename) + + hat.go_up() + + +def run_servo_calibration(env, pid_fn, calibration_file): + # Warning: servo calib works but doesn't currently give a good calibration + raise NotImplementedError + + # Get some hidden things from env + hat = env.hat + camera_fn = env.camera + detector_fn = env.detector + + # Start the calibration with uncalibrated servos + hat.set_servo_offsets(0, 0, 0) + # lift plate up fist + hat.set_angles(0, 0) + + # Calibrate servo offsets + hat.display_long_string( + "Calibarating\nservos\n\n" + "Place ball in\ncenter without\n stand.\n\n" + "Click joystick\nto continue." + ) + buttons = wait_for_joystick_or_menu(hat) + if buttons.menu_button: # Early quit + hat.go_up() + return + + hat.display_long_string("Calibrating\nservos...") + servo_calib = calibrate_servo_offsets(pid_fn, env) + + # Save calibration + calibration_dict = read_calibration(calibration_file) + calibration_dict["servo_offsets"] = servo_calib.servos + s1, s2, s3 = servo_calib.servos + write_calibration(calibration_dict) + + # Update the environment to use the new calibration + # Warning! This mutates the state! + env.reset_calibration(calibration_file=calibration_file) + + if servo_calib.success: + hat.display_long_string( + f"servo offsets =\n({s1:.2f}, {s2:.2f}, {s3:.2f})\n\n" + "Click menu\nto return...\n" + ) + print(f"servo offsets =\n({s1:.2f}, {s2:.2f}, {s3:.2f})") + else: + hat.display_long_string("Calibration\nfailed\n\nClick menu\nto return...") + + hat.go_up() + + +def calibrate_controller(**kwargs): + run_calibration( + kwargs["env"], + kwargs["pid_fn"], + kwargs["calibration_file"], + ) + + def wait_for_menu_and_stream(): + # Get some hidden things from env to be able to stream the calib results + env = kwargs["env"] + hat = env.hat + camera_fn = env.camera + detector_fn = env.detector + + menu_button = False + while not menu_button: + img_frame, _ = camera_fn() + detector_fn(img_frame, debug=True) # Save to streaming + + hat.noop() + menu, joy, _, _ = hat.get_buttons() + if menu or joy: + break + hat.go_up() + + return wait_for_menu_and_stream + + +def main(calibration_file, frequency=30, debug=True): + pid_fn = pid_controller(frequency=frequency) + + with MoabEnv(frequency=frequency, debug=debug) as env: + env.step((0, 0)) + time.sleep(0.2) + env.hat.enable_servos() + time.sleep(0.2) + env.hat.set_servos(133, 133, 133) + + run_calibration(env, pid_fn, calibration_file) + + env.hat.disable_servos() + + +if __name__ == "__main__": # Parse command line args + parser = argparse.ArgumentParser() + parser.add_argument("-d", "--debug", action="store_true") + parser.add_argument("-f", "--file", default="bot.json", type=str) + + args, _ = parser.parse_known_args() + main(args.file, debug=args.debug) diff --git a/sw/camera.py b/sw/camera.py new file mode 100644 index 0000000..d2f8050 --- /dev/null +++ b/sw/camera.py @@ -0,0 +1,88 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +""" +A sensor that uses OpenCV for capture +""" + +import cv2 +import threading +import numpy as np + +from time import time + + +# Link to raspicam_cv implementation for mapping values +# https://github.com/cedricve/raspicam/blob/651c56418a5a594fc12f1414eb14f2b899729cb1/src/raspicam_cv.h#L108 +class OpenCVCameraSensor: + def __init__( + self, + device_id=0, + rotation=0, + brightness=60, + contrast=100, + frequency=30, + x_offset_pixels=0.0, + y_offset_pixels=0.0, + ): + self.device_id = device_id + # self.width = width + # self.height = height + self.rotation = rotation + self.brightness = brightness + self.contrast = contrast + self.frequency = frequency + self.prev_time = 0.0 + self.source = None + self.last_frame = None + self.x_offset_pixels = x_offset_pixels + self.y_offset_pixels = y_offset_pixels + + def start(self): + self.source = cv2.VideoCapture(self.device_id) + if self.source: + self.source.set(cv2.CAP_PROP_FRAME_WIDTH, 384) + self.source.set(cv2.CAP_PROP_FRAME_HEIGHT, 288) + self.source.set(cv2.CAP_PROP_FPS, self.frequency) + self.source.set(cv2.CAP_PROP_MODE, 0) # Not meant to be configurable + self.source.set(cv2.CAP_PROP_BRIGHTNESS, self.brightness) + self.source.set(cv2.CAP_PROP_CONTRAST, self.contrast) + else: + raise Exception("Couldn't create camera.") + + def stop(self): + if self.source: + self.source.release() + self.source = None + + def __call__(self): + # safety check + if self.source is None: + raise Exception("Using camera before it has been started.") + + # Calculate the time elapsed since the last sensor snapshot + curr_time = time() + elapsed_time = curr_time - self.prev_time + self.prev_time = curr_time + + ret, frame = self.source.read() + if ret: + w, h = 384, 288 + d = 256 # Our final "destination" rectangle is 256x256 + + # Ensure the offset crops are possible + x_offset_pixels = min(self.x_offset_pixels, (w / 2 - d / 2)) + x_offset_pixels = max(self.x_offset_pixels, -(w / 2 - d / 2)) + y_offset_pixels = min(self.y_offset_pixels, (h / 2 - d / 2)) + y_offset_pixels = max(self.y_offset_pixels, -(h / 2 - d / 2)) + + # Calculate the starting point in x & y + x = int((w / 2 - d / 2) + x_offset_pixels) + y = int((h / 2 - d / 2) + y_offset_pixels) + + frame = frame[y : y + d, x : x + d] + # frame = frame[:-24, 40:-80] # Crop so middle of plate is middle of image + # cv2.resize(frame, (256, 256)) # Crop off edges to make image (256, 256) + return frame, elapsed_time + else: + raise ValueError("Could not get the next frame") diff --git a/sw/common.py b/sw/common.py new file mode 100644 index 0000000..804e30e --- /dev/null +++ b/sw/common.py @@ -0,0 +1,121 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import math +from dataclasses import dataclass + + +def high_pass_filter(frequency, fc=50): + x_dot_cstate = 0 + + def hpf(x): + nonlocal x_dot_cstate # allow x_dot_cstate to be updated in inner scope + x_dot = -(fc ** 2) * x_dot_cstate + fc * x + x_dot_cstate += (-fc * x_dot_cstate + x) / frequency + return x_dot + + return hpf + + +def low_pass_filter(frequency, fc=50): + y_prev = 0.0 + dt = 1 / frequency + tau = 1 / (2 * math.pi * fc) + alpha = dt / (tau + dt) + + def lpf(x): + nonlocal y_prev # allow y_prev to be updated in inner scope + y = alpha * x + (1 - alpha) * y_prev + y_prev = y + return y + + return lpf + + +def derivative(frequency, fc=None): + prev_x = 0 + + def derivate(x): + nonlocal prev_x + x_dot = (x - prev_x) * frequency + prev_x = x + return x_dot + + return derivate + + +class Vector2: + def __init__(self, x: float, y: float): + self.x = float(x) + self.y = float(y) + + def __str__(self): + return f"X: {self.x:2.3f}, Y: {self.y:2.3f}" + + def __add__(self, o): + return Vector2(self.x + o.x, self.y + o.y) + + def __sub__(self, o): + return Vector2(self.x - o.x, self.y - o.y) + + def __truediv__(self, o): + return Vector2(self.x / o, self.y / o) + + def __mul__(self, o): + return Vector2(self.x * o, self.y * o) + + def length(self): + return math.sqrt(self.x ** 2 + self.y ** 2) + + def normalized(self): + length = self.length() + if length != 0.0: + return Vector2(self.x / length, self.y / length) + else: + return Vector2(0, 0) + + def dot(self, o): + return self.x * o.x + self.y * o.y + + def angle(self, o): + return math.acos(self.dot(o) / self.length() * o.length()) + + def distance(self, o): + return (self - o).length() + + def rotate(self, theta, o=None): + """ Return a point rotated `theta` radians around `o` """ + if o is None: + o = Vector2(0, 0) + x = o.x + math.cos(theta) * (self.x - o.x) - math.sin(theta) * (self.y - o.y) + y = o.y + math.sin(theta) * (self.x - o.x) + math.cos(theta) * (self.y - o.y) + return Vector2(x, y) + + def __iter__(self): + yield self.x + yield self.y + + def to_int_tuple(self): + return (int(self.x), int(self.y)) + + +def polar(x, y, degrees=True): + r = math.sqrt(x * x + y * y) + theta = math.atan(y / x) + if degrees: + theta *= 180 / np.pi + return r, theta + + +@dataclass +class CircleFeature: + center: Vector2 = Vector2(0, 0) + radius = 0.0 + + +@dataclass +class Calibration: + ball_hue = 22 + plate_y_offset = 0.0 # -0.016 + plate_x_offset = 0.0 # -0.092 + rotation = -30.0 diff --git a/sw/config/calibration.json b/sw/config/calibration.json deleted file mode 100644 index 28e4d35..0000000 --- a/sw/config/calibration.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "ballHue": 27, - "plateXOffset": -0.092, - "plateYOffset": -0.016, - "rotation": -30.0, - "servoOffsets": [ - 0, - 0, - 0 - ] -} \ No newline at end of file diff --git a/sw/config/config.json b/sw/config/config.json deleted file mode 100644 index 7cca39b..0000000 --- a/sw/config/config.json +++ /dev/null @@ -1,182 +0,0 @@ -{ - "logging": { - "version": 1, - "formatters": { - "single-line": { - "class": "logging.Formatter", - "style": "{", - "datefmt": "%I:%M:%S", - "format": "{levelname:8s} {asctime:s} {name:<15s} {message:s}" - } - }, - "handlers": { - "socket": { - "()": "logging.handlers.SocketHandler", - "host": "localhost", - "port": 9020 - }, - "console": { - "class": "logging.StreamHandler", - "formatter": "single-line", - "stream": "ext://sys.stdout" - } - }, - "loggers": { - "local": { - "handlers": [ - "console" - ], - "level": "DEBUG" - }, - "network": { - "handlers": [ - "socket" - ], - "level": "DEBUG" - }, - "performance": { - "handlers": [ - "console" - ], - "level": "INFO" - } - }, - "root": { - "handlers": [ - "console" - ], - "level": "INFO" - } - }, - "devices": { - "menu": { - "frequencyHz": 20, - "controller": "control.controllers.MenuController" - }, - "calibration": { - "frequencyHz": 30, - "debug": false, - "debugDecorator": { - "name": "control.debug.X11Decorator", - "windowName": "frame" - }, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector" - }, - "controller": "control.controllers.HueCalibrationController", - "actuator": "control.actuators.ServoActuator" - }, - "manual": { - "controller": "control.controllers.JoystickController", - "actuator": "control.actuators.ServoActuator" - }, - "classic": { - "frequencyHz": 30, - "debug": false, - "debugDecorator": { - "name": "control.debug.X11Decorator", - "windowName": "frame" - }, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": { - "debug": false, - "name": "control.detectors.HSVDetector" - } - }, - "controller": { - "name": "control.controllers.PIDController", - "Kp": 0.15, - "Ki": 0.001, - "Kd": 0.090, - "fc": 15 - }, - "actuator": "control.actuators.ServoActuator" - }, - "brain": { - "frequencyHz": 22, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector", - "obstacle": { - "name": "control.detectors.HSVDetector", - "hue": 72 - } - }, - "controller": { - "name": "control.controllers.BrainController", - "maxAngle": 22, - "endPoint": "http://localhost:5000", - "sensorSize": 256 - }, - "actuator": "control.actuators.ServoActuator" - }, - "custom1": { - "frequencyHz": 22, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector", - "obstacle": { - "name": "control.detectors.HSVDetector", - "hue": 72 - } - }, - "controller": { - "name": "control.controllers.BrainController", - "maxAngle": 22, - "endPoint": "http://localhost:5001", - "sensorSize": 256 - }, - "actuator": "control.actuators.ServoActuator" - }, - "custom2": { - "frequencyHz": 22, - "sensor": { - "name": "control.sensors.OpenCVCameraSensor", - "brightness": 60, - "contrast": 50, - "saturation": 50, - "gain": 0 - }, - "detectors": { - "ball": "control.detectors.HSVDetector", - "obstacle": { - "name": "control.detectors.HSVDetector", - "hue": 72 - } - }, - "controller": { - "name": "control.controllers.BrainController", - "maxAngle": 22, - "endPoint": "http://localhost:5002", - "sensorSize": 256 - }, - "actuator": "control.actuators.ServoActuator" - } - } -} diff --git a/sw/control/__init__.py b/sw/control/__init__.py deleted file mode 100644 index be8064b..0000000 --- a/sw/control/__init__.py +++ /dev/null @@ -1,7 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from .debug import * -from .device import * -from .timers import * -from .perfcounters import * diff --git a/sw/control/actuators/__init__.py b/sw/control/actuators/__init__.py deleted file mode 100644 index 0e4f92a..0000000 --- a/sw/control/actuators/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from .servo_actuator import * diff --git a/sw/control/actuators/servo_actuator.py b/sw/control/actuators/servo_actuator.py deleted file mode 100644 index 43eb408..0000000 --- a/sw/control/actuators/servo_actuator.py +++ /dev/null @@ -1,37 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Servo actuator -""" - -import pymoab -from numpy import int8 - -from ..common import IActuator, IDevice, Vector2 - - -class ServoActuator(IActuator): - def __init__(self, config: IActuator.Config, device: IDevice): - super().__init__(config, device) - self.config = config - self.calibration = device.calibration - - pymoab.setServoOffsets( - self.calibration.servoOffsets[0], - self.calibration.servoOffsets[1], - self.calibration.servoOffsets[2], - ) - pymoab.activatePlate() - - self.setPlateAngles(device, Vector2(0, 0)) - - def __del__(self): - pymoab.hoverPlate() - - def setPlateAngles(self, sender: IDevice, plate_angles: Vector2): - self.lastSetPlateAngles = plate_angles - pymoab.setPlateAngles(int(plate_angles.x), int(plate_angles.y)) - - def getLastSetPlateAngles(self) -> Vector2: - return self.lastSetPlateAngles diff --git a/sw/control/common/__init__.py b/sw/control/common/__init__.py deleted file mode 100644 index 0166012..0000000 --- a/sw/control/common/__init__.py +++ /dev/null @@ -1,13 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from .color import * -from .event import * -from .bounds import * -from .common import * -from .device import * -from .sensor import * -from .vector2 import * -from .detector import * -from .actuator import * -from .controller import * diff --git a/sw/control/common/actuator.py b/sw/control/common/actuator.py deleted file mode 100644 index f64a7b7..0000000 --- a/sw/control/common/actuator.py +++ /dev/null @@ -1,26 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Actuator interface -""" - -from dataclasses import dataclass - -from .device import IDevice -from .vector2 import Vector2 - - -class IActuator: - @dataclass - class Config: - pass - - def __init__(self, config: Config, device: IDevice): - self.config = config - - def setPlateAngles(self, sender: IDevice, plate_angles: Vector2): - pass - - def getLastSetPlateAngles(self) -> Vector2: - return Vector2(0, 0) diff --git a/sw/control/common/bounds.py b/sw/control/common/bounds.py deleted file mode 100644 index 02061d0..0000000 --- a/sw/control/common/bounds.py +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Datclasses that contain bounds values -""" - -from typing import Optional -from dataclasses import dataclass, field - -from .color import HSVColor - - -@dataclass -class IntBounds: - min: Optional[int] = 0 - max: Optional[int] = 0 - - -@dataclass -class FloatBounds: - min: Optional[float] = 0 - max: Optional[float] = 0 - - -@dataclass -class HSVBounds: - min: Optional[HSVColor] = field(default_factory=lambda: HSVColor((0, 0, 0))) - max: Optional[HSVColor] = field(default_factory=lambda: HSVColor((0, 0, 0))) diff --git a/sw/control/common/color.py b/sw/control/common/color.py deleted file mode 100644 index efb6977..0000000 --- a/sw/control/common/color.py +++ /dev/null @@ -1,59 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Basic color classes -""" - -from typing import Tuple -from dataclasses import dataclass - - -@dataclass -class RGBColor: - r: int - g: int - b: int - - def __init__(self, r: int = 0, g: int = 0, b: int = 0): - self.r = r - self.g = g - self.b = b - - def __init__(self, rgb: Tuple[int, int, int]): - self.r = rgb[0] - self.g = rgb[1] - self.b = rgb[2] - - def __str__(self): - return f"R: {self.r}, G: {self.g}, B: {self.b}" - - def __iter__(self): - yield self.r - yield self.g - yield self.b - - -@dataclass -class HSVColor: - h: int - s: int - v: int - - def __init__(self, h: int = 0, s: int = 0, v: int = 0): - self.h = h - self.s = s - self.v = v - - def __init__(self, hsv: Tuple[int, int, int]): - self.h = hsv[0] - self.s = hsv[1] - self.v = hsv[2] - - def __str__(self): - return f"H: {self.h:.4f}, S: {self.s:.4f}, V: {self.v:.4f}" - - def __iter__(self): - yield self.h - yield self.s - yield self.v diff --git a/sw/control/common/common.py b/sw/control/common/common.py deleted file mode 100644 index 0274ca8..0000000 --- a/sw/control/common/common.py +++ /dev/null @@ -1,27 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Shared interfaces -""" - -from dataclasses import dataclass - -from .vector2 import Vector2 - - -@dataclass -class CircleFeature: - center: Vector2 = Vector2(0, 0) - radius: float = 0.0 - - -class IDebugDecorator: - def __init__(self, config: dict): - self.config = config - - def __del__(self): - pass - - def decorate(self, args): - pass diff --git a/sw/control/common/controller.py b/sw/control/common/controller.py deleted file mode 100644 index bb89056..0000000 --- a/sw/control/common/controller.py +++ /dev/null @@ -1,32 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Shared interfaces -""" - -from typing import Dict -from dataclasses import dataclass - -from .device import IDevice -from .vector2 import Vector2 -from .common import CircleFeature -from .event import IEventListener - - -class IController(IEventListener): - @dataclass - class Config(IDevice): - maxAngle: int = 15 - - def __init__(self, config: Config, device: IDevice): - self.config = config - - def getControlOutput( - self, - sender: IDevice, - elapsedMs: float, - detectorResults: Dict[str, CircleFeature], - currPlateAngles: Vector2, - ) -> Vector2: - return Vector2(0, 0) diff --git a/sw/control/common/detector.py b/sw/control/common/detector.py deleted file mode 100644 index da157ae..0000000 --- a/sw/control/common/detector.py +++ /dev/null @@ -1,43 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Shared interfaces -""" - -import math -import numpy as np -from dataclasses import dataclass - - -from .device import IDevice -from .vector2 import Vector2 -from .common import CircleFeature - - -class IDetector: - @dataclass - class Config: - pass - - def __init__(self, config: Config, device: IDevice): - self.calibration = device.calibration - - def detect( - self, sender: IDevice, img: np.ndarray, plate_angles: Vector2 - ) -> CircleFeature: - """ - Your detection code goes here. - """ - return CircleFeature() - - def post_detect(self, feature: CircleFeature) -> CircleFeature: - """ - Do some post processing on the detected feature. - You shouldn't need to overload this. - """ - if feature: - feature.center = feature.center.rotate( - math.radians(self.calibration.rotation) - ) - return feature diff --git a/sw/control/common/device.py b/sw/control/common/device.py deleted file mode 100644 index a5e7b9f..0000000 --- a/sw/control/common/device.py +++ /dev/null @@ -1,128 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Shared interfaces -""" - -import logging as log -from pydoc import locate -from dacite import from_dict -from dataclasses import dataclass, field -from typing import List, Optional, Union, cast - -from .common import IDebugDecorator - - -""" -Component config is either a string of the name of component to load. -Example: - { - "mycomponent" : "my.namespace.MyController", - ... - } - -Or it is a dictionary with a `name` field and parameter overrides for the defaults. -Example: - { - "mycomponent": { - "name": "my.namespace.MyController", - "someParam": 42.0 - }, - ... - } - -""" -ComponentConfig = Union[dict, str] - - -class IDevice: - @dataclass - class Calibration: - servoOffsets: List[int] = field(default_factory=lambda: [0, 0, 0]) - - # plate calibration as a percentage of frame size - plateXOffset: float = 0.0 - plateYOffset: float = 0.0 - - ballHue: int = 32 # orange/yellow - rotation: float = -30.0 # the camera sits -30deg rotated from plate coords - - @dataclass - class Config: - frequencyHz: float = 30.0 - joystickThreshold: float = 0.8 - menu_idx: int = 0 - debug: bool = False - debugDecorator: Optional[ComponentConfig] = None - sensor: Optional[ComponentConfig] = None - detectors: Optional[ComponentConfig] = None - controller: Optional[ComponentConfig] = None - actuator: Optional[ComponentConfig] = None - - def __init__( - self, - config: Config, - calibration: Calibration, - debug_decorator: Optional[IDebugDecorator], - ): - self.debug_decorator = debug_decorator - self.config = config - - # shared per-machine calibration data - self.calibration = calibration - self.next_device: Optional[str] = None - self.previous_menu: int = self.config.menu_idx - - def update(self): - pass - - def run(self): - pass - - def stop(self): - pass - - def set_next_device(self, device_name: str): - self.next_device = device_name - - def get_next_device(self) -> Optional[str]: - return self.next_device - - def component_from_config( - self, component_config: ComponentConfig - ) -> Optional[object]: - """ - Import classes with the following signature, - and construct them with their config class. - - class Foo: - @dataclass - class Config: - param1: type = default - param2: type = default - ... - def __init__(self, config: Config): - ... - """ - class_name = "" - config = {} - try: - # if we're just a string expand out into a dict with no config - if type(component_config) is str: - class_name = cast(str, component_config) - elif type(component_config) is dict: - class_name = cast(dict, component_config)["name"] - config = component_config - - # locate class ref for module.name.Foo and module.name.Foo.Config - class_ref = locate(class_name, forceload=False) - config_ref = locate(class_name + ".Config", forceload=False) - - # unpack dict into dataclass - config_inst = from_dict(config_ref, config) - ref = class_ref(config_inst, self) # type: ignore - except Exception as e: - log.exception(f"Error creating class {class_name}\n{e}") - return None - return ref diff --git a/sw/control/common/event.py b/sw/control/common/event.py deleted file mode 100644 index 4909d90..0000000 --- a/sw/control/common/event.py +++ /dev/null @@ -1,151 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from enum import Enum -from typing import List, Optional -from dataclasses import dataclass - -from pymoab import getJoystickBtn, getJoystickX, getJoystickY, getMenuBtn - - -@dataclass -class Event: - menu_btn: bool = False - joy_btn: bool = False - joy_x: float = 0.0 - joy_y: float = 0.0 - - -class IEventListener: - """ - Mix-in class describing the callback event interface. - """ - - def __init__(self): - pass - - def on_menu_down(self, sender: object): - pass - - def on_joy_down(self, sender: object): - pass - - # continuous - def on_joy_moved(self, sender: object, x: float, y: float): - pass - - # discrete navigation flicks - def on_flick_up(self, sender: object): - pass - - def on_flick_down(self, sender: object): - pass - - def on_flick_return(self, sender: object): - pass - - -# constants for joystick flick direction -class FlickDir(Enum): - Unset = 0 - Center = 0 - Up = 1 - Down = 2 - - -class EventDispatcher: - """ - Dispatches events to event to listeners - in self.listeners. - - Call dispatch_event() in main loop. - """ - - def __init__(self): - # ...are you listening? - self.listeners: List[IEventListener] = [] - - # previous event returned from get_next_event - self.prev_event: Optional[Event] = None - - # last event scanned - self._last_raw_event: Optional[Event] = None - - # tracked separately from the polled state - self.flick_threshold = 0.8 - self.flick_dir = FlickDir.Unset - - def _raw_event(self) -> Event: - return Event(getMenuBtn(), getJoystickBtn(), getJoystickX(), getJoystickY()) - - def get_next_event(self) -> Optional[Event]: - """ - Watch for changes between current state - and previous state. - - Returns the next event or None - """ - # poll the current state of the hardware - curr_event = self._raw_event() - - # first scan will set previous - event = None - if self._last_raw_event is None: - self.prev_event = curr_event - self._last_raw_event = curr_event - - # ...not the first event - elif self._last_raw_event != curr_event: - self.prev_event = self._last_raw_event - event = curr_event - - # cache for next time - self._last_raw_event = curr_event - - return event - - def dispatch_event(self, sender: object, event: Event): - """ - Watch for changes between current state - and previous state. - - Dispatch events to all listeners. - """ - for listener in self.listeners: - - # menu btn press/release - if event.menu_btn != self.prev_event.menu_btn: - listener.on_menu_down(sender) - - # joy btn press/release - if event.joy_btn != self.prev_event.joy_btn: - listener.on_joy_down(sender) - - # joy moved - if ( - event.joy_x != self.prev_event.joy_x - or event.joy_y != self.prev_event.joy_y - ): - listener.on_joy_moved(sender, event.joy_x, event.joy_y) - - # dispatch joy flicked - # flick up - if event.joy_y > self.flick_threshold: - if self.flick_dir != FlickDir.Up: - self.flick_dir = FlickDir.Up - listener.on_flick_up(sender) - - # flick down - if event.joy_y < -self.flick_threshold: - if self.flick_dir != FlickDir.Down: - self.flick_dir = FlickDir.Down - listener.on_flick_down(sender) - - # return to center? - if ( - event.joy_y > -self.flick_threshold - and event.joy_y < self.flick_threshold - ): - if self.flick_dir != FlickDir.Center: - self.flick_dir = FlickDir.Center - listener.on_flick_return(sender) diff --git a/sw/control/common/sensor.py b/sw/control/common/sensor.py deleted file mode 100644 index e3a3e65..0000000 --- a/sw/control/common/sensor.py +++ /dev/null @@ -1,31 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Shared interfaces -""" - -import numpy as np -from typing import Tuple -from dataclasses import dataclass - -from .device import IDevice - - -class ISensor: - @dataclass - class Config(IDevice): - width: int = 256 - height: int = 256 - - def __init__(self, config: Config, device: IDevice): - self.config = config - - def start(self): - pass - - def stop(self): - pass - - def getNextInput(self, sender: IDevice) -> Tuple[float, np.ndarray]: - return (0, []) diff --git a/sw/control/common/vector2.py b/sw/control/common/vector2.py deleted file mode 100644 index 19cda63..0000000 --- a/sw/control/common/vector2.py +++ /dev/null @@ -1,69 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Basic 2D vector class -""" - -import math -from typing import Tuple, Optional - - -class Vector2: - x: float - y: float - - def __init__(self, x: float, y: float): - self.x = x - self.y = y - - def __str__(self): - return f"X: {self.x:2.3f}, Y: {self.y:2.3f}" - - def __add__(self, o: "Vector2"): - return Vector2(self.x + o.x, self.y + o.y) - - def __sub__(self, o: "Vector2"): - return Vector2(self.x - o.x, self.y - o.y) - - def __truediv__(self, o: float): - return Vector2(self.x / o, self.y / o) - - def __mul__(self, o: float): - return Vector2(self.x * o, self.y * o) - - def length(self) -> float: - return math.sqrt(self.x ** 2 + self.y ** 2) - - def normalized(self): - length = self.length() - if length != 0.0: - return Vector2(self.x / length, self.y / length) - else: - return Vector2(0, 0) - - def dot(self, o: "Vector2") -> float: - return self.x * o.x + self.y * o.y - - def angle(self, o: "Vector2") -> float: - return math.acos(self.dot(o) / self.length() * o.length()) - - def distance(self, o: "Vector2") -> float: - return (self - o).length() - - def rotate(self, theta: float, o: Optional["Vector2"] = None) -> "Vector2": - """ - Return a point rotated `theta` radians around `o` - """ - if o is None: - o = Vector2(0, 0) - x = o.x + math.cos(theta) * (self.x - o.x) - math.sin(theta) * (self.y - o.y) - y = o.y + math.sin(theta) * (self.x - o.x) + math.cos(theta) * (self.y - o.y) - return Vector2(x, y) - - def __iter__(self): - yield self.x - yield self.y - - def toIntTuple(self) -> Tuple[int, int]: - return (int(self.x), int(self.y)) diff --git a/sw/control/config/__init__.py b/sw/control/config/__init__.py deleted file mode 100644 index efc74da..0000000 --- a/sw/control/config/__init__.py +++ /dev/null @@ -1,12 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -import os - -# Both config.json and calibration.json live under "config/" relative to main.py. -# This way, one can edit the host's config/calibration.json, then launch the container -# overriding the container's version. - -config_path = os.path.abspath(f"{os.getcwd()}/config/config.json") -moab_path = os.path.abspath(f"{os.getcwd()}/config") -calibration_path = f"{moab_path}/calibration.json" diff --git a/sw/control/config/orange-ball-color-map.png b/sw/control/config/orange-ball-color-map.png deleted file mode 100644 index dc4f97b..0000000 Binary files a/sw/control/config/orange-ball-color-map.png and /dev/null differ diff --git a/sw/control/controllers/__init__.py b/sw/control/controllers/__init__.py deleted file mode 100644 index 88b3149..0000000 --- a/sw/control/controllers/__init__.py +++ /dev/null @@ -1,8 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from .pid_controller import * -from .menu_controller import * -from .brain_controller import * -from .huecal_controller import * -from .joystick_controller import * diff --git a/sw/control/controllers/brain_controller.py b/sw/control/controllers/brain_controller.py deleted file mode 100644 index 82983fc..0000000 --- a/sw/control/controllers/brain_controller.py +++ /dev/null @@ -1,246 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Brain Controller - -Connect to a locally running brain server and -ask for plate angles based on current hardware state. -""" - -import math -import time -import pymoab -import requests -import numpy as np -import logging as log -from typing import Dict -from dataclasses import dataclass - -from ..common import CircleFeature, IController, IDevice, Vector2 - - -# Some type aliases for clarity -Plane = np.ndarray -Ray = np.ndarray - - -# Helper functions for linear algebra -def rotation_about_x(theta): - return np.array( - [ - [1, 0, 0], - [0, np.cos(theta), np.sin(theta)], - [0, -np.sin(theta), np.cos(theta)], - ] - ) - - -def rotation_about_y(theta): - return np.array( - [ - [np.cos(theta), 0, -np.sin(theta)], - [0, 1, 0], - [np.sin(theta), 0, np.cos(theta)], - ] - ) - - -class BrainController(IController): - """ - This class interfaces with an HTTP server running locally. - It passes the current hardware state and gets new plate - angles in return. - - The hardware state is unprojected from camera pixel space - back to real space by using the calculated plate surface plane. - """ - - @dataclass - class Config(IController.Config): - endPoint: str = "localhost:5000" - sensorSize: int = 256 - - def __init__(self, config: Config, device: IDevice): - super().__init__(config, device) - self.config = config - - self.max_angle = self.config.maxAngle - self.default_endpoint = self.config.endPoint - self.prediction_url = f"{self.default_endpoint}/v1/prediction" - - self.velocity = Vector2(0, 0) - self.prev_position = Vector2(0, 0) - self.currPlateAngles = Vector2(0, 0) - - def _surface_plane(self) -> Plane: - """ - Create a plane represent the surface of the plate - in meters. - """ - plate_theta_x = math.radians(self.currPlateAngles.x) - plate_theta_y = math.radians(self.currPlateAngles.y) - - # get the plate normal - x_rot = rotation_about_x(plate_theta_x) - y_rot = rotation_about_y(plate_theta_y) - - # pitch then roll - v = np.array([0.0, 0.0, 1.0]) @ x_rot @ y_rot - plate_normal = v / np.linalg.norm(v) - - # create the plane - PLATE_ORIGIN_Z = 0.020 # full range is 40mm of z-travel - PLATE_ORIGIN_TO_SURFACE_OFFSET = 0.009 # 9mm above origin - plate_surface = np.array( - [0.0, 0.0, PLATE_ORIGIN_Z + PLATE_ORIGIN_TO_SURFACE_OFFSET] - ) - return np.array([*plate_normal, np.sum(plate_normal * plate_surface)]) - - def _detector_to_controller_units(self, pixels: CircleFeature) -> CircleFeature: - """ - Convert a set of coordinates in pixels to meters - - The input is a 2D point in sensor image space. - To get the location in meters, we need to unproject the camera - back to the plate surface plane. - - We can derive the plate surface plane from the plate - angles and distances. - """ - # The plate is roughly 85% of the field of view - PLATE_DIA_METERS = 0.225 - PLATE_DIA_PIXELS = self.config.sensorSize * 0.85 - scalar = PLATE_DIA_METERS / PLATE_DIA_PIXELS - - # basic linear transform - meters = CircleFeature( - Vector2(pixels.center.x * scalar, pixels.center.y * scalar), - pixels.radius * scalar, - ) - return meters - - @staticmethod - def heading_to_point(start: Vector2, vel: Vector2, point: Vector2): - """ - Return a heading, in 2D RH coordinate system. - start: the current position of the object - vel: the current velocity vector of motion for the object - point: the destination point to head towards - - returns: offset angle in radians in the range [-pi .. pi] - where: - 0.0: object is moving directly towards the point - [-pi .. <0]: object is moving to the "right" of the point - [>0 .. -pi]: object is moving to the "left" of the point - [-pi, pi]: object is moving directly away from the point - """ - # vectors and lengths - u = (point - start).normalized() - v = vel.normalized() - - # no velocity? already on the target? - angle = 0.0 - if (u.length() != 0.0) and (v.length() != 0.0): - # signed angle - cr = Vector2(-u.y, u.x) - angle = math.atan2(cr.dot(v), u.dot(v)) - if math.isnan(angle): - angle = 0.0 - return angle - - def _actions_for_state( - self, elapsedSec: float, ball: CircleFeature, obstacle: CircleFeature - ) -> Vector2: - if elapsedSec > 0.0: - self.velocity = (ball.center - self.prev_position) / elapsedSec - - obstacle_direction = BrainController.heading_to_point( - ball.center, self.velocity, obstacle.center - ) - obstacle_distance = obstacle.center.distance(ball.center) - ( - ball.radius + obstacle.radius - ) - - observables = { - # BonsaiMoabSimV4 - "elapsed_time": elapsedSec, - "plate_theta_x": math.radians(self.currPlateAngles.x), - "plate_theta_y": math.radians(self.currPlateAngles.y), - "ball_x": ball.center.x, - "ball_y": ball.center.y, - "ball_radius": ball.radius, - "ball_vel_x": self.velocity.x, - "ball_vel_y": self.velocity.y, - "obstacle_x": obstacle.center.x, - "obstacle_y": obstacle.center.y, - "obstacle_radius": obstacle.radius, - "obstacle_distance": obstacle_distance, - "obstacle_direction": obstacle_direction, - # BonsaiMoabSimV3 legacy names. delete soon - "obstacle_pos_x": obstacle.center.x, - "obstacle_pos_y": obstacle.center.y, - "distance_to_obstacle": obstacle_distance, - "direction_to_obstacle": obstacle_direction, - } - - log.debug( - f"b:{ball.center} r: {ball.radius:2.3f}, o:{obstacle.center} r: {obstacle.radius:2.3f} " - f"do:{obstacle_distance:2.3f} hd:{math.degrees(obstacle_direction):2.1f}" - ) - - # Trap on GET failures so we can restart the brain without - # bringing down this run loop. Plate will default to level - # when it loses the connection. - result = Vector2(0, 0) - try: - action = requests.get(self.prediction_url, json=observables).json() - - for key, _ in action.items(): - action[key] *= self.max_angle - action[key] = np.clip(action[key], -self.max_angle, self.max_angle) - - self.prev_position = ball.center - result = Vector2(action["input_pitch"], action["input_roll"]) - except Exception as e: - log.exception(f"Exception calling predictor\n{e}") - pass - - return result - - def on_menu_down(self, sender: IDevice): - sender.stop() - - # Hover the plate and deactivate the servos - pymoab.hoverPlate() - pymoab.sync() - time.sleep(0.5) - pymoab.disableServoPower() - pymoab.sync() - time.sleep(0.5) - - def getControlOutput( - self, - sender: IDevice, - elapsedSec: float, - detectorResults: Dict[str, CircleFeature], - currPlateAngles: Vector2, - ) -> Vector2: - # Calculate plate position using controller-specific factors - self.currPlateAngles = currPlateAngles - - ball_real = CircleFeature(Vector2(0, 0), 0.0) - detected = detectorResults.get("ball") - if detected is not None: - ball = CircleFeature(detected.center, detected.radius) - ball_real = self._detector_to_controller_units(ball) - - # Unpack and convert the obstacle if present - obstacle_real = CircleFeature(Vector2(0, 0.03), 0.020) - detected = detectorResults.get("obstacle") - if detected is not None: - obstacle = CircleFeature(detected.center, detected.radius) - obstacle_real = self._detector_to_controller_units(obstacle) - - plate_angles = self._actions_for_state(elapsedSec, ball_real, obstacle_real) - return plate_angles diff --git a/sw/control/controllers/huecal_controller.py b/sw/control/controllers/huecal_controller.py deleted file mode 100644 index baa1691..0000000 --- a/sw/control/controllers/huecal_controller.py +++ /dev/null @@ -1,267 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Calibration Controller - -Use CalibrationDetector and perform calibration for plate and ball detection -""" - -import json -import os -import pwd -import math -import logging as log -from copy import copy -from enum import Enum -from time import sleep -from dataclasses import asdict -from typing import Dict, Optional, cast - -import pymoab - -from ..device import Device -from ..detectors import HSVDetector -from ..common.common import CircleFeature -from ..config import calibration_path, moab_path -from ..common import IController, IDevice, Vector2 - - -class CalibrationState(Enum): - Start = 0 - WaitUser = 1 - CalibrateHue = 3 - CalibratePos = 4 - Cancel = 5 - Success = 6 - Failure = 7 - - -class HueCalibrationController(IController): - def __init__(self, config: IController.Config, device: IDevice): - super().__init__(config, device) - self.config = config - - # plate must be level - pymoab.setPlateAngles(0, 0) - - # initial state - self.state = CalibrationState.Start - self.found_ball = False - self.hue_low = 180 - self.hue_high = 0 - self.hue_steps = 20 - - # make a copy for the new settings - self.calibration = device.calibration - self.new_calibration = copy(device.calibration) - self.ball_detector: Optional[HSVDetector] = None - - # cancel without calibrating - def on_menu_down(self, sender: IDevice): - self.state = CalibrationState.Cancel - sender.stop() - - # Hover the plate and deactivate the servos - pymoab.hoverPlate() - pymoab.sync() - sleep(0.5) - pymoab.disableServoPower() - pymoab.sync() - sleep(0.5) - - def on_joy_down(self, sender: IDevice): - if self.state == CalibrationState.WaitUser: - self.state = CalibrationState.CalibrateHue - - def getControlOutput( - self, - sender: Device, - elapsedSec: float, - detectorResults: Dict[str, CircleFeature], - currPlateAngles: Vector2, - ) -> Vector2: - """ - This state machine asks the user to place the ball in the center of the plate. - - - It then sweeps through the Hue spectrum looking for balls of different colors. - - It takes the center average of the found balls by color and uses that as the - ballHue. - - It then uses that hue to find the center of the ball, which becomes the new plate center. - """ - # init - if self.ball_detector is None: - self.ball_detector = cast(HSVDetector, sender.detectors["ball"]) - - # make sure we don't use the last calibration settings - # while trying to find the current calibration settings - self.ball_detector.calibration.plateXOffset = 0.0 - self.ball_detector.calibration.plateYOffset = 0.0 - - if self.state == CalibrationState.Start: - self._start_calibration() - - # walk each hue and try and detect a ball - if self.state == CalibrationState.CalibrateHue: - result = detectorResults.get("ball", None) - frameSize = sender.sensor.config.height - self._calibrate_hue(result, frameSize) - - # once we've found a ball hue, find the center - if self.state == CalibrationState.CalibratePos: - result = detectorResults.get("ball", None) - frameSize = sender.sensor.config.height - self._calibrate_pos(result, frameSize) - - # user cancelled - if self.state == CalibrationState.Cancel: - pass - - # found a ball, write out hue - if self.state == CalibrationState.Success: - self._calibration_success(sender) - - # detect failed - if self.state == CalibrationState.Failure: - self._calibration_failure(sender) - - return Vector2(0, 0) - - def _start_calibration(self): - if self.ball_detector: - pymoab.setIcon(pymoab.Icon.BLANK) - pymoab.setText(pymoab.Text.CAL_INSTR) - - # start search here - self.found_ball = False - self.hue_low = 180 - self.hue_high = 0 - self.hue_steps = 20 - self.count = 0 - self.ball_detector.config.hue = int(180 / self.hue_steps) - self.state = CalibrationState.WaitUser - - def _ball_close_enough(self, feature: Optional[CircleFeature], frameSize: int): - centerX = feature.center.x / frameSize - centerY = feature.center.y / frameSize - radius = feature.radius / frameSize - - # reject balls which are too far from the center and too small - MAX_BALL_DIST = 0.2 - MIN_BALL_SIZE = 0.05 - return ( - math.fabs(centerX) < MAX_BALL_DIST - and math.fabs(centerY) < MAX_BALL_DIST - and radius > MIN_BALL_SIZE - ) - - def _calibrate_hue(self, result: Optional[CircleFeature], frameSize: int): - # if we found a ball roughly in the center and large enough... - if result and self._ball_close_enough(result, frameSize): - self.found_ball = True - - self.hue_low = min(self.hue_low, self.ball_detector.config.hue) - self.hue_high = max(self.hue_high, self.ball_detector.config.hue) - - # rotate through hues - self.ball_detector.config.hue += int(180 / self.hue_steps) - - # after we've swept the whole hue range... - if self.ball_detector.config.hue >= 180: - log.info(f"Hue range: [{self.hue_low} .. {self.hue_high}]") - if self.found_ball: - # use the center of the detected ball hues - self.new_calibration.ballHue = int((self.hue_low + self.hue_high) / 2) - log.info(f"Hue calibrated: {self.new_calibration.ballHue}") - - # set up the hue for the position calibration - self.ball_detector.config.hue = self.new_calibration.ballHue - self.found_ball = False - self.state = CalibrationState.CalibratePos - else: - log.warn(f"Hue calibrated failed.") - self.state = CalibrationState.Failure - - def _calibrate_pos(self, result: Optional[CircleFeature], frameSize: int): - if result: - # if we found a ball roughly in the center and large enough... - if self._ball_close_enough(result, frameSize): - self.found_ball = True - - # center of plate is in range [-frameSize/2 .. frameSize/2] - centerX = result.center.x / frameSize - centerY = result.center.y / frameSize - - self.new_calibration.plateXOffset = round(centerX, 3) - self.new_calibration.plateYOffset = round(centerY, 3) - log.info( - f"Offset calibrated: [{self.new_calibration.plateXOffset:.3f}, {self.new_calibration.plateYOffset:.3f}]" - ) - - self.state = CalibrationState.Success - - # try and detect for 20 frames before giving up - elif self.count > 20: - log.warn(f"Offset calibrated failed.") - self.state = CalibrationState.Failure - - self.count += 1 - - def _calibration_success(self, sender: Device): - log.info("Calibration Success.") - self._print_results() - self._write_calibration(sender) - - pymoab.setIcon(pymoab.Icon.CHECK) - pymoab.setText(pymoab.Text.CAL_COMPLETE) - pymoab.sync() - sleep(2) - - sender.stop() - - def _calibration_failure(self, sender: Device): - log.warn("Failed to calibrate.") - self._print_results() - - pymoab.setIcon(pymoab.Icon.BLANK) - pymoab.setText(pymoab.Text.ERROR) - pymoab.sync() - sleep(2) - - sender.stop() - - def _print_results(self): - log.info( - f"center:[{self.new_calibration.plateXOffset}, {self.new_calibration.plateYOffset}] " - f"hue: {self.new_calibration.ballHue}" - ) - - def _write_calibration(self, sender: Device): - log.info("write_calibration") - # move the values from new_calibration to calibration - # gotta be careful not to move the *instance*, but the values - self.calibration.plateXOffset = self.new_calibration.plateXOffset - self.calibration.plateYOffset = self.new_calibration.plateYOffset - self.calibration.ballHue = self.new_calibration.ballHue - - # Moab controller runs as root (simply for SPI access) - # but we want to save confg as user so its editable by the "pi" user - # Better solution is to get from Dockerfile ENV variable or infer - # from existing folder permissions, but for now, - # 1000:1000 is the well-known default "pi" user in Raspbian - uid = 1000 - gid = 1000 - - # create `.moab` if it doesn't exist - if not os.path.exists(moab_path): - os.makedirs(moab_path) - log.info(f"Creating folder {moab_path}") - os.chown(moab_path, uid, gid) - - # write out stuff - with open(calibration_path, "w+") as outfile: - log.info(f"Creating calibration file {calibration_path}") - json.dump(asdict(self.calibration), outfile, indent=4, sort_keys=True) - - # set permisions so user can use - os.chown(calibration_path, uid, gid) diff --git a/sw/control/controllers/joystick_controller.py b/sw/control/controllers/joystick_controller.py deleted file mode 100644 index ec4eb98..0000000 --- a/sw/control/controllers/joystick_controller.py +++ /dev/null @@ -1,52 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Joystick Controller - -Use joystick input to control the plate directly. -""" - -from time import sleep -from typing import Dict - -import time -import pymoab - -from ..common import IController, IDevice, CircleFeature, Vector2 - - -class JoystickController(IController): - def __init__(self, config: IController.Config, device: IDevice): - super().__init__(config, device) - self.config = config - self.joystick = Vector2(0, 0) - - def on_menu_down(self, sender: IDevice): - sender.stop() - - # Hover the plate and deactivate the servos - pymoab.hoverPlate() - pymoab.sync() - sleep(0.5) - pymoab.disableServoPower() - pymoab.sync() - sleep(0.5) - - def on_joy_moved(self, sender: object, x: float, y: float): - self.joystick = Vector2(-y, x) - - def getControlOutput( - self, - sender: IDevice, - elapsedSec: float, - detectorResults: Dict[str, CircleFeature], - currPlateAngles: Vector2, - ) -> Vector2: - - # Without this sleep (for 90% of our update period), input polling - # will return zeros intermittently and the actuator will twitch - update_timestep = 1.0 / sender.config.frequencyHz - sleep(update_timestep - 0.1 * update_timestep) - - return self.joystick * self.config.maxAngle diff --git a/sw/control/controllers/menu_controller.py b/sw/control/controllers/menu_controller.py deleted file mode 100644 index a7902a0..0000000 --- a/sw/control/controllers/menu_controller.py +++ /dev/null @@ -1,70 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Menu Controller - -Use joystick to navigate between other controllers. -""" - -from typing import ClassVar, List -from dataclasses import dataclass, field - -import pymoab - -from ..common import IController, IDevice - - -@dataclass -class MenuItem: - icon: str = "" - text: str = "" - device: str = "" - icon2: str = "" - - -class MenuController(IController): - @dataclass - class Config(IController.Config): - menuItems: List[MenuItem] = field( - default_factory=lambda: [ - MenuItem("DOWN", "MANUAL", "manual", "DOT"), - MenuItem("UP_DOWN", "CLASSIC", "classic", "DOT"), - MenuItem("UP_DOWN", "BRAIN", "brain", "DOT"), - MenuItem("UP_DOWN", "CUSTOM1", "custom1", "DOT"), - MenuItem("UP_DOWN", "CUSTOM2", "custom2", "DOT"), - MenuItem("UP", "CAL", "calibration", "BLANK"), - ] - ) - - def __init__(self, config: Config, device: IDevice): - super().__init__(config, device) - self.config = config - - self.menu_items = self.config.menuItems - self.menu_idx = device.previous_menu - - self.display_menu_item(self.menu_idx) - - def display_menu_item(self, idx: int): - pymoab.setIcon(pymoab.Icon[self.menu_items[idx].icon]) - pymoab.setText(pymoab.Text[self.menu_items[idx].text]) - - def on_flick_down(self, sender: IDevice): - self.menu_idx = min(len(self.menu_items) - 1, self.menu_idx + 1) - self.display_menu_item(self.menu_idx) - - def on_flick_up(self, sender: IDevice): - self.menu_idx = max(0, self.menu_idx - 1) - self.display_menu_item(self.menu_idx) - - def on_joy_down(self, sender: IDevice): - menu_item = self.menu_items[self.menu_idx] - sender.set_next_device(menu_item.device) - pymoab.setIcon(pymoab.Icon[menu_item.icon2]) - pymoab.setText(pymoab.Text[menu_item.text]) - - # save the menu item so we pop back up to this index when we return - sender.previous_menu = self.menu_idx - - sender.stop() diff --git a/sw/control/controllers/pid_controller.py b/sw/control/controllers/pid_controller.py deleted file mode 100644 index 4227ea2..0000000 --- a/sw/control/controllers/pid_controller.py +++ /dev/null @@ -1,156 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -PID Controller - -proportional–integral–derivative feed-back algorithm to control -the plate angles. -""" - -import time -import numpy as np -from typing import Dict -from enum import IntEnum -from dataclasses import dataclass - -import pymoab - -from ..common import IController, IDevice, CircleFeature, Vector2 - - -class Axis(IntEnum): - X = 0 - Y = 1 - - -class HighPassFilter(object): - def __init__(self, frequency, fc=50): - self.x_dot_cstate = 0 - self.frequency = frequency - self.fc = fc - - def reset(self): - self.x_dot_cstate = 0 - - def __call__(self, x): - x_dot = -(self.fc ** 2) * self.x_dot_cstate + self.fc * x - self.x_dot_cstate += (-self.fc * self.x_dot_cstate + x) / self.frequency - return x_dot - - -class PIDController(IController): - """PID controller class. - - This class handles the classic control calculations for ball balancing when - in vision mode. In general, the following formulas are used for calculating - appropriate values: - - # ----------------------------------------- - # Find velocity | velocity_x = (previous_x - current_x) / elapsedSec - # Predict position | predicted_x = current_x + (velocity_x * time_step_future) - # Find new error | error_prediction = set_point_x - predicted_x - # Set previous error point | error_prediction_prev = error_prediction - # Sum of errors | sum_error_prediction += error_prediction - # ----------------------------------------- - - """ - - @dataclass - class Config(IController.Config): - Kp: float = 0.15 - Ki: float = 0.001 - Kd: float = 0.090 - conversionFactor: float = 2.375 - fc: float = 15 # Cutoff frequency of the high pass filter - frequency: float = 30 - - def __init__(self, config: Config, device: IDevice): - super().__init__(config, device) - self.config = config - - self.velocity = [0, 0] - self.set_point = [0, 0] - self.predicted = [0, 0] - self.prev_position = [0, 0] - self.error_prediction = [0, 0] - self.sum_error_prediction = [0.0, 0.0] - self.lastElapsedMs = 0 - - # Use a high pass filter instead of a numerical derivative for stability - filter_x = HighPassFilter(self.config.frequency, self.config.fc) - filter_y = HighPassFilter(self.config.frequency, self.config.fc) - self.filters = [filter_x, filter_y] - - def determine_theta(self, elapsedSec: float, position: float, axis: Axis) -> float: - """Calculate desired angle of plate to balance ball. - - Args: - position ([int, int]): The current x,y position of the ball. - elapsedSec (float): The interval of time that has elapsed. - axis (int): The axis in which to calulate (0 = x, 1 = y) - - Returns: - Calculated angle to balance ball. - - """ - prod = np.clip( - self.config.Kp * position, -self.config.maxAngle, self.config.maxAngle - ) - inte = np.clip( - self.config.Ki * self.sum_error_prediction[axis], - -self.config.maxAngle, - self.config.maxAngle, - ) - # High pass filtered signal can be thought of as a derivative of a low - # pass filtered signal: fc*s / (s + fc) = fc*s * 1 / (s + fc) - # For more info: https://en.wikipedia.org/wiki/Differentiator - # Or: https://www.youtube.com/user/ControlLectures/ - derv = np.clip( - self.config.Kd * self.filters[axis](position), - -self.config.maxAngle, - self.config.maxAngle, - ) - theta = prod + inte + derv - theta_final = np.clip(theta, -self.config.maxAngle, self.config.maxAngle) - - self.sum_error_prediction[axis] += position - return theta_final - - def detector_to_controller_units(self, ball_pos: Vector2) -> Vector2: - return ball_pos / self.config.conversionFactor - - def on_menu_down(self, sender: IDevice): - sender.stop() - - # Hover the plate and deactivate the servos - pymoab.hoverPlate() - pymoab.sync() - time.sleep(0.5) - pymoab.disableServoPower() - pymoab.sync() - time.sleep(0.5) - - def getControlOutput( - self, - sender: IDevice, - elapsedSec: float, - detectorResults: Dict[str, CircleFeature], - currPlateAngles: Vector2, - ) -> Vector2: - """Calculate plate adjustment values based on current position to balance ball. - - Returns: - Adjusted (theta) x,y values resulting from calculations. - """ - ball = detectorResults.get("ball") - if ball: - # Calculate plate position using controller-specific factors - ball_pos_real = self.detector_to_controller_units(ball.center) - - Tx = self.determine_theta(elapsedSec, ball_pos_real.y, Axis.Y) - Ty = -self.determine_theta(elapsedSec, ball_pos_real.x, Axis.X) - - return Vector2(Tx, Ty) - else: - return Vector2(0, 0) diff --git a/sw/control/debug.py b/sw/control/debug.py deleted file mode 100644 index eeca913..0000000 --- a/sw/control/debug.py +++ /dev/null @@ -1,38 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -import cv2 - -from .common import IDebugDecorator - - -SENSOR_IMG_ARG = "sensor_img" - - -class CallbackDecorator(IDebugDecorator): - def __init__(self, config: dict): - super().__init__(config) - self.callbacks = [] - - def addCallback(self, fn): - self.callbacks.append(fn) - - def decorate(self, args): - for callback in self.callbacks: - callback(args) - - -class X11Decorator(CallbackDecorator): - def __init__(self, config: dict): - super().__init__(config) - - cv2.namedWindow(self.config["windowName"]) - - def decorate(self, args): - super().decorate(args) - - cv2.imshow(self.config["windowName"], args[SENSOR_IMG_ARG]) - cv2.waitKey(1) & 0xFF - - def __del__(self): - cv2.destroyAllWindows() diff --git a/sw/control/detectors/__init__.py b/sw/control/detectors/__init__.py deleted file mode 100644 index 4292e60..0000000 --- a/sw/control/detectors/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from .hsv_detector import * diff --git a/sw/control/detectors/hsv_detector.py b/sw/control/detectors/hsv_detector.py deleted file mode 100644 index 37b479f..0000000 --- a/sw/control/detectors/hsv_detector.py +++ /dev/null @@ -1,131 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -HSV filtering ball detector -""" - -import math -from typing import List, Optional -from dataclasses import dataclass, field - -import cv2 -import numpy as np -from pymoab import hue_mask - -from ..common import CircleFeature, IDetector, IDevice, Vector2 -from ..debug import * -from ..device import Device -from ..perfcounters import ( - FrequencyCounter, - WindowedAverageCounter, - PerformanceCounters as counter, -) - - -class HSVDetector(IDetector): - @dataclass - class Config(IDetector.Config): - kernelSize: List[int] = field(default_factory=lambda: [5, 5]) - ballMin: float = 0.06 - ballMax: float = 0.22 - debug: bool = False - hue: Optional[int] = None # hue [0..255] - sigma: float = 0.05 # narrow: 0.01, wide: 0.1 - bandpassGain: float = 12.0 - maskGain: float = 4.0 - - def __init__(self, config: Config, device: IDevice): - super().__init__(config, device) - self.config = config - self.calibration = device.calibration - - # if we haven't been overridden, use ballHue from - # the calibration settings. - if self.config.hue is None: - self.config.hue = self.calibration.ballHue - - self.kernel = cv2.getStructuringElement( - cv2.MORPH_ELLIPSE, tuple(self.config.kernelSize) - ) - - if device.debug_decorator is not None: - self.x_obs = 0 - self.y_obs = 0 - self.lastDetected = CircleFeature() - device.debug_decorator.addCallback(self._debugDraw) - - def _debugDraw(self, args): - img = args[SENSOR_IMG_ARG] - f = self.lastDetected - if f is not None: - center = (int(self.x_obs), int(self.y_obs)) - cv2.circle(img, center, 2, (255, 0, 255), 2) - cv2.circle(img, center, int(f.radius), (255, 0, 255), 2) - - def detect( - self, sender: Device, img: np.ndarray, plate_angles: Vector2 - ) -> CircleFeature: - if img is not None: - # covert to HSV space - color = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) - - # 0 == red - if self.config.hue is None: - self.config.hue = 0 - - # run through each triplet and perform our masking filter on it. - # hue_mask coverts the hsv image into a grayscale image with a - # bandpass applied centered around hue, with width sigma - hue_mask( - color, - self.config.hue, - self.config.sigma, - self.config.bandpassGain, - self.config.maskGain, - ) - - # convert to b&w mask from grayscale image - mask = cv2.inRange( - color, np.array((200, 200, 200)), np.array((255, 255, 255)) - ) - - # expand b&w image with a dialation filter - mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, self.kernel) - - contours = cv2.findContours( - mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] - - if len(contours) > 0: - contour_peak = max(contours, key=cv2.contourArea) - ((self.x_obs, self.y_obs), radius) = cv2.minEnclosingCircle( - contour_peak - ) - - # Determine if ball size is the appropriate size - frameSize = sender.sensor.config.height - norm_radius = radius / frameSize - if self.config.ballMin < norm_radius < self.config.ballMax: - counter.update("hit", 1, FrequencyCounter) - - # rotate the center coords into sensor coords - # the ball detector uses rotate coordinates, so we must as well - rot_center = Vector2( - self.calibration.plateXOffset, self.calibration.plateYOffset - ).rotate(math.radians(-self.calibration.rotation)) - - x_center = (rot_center.x + 0.5) * frameSize - y_center = (rot_center.y + 0.5) * frameSize - - # Convert from pixels to absolute with 0,0 as center of detected plate - x = self.x_obs - x_center - y = self.y_obs - y_center - self.lastDetected = CircleFeature(Vector2(x, y), radius) - return self.lastDetected - else: - counter.update("miss", 1, FrequencyCounter) - - counter.update("hit", 0, FrequencyCounter) - counter.update("miss", 0, FrequencyCounter) - - return CircleFeature() diff --git a/sw/control/device.py b/sw/control/device.py deleted file mode 100644 index b24d8d6..0000000 --- a/sw/control/device.py +++ /dev/null @@ -1,177 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -import numpy as np -from enum import Enum -from pydoc import locate -from typing import Any, Callable, Dict, Optional, cast - -import pymoab - -from .debug import * -from .timers import BusyTimer -from .common.event import EventDispatcher -from .perfcounters import WindowedAverageCounter, PerformanceCounters as counter -from .common import IActuator, IController, IDetector, IDevice, ISensor, Vector2 - -InputHandler = Callable[[bool, bool, int, int], None] - - -class JoystickYDir(Enum): - Unset = 0 - Center = 0 - Up = 1 - Down = 2 - - -class Device(IDevice): - def __init__( - self, - config: IDevice.Config, - calibration: IDevice.Calibration, - inputHandler: InputHandler = None, - debugDecorator: Optional[IDebugDecorator] = None, - ): - super().__init__(config, calibration, debugDecorator) - self.config = config - - self.inputHandler = inputHandler - - self.sensor: Optional[ISensor] = None - self.detectors: Optional[Dict[str, IDetector]] = None - self.controller: Optional[IController] = None - self.actuator: Optional[IActuator] = None - - self.runloop = BusyTimer() - self.running = False - - # listeners get added in createFromConfig... - self.events = EventDispatcher() - - def update(self): - - # get input IO and dispatch it to listeners - event = self.events.get_next_event() - if event is not None: - self.events.dispatch_event(self, event) - - # check if we should still run after processing events - if self.runloop.running: - # get sensor data - elapsedSec: float = 0 - img: Optional[np.ndarray] = None - - if self.sensor: - counter.start("sensor", WindowedAverageCounter) - elapsedSec, img = self.sensor.getNextInput(self) - counter.stop() - - # fetch previous plate angles if we have an actuator - lastPlateAngles = Vector2(0, 0) - if self.actuator: - lastPlateAngles = self.actuator.getLastSetPlateAngles() - - # pass sensor output to various detectors - detectorResults: Dict[str, Any] = {} - if self.detectors and img is not None: - for detectorName in self.detectors: - detector = self.detectors[detectorName] - - counter.start(detectorName, WindowedAverageCounter) - feature = detector.detect(self, img, lastPlateAngles) - detectorResults[detectorName] = detector.post_detect(feature) - counter.stop() - - # run the controller - output = self.controller.getControlOutput( - self, elapsedSec, detectorResults, lastPlateAngles - ) - - # actuate - if self.actuator: - self.actuator.setPlateAngles(self, output) - - # and execute debuging decorators - if self.config.debug: - if self.debug_decorator is not None: - self.debug_decorator.decorate({SENSOR_IMG_ARG: img}) - - # sync our desired state with servos and display - pymoab.sync() - - def run(self): - if self.sensor: - self.sensor.start() - - # The control loop needs to run slightly faster than the camera capture rate. - # The camera capture rate needs to be slightly slower than the controller execution time. - # - # If they run too close together the camera may give us stale frames and the controllers - # will lose stability (positive feedback loop that causes the ball to drop). - # - # Suggest improvement to sync with the video capture buffer instead - controlHz = self.config.frequencyHz + 5 - self.runloop.start(1.0 / (controlHz), self.update) - - def stop(self): - self.runloop.stop() - if self.sensor: - self.sensor.stop() - - @staticmethod - def createFromConfig( - config: IDevice.Config, - calibration: IDevice.Calibration, - inputHandler: InputHandler = None, - ) -> Optional[IDevice]: - - # optional debug decorator - debug_decorator: Optional[IDebugDecorator] = None - if config.debug and config.debugDecorator: - debug_class = cast(dict, config.debugDecorator)["name"] - decorator_ref = locate(debug_class, forceload=True) - debug_decorator = decorator_ref(config.debugDecorator) # type: ignore - - # create device - device = Device(config, calibration, inputHandler, debug_decorator) - - # sensor - sensor: Optional[ISensor] = None - if config.sensor: - sensor = cast(ISensor, device.component_from_config(config.sensor),) - - # unpack the detectors - detectors: Optional[Dict[str, IDetector]] = None - if config.detectors: - detectors = {} - for name in cast(dict, config.detectors): - detector_config = config.detectors[name] - detector = cast( - IDetector, device.component_from_config(detector_config) - ) - detectors[name] = detector - - # controller - controller: Optional[IController] = None - if config.controller: - controller = cast( - IController, device.component_from_config(config.controller), - ) - - # register for events - device.events.listeners.append(controller) - else: - raise Exception("You must specifiy a controller") - - # actuator - actuator: Optional[IActuator] = None - if config.actuator: - actuator = cast(IActuator, device.component_from_config(config.actuator),) - - # set 'em - device.sensor = sensor - device.detectors = detectors - device.controller = controller - device.actuator = actuator - - return device diff --git a/sw/control/perfcounters.py b/sw/control/perfcounters.py deleted file mode 100644 index 7bd677d..0000000 --- a/sw/control/perfcounters.py +++ /dev/null @@ -1,161 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Performance counters -""" - -import time -import logging as log -from enum import Enum -from collections import deque -from dataclasses import dataclass -from typing import Deque, Optional - - -class Evolution(Enum): - Sample = 0 - CumulativeMovingAverage = 1 - WindowedAverage = 2 - FPSCounter = 3 - - -@dataclass -class TimingContext: - name: str - startTime: float - evolution: type - - -class CounterBase: - def update(self, value: float): - pass - - -class SamplingCounter(CounterBase): - """ - Show the most recent value. - """ - - def __init__(self): - self.value: float = 0.0 - - def update(self, value: float): - self.value = value - - -class FrequencyCounter(CounterBase): - """ - Do a frequency count. - - call counter.update(1) to add one. - call counter.update(0) to add none. - """ - - def __init__(self): - self.value: float = 0.0 - self.count: float = 0.0 - self.time_window = 1.0 - self.t_start = time.perf_counter() - - def update(self, value: float): - t_now = time.perf_counter() - if t_now - self.t_start > self.time_window: - self.value = self.count - self.count = 0.0 - self.t_start = t_now - - self.count += value - - -class CumulativeMovingAverageCounter(CounterBase): - """ - Do a moving average of the updated values. - """ - - def __init__(self): - self.value: float = 0.0 - self.count: int = 0 - - def update(self, value: float): - if self.count is 0: - self.value = value - else: - self.value = (value + self.count * self.value) / (self.count + 1) - self.count += 1 - - -class WindowedAverageCounter(CounterBase): - """ - Do windowed average of the updated values. - """ - - def __init__(self, window: int = 10): - self.deque = deque(maxlen=window) - self.value: float = 0.0 - - def update(self, value: float): - self.deque.append(value) - self.value = sum(self.deque) / len(self.deque) - - -class PerfCounters: - _instance: Optional["PerfCounters"] = None - - # def __new__(cls, *args, **kwargs): - # # Singleton pattern. Insure we only ever get one of these per module load. - # if cls._instance is None: - # cls._instance = super(PerfCounters, cls).__new__(cls) - # return cls._instance - - def __init__(self): - self.contextStack: Deque[TimingContext] = deque() - self.counters = {} - - def start(self, context: str, evolution: type, **kwArgs): - self.contextStack.append(TimingContext(context, time.perf_counter(), evolution)) - - def stop(self): - context = self.contextStack.pop() - elapsedSec = time.perf_counter() - context.startTime - counter = self.counters.get(context.name, None) - if counter is None: - counter = context.evolution() - self.counters[context.name] = counter - - self.counters[context.name].update(elapsedSec) - - def update(self, context_name: str, value: float, context_evolution: type): - """ - Do a single update. Useful for counters which don't start/stop - """ - counter = self.counters.get(context_name, None) - if counter is None: - counter = context_evolution() - self.counters[context_name] = counter - - self.counters[context_name].update(value) - - def logCounters(self, *names, level: int = log.INFO): - global perf_logger - - message = "" - for name in names: - counter = self.counters.get(name, None) - if counter is not None: - message += f"{name}: {counter.value:.3f} " - perf_logger.log(level, message) - - def logAllCounters(self, level: int = log.INFO): - global perf_logger - - message = "" - for name, counter in self.counters.items(): - if counter is not None: - message += f"{name}: {counter.value:.3f} " - perf_logger.log(level, message) - - -perf_logger = log.getLogger("performance") -perf_logger.propagate = False -PerformanceCounters = PerfCounters() diff --git a/sw/control/sensors/__init__.py b/sw/control/sensors/__init__.py deleted file mode 100644 index 4a99c72..0000000 --- a/sw/control/sensors/__init__.py +++ /dev/null @@ -1,5 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from .opencv_sensor import * -from .picamera_sensor import * diff --git a/sw/control/sensors/opencv_sensor.py b/sw/control/sensors/opencv_sensor.py deleted file mode 100644 index f5e9104..0000000 --- a/sw/control/sensors/opencv_sensor.py +++ /dev/null @@ -1,137 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -A sensor that uses OpenCV for capture -""" - -from dataclasses import dataclass -from ..common import ISensor, IDevice - -import cv2 -import threading -import numpy as np - -from time import time -from typing import Tuple, Optional - - -# Link to raspicam_cv implementation for mapping values -# https://github.com/cedricve/raspicam/blob/651c56418a5a594fc12f1414eb14f2b899729cb1/src/raspicam_cv.h#L108 - -class OpenCVCameraSensor(ISensor): - @dataclass - class Config(ISensor.Config): - deviceId: int = 0 - width: int = 256 - height: int = 256 - rotation: float = 0 - brightness: int = 50 - contrast: int = 100 - saturation: int = 100 - gain: int = 100 - fps: Optional[int] = None - - def __init__(self, config: Config, device: IDevice): - super().__init__(config, device) - self.config = config - self.prevTime = 0.0 - - # set the camera capture frequency to the control frequency - if self.config.fps is None: - self.fps = device.config.frequencyHz - else: - self.fps = self.config.fps - - self.source: Optional[cv2.VideoCapture] = None - self.last_frame: Optional[np.ndarray] = None - - # move init_debug into X11 debug handler version only - # self._init_debug(device) - - def start(self): - self.source = cv2.VideoCapture(self.config.deviceId) - if self.source: - self.source.set(cv2.CAP_PROP_FRAME_WIDTH, self.config.width) - self.source.set(cv2.CAP_PROP_FRAME_HEIGHT, self.config.height) - self.source.set(cv2.CAP_PROP_FPS, self.fps) - - # Not meant to be configurable - self.source.set(cv2.CAP_PROP_MODE, 0) - - # initial settings - self.setBrightness(self.config.brightness) - self.setContrast(self.config.contrast) - self.setSaturation(self.config.saturation) - self.setGain(self.config.gain) - else: - raise Exception("Couldn't create camera.") - - def stop(self): - if self.source: - self.source.release() - self.source = None - - def getNextInput(self, sender: IDevice) -> Tuple[float, Optional[np.ndarray]]: - # safety check - if self.source is None: - raise Exception("Using camera before it has been started.") - - # Calculate the time elapsed since the last sensor snapshot - currTime = time() - elapsedTime = currTime - self.prevTime - self.prevTime = currTime - - ret, frame = self.source.read() - if ret: - return elapsedTime, frame - - return elapsedTime, None - - def setBrightness(self, b: int): - self.config.brightness = b - if self.source: - self.source.set(cv2.CAP_PROP_BRIGHTNESS, self.config.brightness) - - def setContrast(self, c: int): - self.config.contrast = c - if self.source: - self.source.set(cv2.CAP_PROP_CONTRAST, self.config.contrast) - - def setSaturation(self, s: int): - self.config.saturation = s - if self.source: - self.source.set(cv2.CAP_PROP_CONTRAST, self.config.saturation) - - def setGain(self, g: int): - self.config.gain = g - if self.source: - self.source.set(cv2.CAP_PROP_CONTRAST, self.config.gain) - - # debug stuff - def _init_debug(self, device: IDevice): - if device.config.debug and device.debug_decorator: - cv2.createTrackbar( - "brightness", - "frame", - self.config.brightness, - 100, - lambda b: self.setBrightness(b), - ) - cv2.createTrackbar( - "contrast", - "frame", - self.config.contrast, - 100, - lambda c: self.setContrast(c), - ) - cv2.createTrackbar( - "saturation", - "frame", - self.config.saturation, - 100, - lambda c: self.setSaturation(c), - ) - cv2.createTrackbar( - "gain", "frame", self.config.gain, 100, lambda c: self.setGain(c) - ) diff --git a/sw/control/sensors/picamera_sensor.py b/sw/control/sensors/picamera_sensor.py deleted file mode 100644 index cdf14ea..0000000 --- a/sw/control/sensors/picamera_sensor.py +++ /dev/null @@ -1,125 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -A sensor that use PiCamera for capture. -""" - -import cv2 -import numpy as np -from dataclasses import dataclass -from time import time -from threading import Event -from picamera import PiCamera -from typing import Optional, Tuple -from picamera.array import PiRGBArray - -from ..common import ISensor, IDevice - - -class PiCameraSensor(ISensor): - @dataclass - class Config(ISensor.Config): - framerate: int = 30 - exposureMode: str = "off" - - brightness: int = 70 - contrast: int = 25 - rotated: bool = True - - ballOffsetX: int = 0 - ballOffsetY: int = 0 - - def __init__(self, config: Config, device: IDevice): - super().__init__(config, device) - self.config = config - - self.camera = PiCamera() - - self.camera.resolution = [self.config.width, self.config.height] - self.camera.framerate = self.config.framerate - - self.camera.exposure_mode = self.config.exposureMode - self.camera.brightness = self.config.brightness - self.camera.contrast = self.config.contrast - - self.frame_raw = None - - self.x_offset_left = 0 - self.x_offset_right = 0 - self.y_offset_bottom = 0 - self.y_offset_top = 0 - - self.prevTime = 0.0 - - def getNextInput(self, sender: IDevice) -> Tuple[float, Optional[np.ndarray]]: - - # Calculate the time elapsed since the last sensor snapshot - currTime = time() - elapsedTime = currTime - self.prevTime - self.prevTime = currTime - - f = self.stream.__next__() - self.frame_raw = f.array - self.rawCapture.truncate(0) - - if self.frame_raw is not None: - frame = self.frame_raw[ - self.x_offset_right : (self.config.width - self.x_offset_left), - self.y_offset_bottom : (self.config.height - self.y_offset_top), - ] - if self.config.rotated: - frame = self._rotate_image(frame, self.image_size) - - frame = cv2.flip(frame, 0) - - return (elapsedTime, frame) - else: - return (elapsedTime, None) - - def start(self): - self._init_camera() - self.kill = Event() - - def stop(self): - self.stream.close() - self.rawCapture.close() - - def _center_camera(self, ball_x, ball_y): - if ball_x < 0: - self.x_offset_right = abs(ball_x * 2) - - elif ball_x > 0: - self.x_offset_left = abs(ball_x * 2) - - else: - self.x_offset_left = 0 - self.x_offset_right = 0 - - if ball_y < 0: - self.y_offset_bottom = abs(ball_y * 2) - - elif ball_y > 0: - self.y_offset_top = abs(ball_y * 2) - - else: - self.y_offset_top = 0 - self.y_offset_bottom = 0 - - def _rotate_image(self, frame, size, degrees=30): - matrix = cv2.getRotationMatrix2D((size[0] / 2, size[1] / 2), degrees, 1.0) - rotated = cv2.warpAffine(frame, matrix, (size[0], size[1])) - return rotated - - def _init_camera(self): - self._center_camera(self.config.ballOffsetX, self.config.ballOffsetY) - self.image_size = ( - self.config.width - (self.x_offset_left + self.x_offset_right), - self.config.height - (self.y_offset_top + self.y_offset_bottom), - ) - self.rawCapture = PiRGBArray( - self.camera, (self.config.width, self.config.height) - ) - self.stream = self.camera.capture_continuous( - self.rawCapture, format="bgr", use_video_port=True - ) diff --git a/sw/control/tests/__init__.py b/sw/control/tests/__init__.py deleted file mode 100644 index 59e481e..0000000 --- a/sw/control/tests/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. diff --git a/sw/control/tests/context.py b/sw/control/tests/context.py deleted file mode 100644 index 893982a..0000000 --- a/sw/control/tests/context.py +++ /dev/null @@ -1,7 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -import os -import sys - -sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))) diff --git a/sw/control/tests/test_heading.py b/sw/control/tests/test_heading.py deleted file mode 100644 index f943941..0000000 --- a/sw/control/tests/test_heading.py +++ /dev/null @@ -1,36 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Test cases -""" - -# pyright: strict - -import math - -from ..controllers import BrainController -from ..common import Vector2 - - -# basic test for heading -def test_heading(): - zero = Vector2(0, 0) - one = Vector2(1, 0) - heading = BrainController.heading_to_point(zero, Vector2(1.0, 0.0), one) - assert heading == 0.0, "Expected heading to be 0.0 while moving towards point" - - heading = BrainController.heading_to_point(zero, Vector2(-1.0, 0.0), one) - assert ( - heading == math.pi - ), "Expected heading to be math.pi while moving away from point" - - heading = BrainController.heading_to_point(zero, Vector2(0.0, -1.0), one) - assert ( - heading == -math.pi / 2 - ), "Expected heading to be negative while moving to right of point" - - heading = BrainController.heading_to_point(zero, Vector2(0.0, 1.0), one) - assert ( - heading == math.pi / 2 - ), "Expected heading to be positive while moving to left of point" diff --git a/sw/control/timers.py b/sw/control/timers.py deleted file mode 100644 index 80ca6d6..0000000 --- a/sw/control/timers.py +++ /dev/null @@ -1,75 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Timer classes for profiling -""" - -import time -from threading import Thread - -from .perfcounters import WindowedAverageCounter -from .perfcounters import PerformanceCounters as counter - - -# A synchronous, low-drift timer using iterators -# Use this timer for fixed time-step update loops -# https://stackoverflow.com/a/28034554/802203 -class BusyTimer: - def __init__(self): - self.running = False - - def start(self, period, f, *args): - def g_tick(): - t = time.perf_counter() - count = 0 - while self.running: - count += 1 - yield max(t + count * period - time.perf_counter(), 0) - - self.running = True - g = g_tick() - counter.start("loop", WindowedAverageCounter) - while self.running: - counter.stop() - counter.start("loop", WindowedAverageCounter) - time.sleep(next(g)) - f(*args) - counter.stop() - - def stop(self): - self.running = False - - -# A threaded timer that yields the CPU -# Use this for low frequency operations only -# as it has a larger drift margin than BusyTimer -class ThreadedTimer: - def __init__(self): - self.running = False - self.thread = None - - def __threadCallback(self): - while self.running: - if self.callback is not None: - self.callback(*self.args) - time.sleep(self.period) - - def start(self, period, f, *args): - if self.thread: - raise Exception("Double start()") - - self.period = period - self.callback = f - self.args = args - - self.thread = Thread(target=self.__threadCallback) - self.thread.daemon = True - self.running = True - self.thread.start() - - def stop(self): - if self.thread is not None: - self.running = False - self.thread.join(timeout=self.period) - self.thread = None diff --git a/sw/controllers.py b/sw/controllers.py new file mode 100644 index 0000000..17dc4ad --- /dev/null +++ b/sw/controllers.py @@ -0,0 +1,123 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import sys +import time +import requests +import numpy as np +import logging as log + +from env import MoabEnv +from common import Vector2 + +class BrainNotFound(Exception): + pass + + +# Controllers ------------------------------------------------------------------ +def pid_controller( + Kp=75, # Proportional coefficient + Ki=0.5, # Integral coefficient + Kd=45, # Derivative coefficient + max_angle=22, + **kwargs, +): + def next_action(state): + env_state, ball_detected, buttons = state + x, y, vel_x, vel_y, sum_x, sum_y = env_state + + if ball_detected: + action_x = Kp * x + Ki * sum_x + Kd * vel_x + action_y = Kp * y + Ki * sum_y + Kd * vel_y + action_x = np.clip(action_x, -max_angle, max_angle) + action_y = np.clip(action_y, -max_angle, max_angle) + + action = Vector2(action_x, action_y) + + else: + # Move plate back to flat + action = Vector2(0, 0) + + return action, {} + + return next_action + + +def joystick_controller(max_angle=16, **kwargs): + def next_action(state): + env_state, ball_detected, buttons = state + action = Vector2(-buttons.joy_x, -buttons.joy_y) + return action * max_angle, {} + + return next_action + + +def brain_controller( + max_angle=22, + port=5555, + alert_fn=lambda toggle: None, + **kwargs, +): + """ + This class interfaces with an HTTP server running locally. + It passes the current hardware state and gets new plate + angles in return. + + The hardware state is unprojected from camera pixel space + back to real space by using the calculated plate surface plane. + """ + prediction_url = f"http://localhost:{port}/v1/prediction" + + def next_action(state): + env_state, ball_detected, buttons = state + x, y, vel_x, vel_y, sum_x, sum_y = env_state + + observables = { + "ball_x": x, + "ball_y": y, + "ball_vel_x": vel_x, + "ball_vel_y": vel_y, + } + + action = Vector2(0, 0) # Action is 0,0 if not detected or brain didn't work + info = {"status": 400, "resp": ""} + if ball_detected: + + # Trap on GET failures so we can restart the brain without + # bringing down this run loop. Plate will default to level + # when it loses the connection. + try: + # Get action from brain + response = requests.get(prediction_url, json=observables) + info = {"status": response.status_code, "resp": response.json()} + action_json = response.json() + + if response.ok: + if alert_fn is not None: + alert_fn(False) + action_json = requests.get(prediction_url, json=observables).json() + pitch = action_json["input_pitch"] + roll = action_json["input_roll"] + + # Scale and clip + pitch = np.clip(pitch * max_angle, -max_angle, max_angle) + roll = np.clip(roll * max_angle, -max_angle, max_angle) + + # To match how the old brain works (only integer plate angles) + pitch, roll = int(pitch), int(roll) + + action = Vector2(-roll, pitch) + else: + if alert_fn is not None: + alert_fn(True) + + except requests.exceptions.ConnectionError as e: + print(f"No brain listening on port: {port}", file=sys.stderr) + raise BrainNotFound + + except Exception as e: + print(f"Brain exception: {e}") + + return action, info + + return next_action diff --git a/sw/detector.py b/sw/detector.py new file mode 100644 index 0000000..662ce9f --- /dev/null +++ b/sw/detector.py @@ -0,0 +1,164 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +""" +HSV filtering ball detector +""" + +import cv2 +import math +import numpy as np +from hsv import hue_to_bgr +from huemask import hue_mask +from common import Vector2, CircleFeature, Calibration + +from typing import List, Optional + + +def pixels_to_meters(vec, frame_size=256, field_of_view=1.05): + # The plate is default roughly 105% of the field of view + plate_diameter_meters = 0.225 + plate_diameter_pixels = frame_size * field_of_view + conversion = plate_diameter_meters / plate_diameter_pixels + return np.asarray(vec) * conversion + + +def meters_to_pixels(vec, frame_size=256, field_of_view=1.05): + # The plate is default roughly 105% of the field of view + plate_diameter_meters = 0.225 + plate_diameter_pixels = frame_size * field_of_view + conversion = plate_diameter_meters / plate_diameter_pixels + return np.int_(np.asarray(vec) / conversion) # Note: pixels are only ever ints + + +def pixel_to_meter_ratio(frame_size=256, field_of_view=1.05): + # The plate is default roughly 105% of the field of view + plate_diameter_meters = 0.225 + plate_diameter_pixels = frame_size * field_of_view + conversion = plate_diameter_meters / plate_diameter_pixels + return conversion + + +def draw_ball(img, center, radius, hue): + bgr = hue_to_bgr(hue) + # 45 -> hsl(45°, 75%, 50%) + cv2.circle(img, center, 2, bgr, 2) + cv2.circle(img, center, int(radius), bgr, 2) + return img + + +def save_img(filepath, img, rotated=False, quality=80): + if rotated: + # Rotate the image -30 degrees so it looks normal + w, h = img.shape[:2] + center = (w / 2, h / 2) + M = cv2.getRotationMatrix2D(center, 30, 1.0) + img = cv2.warpAffine(img, M, (w, h)) + img = img[::-1, :, :] # Mirror along x axis + + cv2.imwrite( + filepath, + img, + [cv2.IMWRITE_JPEG_QUALITY, quality], + ) + + +def hsv_detector( + calibration=None, + frame_size=256, + kernel_size=[5, 5], + ball_min=0.06, + ball_max=0.22, + hue=None, # hue [0..255] + debug=False, +): + if calibration is None: + calibration = Calibration() + # if we haven't been overridden, use ballHue from calibration + if hue is None: + hue = calibration.ball_hue + kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, tuple(kernel_size)) + + def detect_features(img, hue=hue, debug=debug, filename="/tmp/camera/frame.jpg"): + # covert to HSV space + img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + + # The hue_mask function follows CV2 convention and hue is in the range + # [0, 180] instead of [0, 360] + # run through each triplet and perform our masking filter on it. + # hue_mask coverts the hsv image into a grayscale image with a + # bandpass applied centered around hue, with width sigma + hue_mask(img_hsv, hue / 2, 0.05, 12.0, 4.0) + + # convert to b&w mask from grayscale image + mask = cv2.inRange( + img_hsv, np.array((200, 200, 200)), np.array((255, 255, 255)) + ) + + # expand b&w image with a dialation filter + mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel) + + contours = cv2.findContours( + mask, + cv2.RETR_EXTERNAL, + cv2.CHAIN_APPROX_SIMPLE, + )[-2] + + if len(contours) > 0: + contour_peak = max(contours, key=cv2.contourArea) + ((x_obs, y_obs), radius) = cv2.minEnclosingCircle(contour_peak) + + # Determine if ball size is the appropriate size + norm_radius = radius / frame_size + if ball_min < norm_radius < ball_max: + ball_detected = True + + # Convert from pixels to absolute with 0,0 as center of detected plate + x = x_obs - frame_size // 2 + y = y_obs - frame_size // 2 + + if debug: + ball_center_pixels = (int(x_obs), int(y_obs)) + draw_ball(img, ball_center_pixels, radius, hue) + save_img(filename, img, rotated=False, quality=80) + + # Rotate the x, y coordinates by -30 degrees + center = Vector2(x, y).rotate(np.radians(-30)) + center = pixels_to_meters(center, frame_size) + return ball_detected, (center, radius) + + # If there were no contours or no contours the size of the ball + ball_detected = False + if debug: + save_img(filename, img, rotated=False, quality=80) + return ball_detected, (Vector2(0, 0), 0.0) + + return detect_features + + +def circle_test_detector(hue=44, debug=False, *args, **kwargs): + angle = 0 + time = 1 + frequency = 30 # in Hz + scale = pixel_to_meter_ratio() + radius = 256 * 0.4 + ball_radius_pixels = 256 * 0.1 + + def detect_features(img, hue=hue, debug=debug, filename="/tmp/camera/frame.jpg"): + nonlocal angle + angle += (1 / (time * frequency)) * (2 * np.pi) + x_pixels, y_pixels = (radius * np.sin(angle), radius * np.cos(angle)) + x_pixels += 256 / 2 + y_pixels += 256 / 2 + + if debug: + ball_center_pixels = (int(x_pixels), int(y_pixels)) + print(ball_center_pixels) + draw_ball(img, ball_center_pixels, ball_radius_pixels, hue) + save_img(filename, img, rotated=False, quality=80) + + x, y = x_pixels * scale, y_pixels * scale + ball_detected = True + return ball_detected, (Vector2(x, y), ball_radius_pixels * scale) + + return detect_features diff --git a/sw/env.py b/sw/env.py new file mode 100644 index 0000000..3d63756 --- /dev/null +++ b/sw/env.py @@ -0,0 +1,145 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import os +import time +import json + +from typing import Tuple +from hat import Hat, Buttons, Icon, PowerIcon +from camera import OpenCVCameraSensor +from dataclasses import dataclass, astuple +from detector import hsv_detector, meters_to_pixels +from common import high_pass_filter, low_pass_filter, derivative + + +@dataclass +class EnvState: + x: float = 0.0 + y: float = 0.0 + vel_x: float = 0.0 + vel_y: float = 0.0 + sum_x: float = 0.0 + sum_y: float = 0.0 + + def __iter__(self): + return iter(astuple(self)) + + def __repr__(self): + return self.__str__() + + def __str__(self): + a = f"x,y ({self.x:.3f}, {self.y:.3f}) " + b = f"ẋ,ẏ ({self.vel_x:.3f}, {self.vel_y:.3f}) " + c = f"Δx,Δy {self.sum_x:.3f}, {self.sum_y:.3f})" + return a + b + c + + +class MoabEnv: + def __init__( + self, + frequency=30, + debug=False, + verbose=0, + derivative_fn=derivative, + calibration_file="bot.json", + ): + self.debug = debug + self.verbose = verbose + self.frequency = frequency + self.derivative_fn = derivative + self.vel_x = self.derivative_fn(frequency) + self.vel_y = self.derivative_fn(frequency) + self.sum_x, self.sum_y = 0, 0 + + self.hat = Hat(debug=debug, verbose=verbose) + self.hat.open() + self.camera = OpenCVCameraSensor(frequency=frequency) + self.detector = hsv_detector(debug=debug) + + self.calibration_file = calibration_file + self.reset_calibration() + + def __enter__(self): + self.camera.start() + return self + + def __exit__(self, type, value, traceback): + self.hat.go_down() + self.hat.disable_servos() + self.hat.display_power_symbol("TO WAKE", PowerIcon.POWER) + self.hat.close() + self.camera.stop() + + def __repr__(self): + return self.__str__() + + def __str__(self): + return f"hue: {self.hue}, offsets: {self.servo_offsets}" + + def reset_calibration(self, calibration_file=None): + # Use default if not defined + calibration_file = calibration_file or self.calibration_file + + # Get calibration settings + if os.path.isfile(calibration_file): + with open(calibration_file, "r") as f: + calib = json.load(f) + else: # Use defaults + calib = { + "ball_hue": 44, + "plate_offsets": (0.0, 0.0), + "servo_offsets": (0.0, 0.0, 0.0), + } + + plate_offsets = calib["plate_offsets"] + self.plate_offsets_pixels = meters_to_pixels(plate_offsets) + self.servo_offsets = calib["servo_offsets"] + self.hue = calib["ball_hue"] + + # Set the servo offsets (self.hue & self.plate_offsets_pixels are used in step) + self.hat.set_servo_offsets(*self.servo_offsets) + self.camera.x_offset_pixels = self.plate_offsets_pixels[0] + self.camera.y_offset_pixels = self.plate_offsets_pixels[1] + + def reset(self, text=None, icon=None): + # Optionally display the controller active text + if icon and text: + self.hat.display_string_icon(text, icon) + elif text: + self.hat.display_string(text) + + # Reset the derivative of the position + # Use a high pass filter instead of a numerical derivative for stability. + # A high pass filtered signal can be thought of as a derivative of a low + # pass filtered signal: fc*s / (s + fc) = fc*s * 1 / (s + fc) + # For more info: https://en.wikipedia.org/wiki/Differentiator + # Or: https://www.youtube.com/user/ControlLectures/ + self.vel_x = self.derivative_fn(self.frequency) + self.vel_y = self.derivative_fn(self.frequency) + # Reset the integral of the position + self.sum_x, self.sum_y = 0, 0 + + # Return the state after a step with no motor actions + return self.step((0, 0)) + + def step(self, action) -> Tuple[EnvState, bool, Buttons]: + plate_x, plate_y = action + self.hat.set_angles(plate_x, plate_y) + + frame, elapsed_time = self.camera() + ball_detected, cicle_feature = self.detector(frame, hue=self.hue) + ball_center, ball_radius = cicle_feature + + x, y = ball_center + + # Update derivate calulation + vel_x, vel_y = self.vel_x(x), self.vel_y(y) + # Update the summation (integral calculation) + self.sum_x += x + self.sum_y += y + + buttons = self.hat.get_buttons() + state = EnvState(x, y, vel_x, vel_y, self.sum_x, self.sum_y) + + return state, ball_detected, buttons diff --git a/sw/hat.py b/sw/hat.py new file mode 100644 index 0000000..7a07431 --- /dev/null +++ b/sw/hat.py @@ -0,0 +1,363 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import os +import time +import signal + +import socket +import spidev +import numpy as np +import logging as log +import RPi.GPIO as gpio + +from hexyl import hexyl +from enum import IntEnum +from typing import Union, List, Tuple +from dataclasses import dataclass, astuple + +# fmt: off +# Define which bytes represent which commands + +# Messaging from the Pi to the hat +class SendCommand(IntEnum): + NOOP = 0x00 # Import for polling the state of the buttons and joystick + SERVO_ENABLE = 0x01 # The servos should be turned off + SERVO_DISABLE = 0x02 # The servos should be turned on + SET_SERVOS = 0x05 # Set the servo positions manually (s1, s2, s3) + COPY_STRING = 0x80 # Pass a variable length string (max 240 bytes). Requires DISPLAY_ after. + DISPLAY_BIG_TEXT_ICON = 0x81 # Display buffer (large font) with icon. Does not scroll. + DISPLAY_BIG_TEXT = 0x82 # Display the 0x80 buffer (in large font). Does not scroll. + DISPLAY_SMALL_TEXT = 0x83 # Display the 0x80 buffer (in small font). Scroll if required. + DISPLAY_POWER_SYMBOL = 0x84 # Display buffer (large font) with icon. Does not scroll. + +# Icon index +class Icon(IntEnum): + BLANK = 0 + UP_DOWN = 1 + DOWN = 2 + UP = 3 + DOT = 4 + PAUSE = 5 + CHECK = 6 + X = 7 + +# ⏻ ⏼ ⏽ ⭘ ⏾ +class PowerIcon(IntEnum): + POWER = 1 + TOGGLE_POWER = 2 + POWER_ON = 3 + SLEEP_MODE = 4 + POWER_OFF = 5 + + +@dataclass +class Buttons: + menu_button: bool + joy_button: bool + joy_x: float + joy_y: float + + def __iter__(self): + return iter(astuple(self)) + + +# GPIO pins +class GpioPin(IntEnum): + HAT_EN = 20 # Bcm 20 - RPi pin 38 - RPI_BPLUS_GPIO_J8_38 + HAT_RESET = 6 # Bcm 6 - RPi pin 31 - RPI_BPLUS_GPIO_J8_31 +# fmt: on + + +# Helper functions ------------------------------------------------------------- +def _uint8_to_int8(b: int) -> int: + """ + Converts a byte to a signed int (int8) instead of unsigned int (uint8). + """ + return np.int8(b) + + +def _int8_to_uint8(b: int) -> int: + """ + Converts a byte to a signed int (int8) instead of unsigned int (uint8). + """ + return np.uint8(b) + + +def _xy_offsets( + x: float, + y: float, + servo_offsets: Tuple[float, float, float], + x_tilt_servo1: float = -0.5, + y_tilt_servo2: float = 0.866, + y_tilt_servo3: float = -0.866, +) -> Tuple[float, float]: + so_1, so_2, so_3 = servo_offsets + x_offset = x + so_1 + x_tilt_servo1 * so_2 + x_tilt_servo1 * so_3 + y_offset = y + y_tilt_servo2 * so_2 + y_tilt_servo3 * so_3 + return x_offset, y_offset + + +def plate_angles_to_servo_positions( + pitch: float, + roll: float, + arm_len: float = 55.0, + side_len: float = 170.87, + pivot_height: float = 80.0, + angle_max: float = 160, + angle_min: float = 90, +) -> Tuple[float, float, float]: + servo_angles = [0.0, 0.0, 0.0] + + z1 = pivot_height + np.sin(np.radians(roll)) * (side_len / np.sqrt(3)) + r = pivot_height - np.sin(np.radians(roll)) * (side_len / (2 * np.sqrt(3))) + z2 = r + np.sin(np.radians(-pitch)) * (side_len / 2) + z3 = r - np.sin(np.radians(-pitch)) * (side_len / 2) + + if z1 > 2 * arm_len: + z1 = 2 * arm_len + if z2 > 2 * arm_len: + z2 = 2 * arm_len + if z3 > 2 * arm_len: + z3 = 2 * arm_len + + servo_angles[0] = 180 - (np.degrees(np.arcsin(z1 / (2 * arm_len)))) + servo_angles[1] = 180 - (np.degrees(np.arcsin(z2 / (2 * arm_len)))) + servo_angles[2] = 180 - (np.degrees(np.arcsin(z3 / (2 * arm_len)))) + + servo_angles = np.clip(servo_angles, angle_min, angle_max) + return servo_angles + + +# Return an exact 8 byte numpy array +def pad(*args, **kwargs): + data = [*args][:8] + pads = (8 - len(data)) * [0] + dtype = kwargs.pop("dtype", np.int8) + return np.array(data + pads, dtype) + + +class Hat: + def __init__( + self, + servo_offsets: Tuple[float, float, float] = (0, 0, 0), + debug=False, + verbose=0, + ): + self.servo_offsets: Tuple[float, float, float] = servo_offsets + self.buttons = Buttons(False, False, 0.0, 0.0) + + self.debug = debug + self.verbose = verbose + if debug: + self.hex_printer = hexyl() + + self.spi = None + + def open(self): + # Attempt to open the spidev bus + try: + self.spi = spidev.SpiDev() + self.spi.open(0, 0) + self.spi.max_speed_hz = 100000 + except Exception as e: + # possible that ctrl-C was caught here + raise IOError(f"Could not open `/dev/spidev{spi_bus}.{spi_device}`.") + + # Attempt to setup the GPIO pins + try: + gpio.setwarnings(False) + gpio.setmode(gpio.BCM) + # Setting pin direction, in our case, reboots Moab! + gpio.setup( + [GpioPin.HAT_EN, GpioPin.HAT_RESET], + gpio.OUT, + ) + time.sleep(0.1) + except KeyboardInterrupt: + raise + except: + raise IOError(f"Could not setup GPIO pins") + + def close(self): + if self.spi is not None: + self.spi.close() + + def __enter__(self): + self.open() + return self + + def __exit__(self, type, value, traceback): + self.close() + + def transceive(self, packet: np.ndarray): + """ + Send and receive 8 bytes from hat. + """ + assert self.spi is not None # did you call hat.open() first ? + assert len(packet) == 8 + + hat_to_pi = self.spi.xfer(packet.tolist()) + time.sleep(0.005) + + if self.debug: + self.hex_printer(packet.tolist(), hat_to_pi, self.verbose) + + # Check if buttons are pressed + self.buttons.menu_button = hat_to_pi[0] == 1 + self.buttons.joy_button = hat_to_pi[1] == 1 + + # Get x & y coordinates of joystick normalized to [-1, +1] + self.buttons.joy_x = _uint8_to_int8(hat_to_pi[2]) / 100 + self.buttons.joy_y = _uint8_to_int8(hat_to_pi[3]) / 100 + + def get_buttons(self) -> Buttons: + """ + Check whether buttons are pressed and the joystick x & y values in the + response. + + Return: + Buttons + Which is a dataclass with: + - menu_button: bool + - joy_button : bool + - joy_x : float normalized from -1 to +1 + - joy_y : float normalized from -1 to +1 + """ + return self.buttons + + def noop(self): + """Send a NOOP. Useful for if you just want to read buttons.""" + self.transceive(pad(SendCommand.NOOP)) + + def enable_servos(self): + """ Set the plate to track plate angles. """ + self.transceive(pad(SendCommand.SERVO_ENABLE)) + + def disable_servos(self): + """ Disables the power to the servos. """ + self.transceive(pad(SendCommand.SERVO_DISABLE)) + + def set_angles(self, pitch: float, roll: float): + s1, s2, s3 = plate_angles_to_servo_positions(pitch, roll) + self.set_servos(s1, s2, s3) + + def set_servos(self, servo1: float, servo2: float, servo3: float): + # Note the off by 1 for indexing + servo1 += self.servo_offsets[0] + servo2 += self.servo_offsets[1] + servo3 += self.servo_offsets[2] + + # Use fixed point 16-bit numbers, with precision of hundredths + servo1_centi_degrees = np.int16(servo1 * 100) + servo2_centi_degrees = np.int16(servo2 * 100) + servo3_centi_degrees = np.int16(servo3 * 100) + + # Get the first 8 bits and last 8 bits of every 16-bit integer + # (To send it as indivdual bytes) + servo1_centi_degrees_high_byte = servo1_centi_degrees >> 8 + servo1_centi_degrees_low_byte = servo1_centi_degrees & 0x00FF + servo2_centi_degrees_high_byte = servo2_centi_degrees >> 8 + servo2_centi_degrees_low_byte = servo2_centi_degrees & 0x00FF + servo3_centi_degrees_high_byte = servo3_centi_degrees >> 8 + servo3_centi_degrees_low_byte = servo3_centi_degrees & 0x00FF + + self.transceive( + pad( + SendCommand.SET_SERVOS, + servo3_centi_degrees_high_byte, + servo3_centi_degrees_low_byte, + servo1_centi_degrees_high_byte, + servo1_centi_degrees_low_byte, + servo2_centi_degrees_high_byte, + servo2_centi_degrees_low_byte, + ) + ) + + def set_servo_offsets(self, servo1: int, servo2: int, servo3: int): + """ + Set post-factory calibration offsets for each servo. + Normally this call should not be needed. + """ + self.servo_offsets = (servo1, servo2, servo3) + + def go_up(self): + """ + Set the plate to its hover position. + This was experimentally found to be 150 (down but still leaving some + space at the bottom). + """ + self.set_servos(150, 150, 150) + # Give enough time for the action to be taken + time.sleep(0.200) # Make sure this action gets taken before turning off servos + + def go_down(self): + """ + Set the plate to its lower position (usually powered-off state). + This was experimentally found to be 155 (lowest possible position). + """ + self.set_servos(155, 155, 155) + # Give enough time for the action to be taken + time.sleep(0.200) # Make sure this action gets taken before turning off servos + + def _copy_buffer(self, s: str): + s = s.upper() # The firware currently only has uppercase fonts + + s = bytes(s, "utf-8") + s += b"\0" # Ensure a trailing termination character + assert len(s) <= 240, "String too long to send to hat." + + # Calculate the number of messages required to send the text + num_msgs = int(np.ceil(len(s) / 7)) + + # Pad the message with trailing termination chars to so we always + # send in 8 bytes increments (1 byte control, 7 bytes data) + s += (num_msgs * 7 - len(s)) * b"\0" + + for msg_idx in range(num_msgs): + # Combine into one list to send + msg = [SendCommand.COPY_STRING] + list(s[7 * msg_idx : 7 * msg_idx + 7]) + self.transceive(np.array(msg, dtype=np.int8)) + time.sleep(0.010) + + def display_power_symbol(self, text: str, icon_idx: PowerIcon): + assert len(text) <= 12, "String is too long to display with icon" + + # Copy the text into a buffer in the firmware + self._copy_buffer(text) + + # After sending copying to the fw buffer, display the buffer as a short string + self.transceive(pad(SendCommand.DISPLAY_POWER_SYMBOL, icon_idx)) + + def display_string_icon(self, text: str, icon_idx: Icon): + # assert len(text) <= 12, "String is too long to display with icon" + + # Copy the text into a buffer in the firmware + self._copy_buffer(text) + + # After sending copying to the fw buffer, display the buffer as a short string + self.transceive(pad(SendCommand.DISPLAY_BIG_TEXT_ICON, icon_idx)) + + def update_icon(self, icon_idx: Icon): + # Don't needlessly update display if icon hasn't changed or if last text + # didn't have an icon (ie last called send text was display_string or + # display_long_string) + + # Display the buffer as a long string + self.transceive(pad(SendCommand.DISPLAY_BIG_TEXT_ICON, icon_idx)) + + def display_string(self, text: str): + assert len(text) <= 15, "String is too long to display without scrolling." + + # Copy the text into a buffer in the firmware + self._copy_buffer(text) + + # After sending copying to the fw buffer, display the buffer as a short string + self.transceive(pad(SendCommand.DISPLAY_BIG_TEXT)) + + def display_long_string(self, text: str): + # Copy the text into a buffer in the firmware + self._copy_buffer(text) + + # After sending copying to the fw buffer, display the buffer as a long string + self.transceive(pad(SendCommand.DISPLAY_SMALL_TEXT)) diff --git a/sw/hexyl.py b/sw/hexyl.py new file mode 100644 index 0000000..49ffaf7 --- /dev/null +++ b/sw/hexyl.py @@ -0,0 +1,192 @@ +#!/usr/bin/env python3 + +import time +import numpy as np +import itertools +from operator import add +from typing import Union, List, Tuple, Dict + + +class color: + green = "\033[38;5;40m" + cyan = "\033[38;5;111m" + red = "\033[31m" + yellow = "\033[38;5;40m" + string = "\033[38;5;40m" + string_cmd = "\033[38;5;34m" + gray = "\033[38;5;242m" + darkgray = "\033[38;5;238m" + danger = "\033[38;5;196m" + servos = "\033[38;5;19m" + end = "\033[0m" + + +def hexyl(): + tick = 0 + + def wrapstr(c: Union[str, None], s): + if c is None: + return s + else: + return c + s + color.end + + def wrap_tx(c: Union[str, None], s): + # first byte like 31 to string 0x1F + byte = f"{np.uint8(s):02x}" + if byte == "00": + c = color.darkgray + if c is None: + return byte + else: + return c + byte + color.end + + def enum_bytes_tx(bytelist, c: Dict): + for i, v in enumerate(bytelist): + yield wrap_tx(c.get(i), v) + + def wrap_rx(clr: Union[str, None], the_byte, position): + # first byte like 31 to string 0x1F + byte_str = f"{np.uint8(the_byte):02x}" + + # first two bytes are buttons + # second two bytes are joystick + # last four bytes should always be zero + + # unused bytes + if position > 3: + if byte_str == "00": # nominal + clr = color.darkgray + else: + clr = color.danger + + if position <= 1: + if byte_str == "00": # nominal + clr = color.darkgray + + if clr is None: + clr = color.darkgray + + return clr + byte_str + color.end + + def enum_bytes_rx(bytelist, c: Dict): + for i, v in enumerate(bytelist): + yield wrap_rx(c.get(i), v, i) + + def tx_list(l): + if np.uint8(l[0]) == 0x80: + c = {0: color.green} + c.update({k: color.yellow for k in range(1, 9)}) + else: + c = {0: color.red} + + return " ".join(enum_bytes_tx(l, c)) + + def printable(c): + if c > 0x1F & c < 0x7F: + return chr(c) + if c == 0x0A: + return "¶" + else: + return "·" + + def tx_to_english(l): + b1 = np.uint8(l[0]) + if b1 == 0x80: + remainder = l[1:] + return " ┊ " + color.string + "".join(map(printable, remainder)) + color.end + elif b1 == 0x01: + return " ┊ " + wrapstr(color.red, "servos: on") + elif b1 == 0x02: + return " ┊ " + wrapstr(color.red, "servos: off") + elif b1 == 0x05: + s1 = ((l[1] << 8) + l[2]) / 100 + s2 = ((l[3] << 8) + l[4]) / 100 + s3 = ((l[5] << 8) + l[6]) / 100 + + s = f"{s1:6.2f}, {s2:6.2f}, {s3:6.2f}" + return " ┊ " + wrapstr(color.servos, s) + elif b1 == 0x06: + return " ┊ " + wrapstr(color.green, "text/icon") + elif b1 >= 0x81 and b1 <= 0x85: + return " ┊ " + wrapstr(color.string_cmd, "◊") + else: + return "" + + def rx_list(l): + c = {0: color.green, 1: color.green, 2: color.cyan, 3: color.cyan} + return " ".join(enum_bytes_rx(l, c)) + + def canary(l): + if ( + np.uint8(l[0]) > 0x01 + or np.uint(l[1]) > 0x01 + or sum(np.uint(l[4:8])) > 0 + or abs(np.int8(l[2])) > 100 + or abs(np.int8(l[3]) > 100) + ): + return wrapstr(color.red, " FATAL") + else: + return "" + + # verbosity spi debug + # 0: nothing + # 1: mode changes + # 2: include servo settings (0x05) + # 3: include noops (0x00) (useful to show menu/joystick state) + + def hfn(tx, rx, verbose=0): + nonlocal tick + tick = tick + 1 + + if verbose == 0: + return + + if np.uint8(tx[0]) == 0x05 and verbose < 2: + return + + if np.uint8(tx[0]) == 0x00 and verbose < 3: + return + + # Print a 5-digit tick that updates every 30 Hz + print(f"{color.gray}{tick:05d}{color.end}", end="") + print(" ┊ ", end="") + + # Tx 8 bytes: transmit to Hat + print(tx_list(tx), end="") + print(" ┊ ", end="") + + # Rx 8 bytes: receive bytes back from Hat + print(rx_list(rx), end="") + + # Translate some of the bytes + print(tx_to_english(tx), end="") + + # Scan for unusual bytes + print(canary(rx)) + + return hfn + + +def main(): + tx1 = [0x05, 0x32, 0x5F, 0x2C, 0x64, 0x35, 0x62, 0x00] + + rx0 = [0x00, 0x00, 0x5F, 0x2C, 0x00, 0x00, 0x00, 0x00] # good + rx1 = [0x01, 0x01, 0x3F, 0x2C, 0x00, 0x00, 0x00, 0x00] # rest are bad + rx2 = [0x05, 0x00, 0x3F, 0x2C, 0x01, 0x01, 0x00, 0x00] # badd 4-byte range + rx3 = [0x05, 0x00, 0x3F, 0x2C, 0x00, 0x00, 0x00, 0x00] # bad button down + rx4 = [0x00, 0x00, 0x3F, 0x2C, 0x00, 0x99, 0x00, 0x00] # bad 4-byte + rx5 = [0x00, 0x00, 0x6F, 0x5C, 0x00, 0x00, 0x00, 0x00] # bad joy stick (x) + rx6 = [0x00, 0x00, 0x5F, 0x6F, 0x00, 0x00, 0x00, 0x00] # bad joy stick (y) + + t = hexyl() + t(tx1, rx0, verbose=4) + t(tx1, rx1, verbose=4) + t(tx1, rx2, verbose=4) + t(tx1, rx3, verbose=4) + t(tx1, rx4, verbose=4) + t(tx1, rx5, verbose=4) + t(tx1, rx6, verbose=4) + + +if __name__ == "__main__": + main() diff --git a/sw/hsv.py b/sw/hsv.py new file mode 100644 index 0000000..9ff9179 --- /dev/null +++ b/sw/hsv.py @@ -0,0 +1,76 @@ +import colorsys + + +def hsv_to_rgb(h, s, v): + if s == 0.0: + return (v, v, v) + i = int(h * 6.0) # XXX assume int() truncates! + f = (h * 6.0) - i + p, q, t = v * (1.0 - s), v * (1.0 - s * f), v * (1.0 - s * (1.0 - f)) + i %= 6 + if i == 0: + return (v, t, p) + if i == 1: + return (q, v, p) + if i == 2: + return (p, v, t) + if i == 3: + return (p, q, v) + if i == 4: + return (t, p, v) + if i == 5: + return (v, p, q) + + +def rgb_to_bgr(rgb): + return rgb[::-1] + + +def hue_to_bgr(hue, s=0.75, v=0.75): + assert hue >= 0 and hue <= 360 + + rgb = hsv_to_rgb(hue / 360.0, s, v) + rgb = [int(c * 255) for c in rgb] + return rgb_to_bgr(rgb) + + +def hsv_normalized_to_bgr(h, s, v): + assert 0 <= h <= 1.0 + assert 0 <= s <= 1.0 + assert 0 <= v <= 1.0 + + def h2r(h, s, v): + return tuple(round(i * 255) for i in colorsys.hsv_to_rgb(h, s, v)) + + return rgb_to_bgr(h2r(h, s, v)) + + +# HSV was invented by Alvy Ray Smith (cool!) + + +def test_code(t, e): + v = hsv_to_rgb(*t) + y = [int(s * 255) for s in v] + print(f"f({t}) = {y} ~= expected: {e}") + return y == e + + +if __name__ == "__main__": + + # 45 = orange + test_code((45 / 360.0, 1.0, 0.5), [128, 96, 0]) + + # 45 = orange + test_code((45 / 360.0, 0.75, 0.5), [218, 165, 32]) + + # 157 = green + test_code((45 / 360.0, 1.0, 0.5), [128, 96, 0]) + + # 211 = blue + test_code((211 / 360.0, 1.0, 0.5), [0, 61, 128]) + + # 0, 100%, 100% = red + test_code((1, 1.0, 1.0), [255, 4, 0]) + test_code((0 / 360.0, 1.0, 1.0), [255, 0, 0]) + + print(hue_to_bgr(45)) diff --git a/sw/huemask/Makefile b/sw/huemask/Makefile new file mode 100644 index 0000000..b018f04 --- /dev/null +++ b/sw/huemask/Makefile @@ -0,0 +1,11 @@ +# https://gist.github.com/ctokheim/6c34dc1d672afca0676a + +.PHONY: install + +all: huemask.c + +huemask.c: huemask.pyx + cython -3 huemask.pyx + +install: + @pip3 install . diff --git a/sw/libs/pymoab/moab.c b/sw/huemask/huemask.c similarity index 86% rename from sw/libs/pymoab/moab.c rename to sw/huemask/huemask.c index 4daf168..8075419 100644 --- a/sw/libs/pymoab/moab.c +++ b/sw/huemask/huemask.c @@ -1,30 +1,5 @@ /* Generated by Cython 0.29.21 */ -/* BEGIN: Cython Metadata -{ - "distutils": { - "depends": [ - "/usr/local/include/moab.h" - ], - "include_dirs": [ - "/usr/local/include" - ], - "libraries": [ - "moab", - "bcm2835" - ], - "library_dirs": [ - "/usr/local/lib" - ], - "name": "pymoab", - "sources": [ - "moab.pyx" - ] - }, - "module_name": "pymoab" -} -END: Cython Metadata */ - #define PY_SSIZE_T_CLEAN #include "Python.h" #ifndef Py_PYTHON_H @@ -627,10 +602,9 @@ static CYTHON_INLINE float __PYX_NAN() { #endif #endif -#define __PYX_HAVE__pymoab -#define __PYX_HAVE_API__pymoab +#define __PYX_HAVE__huemask +#define __PYX_HAVE_API__huemask /* Early includes */ -#include "moab.h" #include "pythread.h" #include #include @@ -844,7 +818,7 @@ static const char *__pyx_filename; static const char *__pyx_f[] = { - "moab.pyx", + "huemask.pyx", "stringsource", }; /* MemviewSliceStruct.proto */ @@ -956,33 +930,6 @@ typedef struct { } __Pyx_BufFmt_Context; -/* "moab.pyx":9 - * from typing import Tuple - * - * ctypedef char bool # <<<<<<<<<<<<<< - * ctypedef signed char int8_t - * ctypedef unsigned char uint8_t - */ -typedef char __pyx_t_6pymoab_bool; - -/* "moab.pyx":10 - * - * ctypedef char bool - * ctypedef signed char int8_t # <<<<<<<<<<<<<< - * ctypedef unsigned char uint8_t - * - */ -typedef signed char __pyx_t_6pymoab_int8_t; - -/* "moab.pyx":11 - * ctypedef char bool - * ctypedef signed char int8_t - * ctypedef unsigned char uint8_t # <<<<<<<<<<<<<< - * - * cdef extern from "moab.h": - */ -typedef unsigned char __pyx_t_6pymoab_uint8_t; - /*--- Type declarations ---*/ struct __pyx_array_obj; struct __pyx_MemviewEnum_obj; @@ -1188,6 +1135,42 @@ static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject /* GetBuiltinName.proto */ static PyObject *__Pyx_GetBuiltinName(PyObject *name); +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ + const char* function_name); + +/* PyFloatBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyFloat_TrueDivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyFloat_TrueDivideObjC(op1, op2, floatval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceTrueDivide(op1, op2) : PyNumber_TrueDivide(op1, op2)) +#endif + +/* PyFloatBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyFloat_SubtractObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyFloat_SubtractObjC(op1, op2, floatval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceSubtract(op1, op2) : PyNumber_Subtract(op1, op2)) +#endif + +/* PyFloatBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyFloat_AddObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyFloat_AddObjC(op1, op2, floatval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + /* PyDictVersioning.proto */ #if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS #define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) @@ -1283,42 +1266,6 @@ static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject /* PyObjectCallOneArg.proto */ static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); -/* RaiseArgTupleInvalid.proto */ -static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, - Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); - -/* RaiseDoubleKeywords.proto */ -static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); - -/* ParseKeywords.proto */ -static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\ - PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\ - const char* function_name); - -/* PyFloatBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyFloat_TrueDivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyFloat_TrueDivideObjC(op1, op2, floatval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceTrueDivide(op1, op2) : PyNumber_TrueDivide(op1, op2)) -#endif - -/* PyFloatBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyFloat_SubtractObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyFloat_SubtractObjC(op1, op2, floatval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceSubtract(op1, op2) : PyNumber_Subtract(op1, op2)) -#endif - -/* PyFloatBinop.proto */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyFloat_AddObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check); -#else -#define __Pyx_PyFloat_AddObjC(op1, op2, floatval, inplace, zerodivision_check)\ - (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) -#endif - /* MemviewSliceInit.proto */ #define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d #define __Pyx_MEMVIEW_DIRECT 1 @@ -1629,26 +1576,6 @@ static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, P /* SetupReduce.proto */ static int __Pyx_setup_reduce(PyObject* type_obj); -/* CalculateMetaclass.proto */ -static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); - -/* SetNameInClass.proto */ -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 -#define __Pyx_SetNameInClass(ns, name, value)\ - (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) -#elif CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_SetNameInClass(ns, name, value)\ - (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) -#else -#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) -#endif - -/* Py3ClassCreate.proto */ -static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, - PyObject *mkw, PyObject *modname, PyObject *doc); -static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, - PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); - /* CLineInTraceback.proto */ #ifdef CYTHON_CLINE_IN_TRACEBACK #define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) @@ -1736,10 +1663,10 @@ static int __Pyx_ValidateAndInit_memviewslice( static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsdsds_unsigned_char(PyObject *, int writable_flag); /* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value); /* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value); +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); /* MemviewDtypeToObject.proto */ static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char(const char *itemp); @@ -1755,21 +1682,18 @@ __pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, size_t sizeof_dtype, int contig_flag, int dtype_is_object); -/* CIntFromPy.proto */ -static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); - /* CIntFromPy.proto */ static CYTHON_INLINE unsigned char __Pyx_PyInt_As_unsigned_char(PyObject *); -/* CIntFromPy.proto */ -static CYTHON_INLINE signed char __Pyx_PyInt_As_signed__char(PyObject *); - /* CIntFromPy.proto */ static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); /* CIntFromPy.proto */ static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + /* CheckBinaryVersion.proto */ static int __Pyx_check_binary_version(void); @@ -1791,15 +1715,15 @@ static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memo /* Module declarations from 'cython' */ -/* Module declarations from 'pymoab' */ +/* Module declarations from 'huemask' */ static PyTypeObject *__pyx_array_type = 0; static PyTypeObject *__pyx_MemviewEnum_type = 0; static PyTypeObject *__pyx_memoryview_type = 0; static PyTypeObject *__pyx_memoryviewslice_type = 0; -static float __pyx_v_6pymoab__bandpass_lookup[0x100]; -static float __pyx_v_6pymoab__last_sigma; -static float __pyx_v_6pymoab__last_gain; -static unsigned char __pyx_v_6pymoab__last_center; +static float __pyx_v_7huemask__bandpass_lookup[0x100]; +static float __pyx_v_7huemask__last_sigma; +static float __pyx_v_7huemask__last_gain; +static unsigned char __pyx_v_7huemask__last_center; static PyObject *generic = 0; static PyObject *strided = 0; static PyObject *indirect = 0; @@ -1841,11 +1765,11 @@ static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, IS_UNSIGNED(unsigned char) ? 'U' : 'I', IS_UNSIGNED(unsigned char), 0 }; -#define __Pyx_MODULE_NAME "pymoab" -extern int __pyx_module_is_main_pymoab; -int __pyx_module_is_main_pymoab = 0; +#define __Pyx_MODULE_NAME "huemask" +extern int __pyx_module_is_main_huemask; +int __pyx_module_is_main_huemask = 0; -/* Implementation of 'pymoab' */ +/* Implementation of 'huemask' */ static PyObject *__pyx_builtin_range; static PyObject *__pyx_builtin_ValueError; static PyObject *__pyx_builtin_MemoryError; @@ -1855,7 +1779,6 @@ static PyObject *__pyx_builtin_Ellipsis; static PyObject *__pyx_builtin_id; static PyObject *__pyx_builtin_IndexError; static const char __pyx_k_O[] = "O"; -static const char __pyx_k_X[] = "X"; static const char __pyx_k_c[] = "c"; static const char __pyx_k_f[] = "f"; static const char __pyx_k_h[] = "h"; @@ -1864,27 +1787,15 @@ static const char __pyx_k_s[] = "s"; static const char __pyx_k_v[] = "v"; static const char __pyx_k_x[] = "x"; static const char __pyx_k_y[] = "y"; -static const char __pyx_k_OK[] = "OK"; -static const char __pyx_k_UP[] = "UP"; static const char __pyx_k_id[] = "id"; static const char __pyx_k_ih[] = "ih"; static const char __pyx_k_mu[] = "mu"; -static const char __pyx_k_CAL[] = "CAL"; -static const char __pyx_k_DOT[] = "DOT"; -static const char __pyx_k_doc[] = "__doc__"; static const char __pyx_k_exp[] = "exp"; static const char __pyx_k_new[] = "__new__"; static const char __pyx_k_obj[] = "obj"; -static const char __pyx_k_DOWN[] = "DOWN"; -static const char __pyx_k_INFO[] = "INFO"; -static const char __pyx_k_INIT[] = "INIT"; -static const char __pyx_k_Icon[] = "Icon"; -static const char __pyx_k_Text[] = "Text"; static const char __pyx_k_base[] = "base"; static const char __pyx_k_dict[] = "__dict__"; -static const char __pyx_k_enum[] = "enum"; static const char __pyx_k_gain[] = "gain"; -static const char __pyx_k_init[] = "init"; static const char __pyx_k_main[] = "__main__"; static const char __pyx_k_mask[] = "mask"; static const char __pyx_k_math[] = "math"; @@ -1895,15 +1806,8 @@ static const char __pyx_k_pack[] = "pack"; static const char __pyx_k_size[] = "size"; static const char __pyx_k_step[] = "step"; static const char __pyx_k_stop[] = "stop"; -static const char __pyx_k_sync[] = "sync"; static const char __pyx_k_test[] = "__test__"; static const char __pyx_k_ASCII[] = "ASCII"; -static const char __pyx_k_BLANK[] = "BLANK"; -static const char __pyx_k_BRAIN[] = "BRAIN"; -static const char __pyx_k_CHECK[] = "CHECK"; -static const char __pyx_k_ERROR[] = "ERROR"; -static const char __pyx_k_PAUSE[] = "PAUSE"; -static const char __pyx_k_Tuple[] = "Tuple"; static const char __pyx_k_class[] = "__class__"; static const char __pyx_k_error[] = "error"; static const char __pyx_k_flags[] = "flags"; @@ -1913,98 +1817,48 @@ static const char __pyx_k_shape[] = "shape"; static const char __pyx_k_sigma[] = "sigma"; static const char __pyx_k_start[] = "start"; static const char __pyx_k_width[] = "width"; -static const char __pyx_k_MANUAL[] = "MANUAL"; -static const char __pyx_k_Result[] = "Result"; static const char __pyx_k_center[] = "center"; static const char __pyx_k_encode[] = "encode"; static const char __pyx_k_format[] = "format"; static const char __pyx_k_height[] = "height"; static const char __pyx_k_import[] = "__import__"; -static const char __pyx_k_module[] = "__module__"; static const char __pyx_k_name_2[] = "__name__"; static const char __pyx_k_pickle[] = "pickle"; -static const char __pyx_k_pymoab[] = "pymoab"; static const char __pyx_k_reduce[] = "__reduce__"; static const char __pyx_k_struct[] = "struct"; -static const char __pyx_k_typing[] = "typing"; static const char __pyx_k_unpack[] = "unpack"; static const char __pyx_k_update[] = "update"; -static const char __pyx_k_CLASSIC[] = "CLASSIC"; -static const char __pyx_k_CUSTOM1[] = "CUSTOM1"; -static const char __pyx_k_CUSTOM2[] = "CUSTOM2"; -static const char __pyx_k_IntEnum[] = "IntEnum"; -static const char __pyx_k_UP_DOWN[] = "UP_DOWN"; -static const char __pyx_k_enabled[] = "enabled"; static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_huemask[] = "huemask"; static const char __pyx_k_memview[] = "memview"; -static const char __pyx_k_prepare[] = "__prepare__"; -static const char __pyx_k_setIcon[] = "setIcon"; -static const char __pyx_k_setText[] = "setText"; static const char __pyx_k_Ellipsis[] = "Ellipsis"; static const char __pyx_k_getstate[] = "__getstate__"; static const char __pyx_k_hue_mask[] = "hue_mask"; -static const char __pyx_k_icon_idx[] = "icon_idx"; static const char __pyx_k_itemsize[] = "itemsize"; -static const char __pyx_k_moab_pyx[] = "moab.pyx"; -static const char __pyx_k_pollTemp[] = "pollTemp"; static const char __pyx_k_pyx_type[] = "__pyx_type"; -static const char __pyx_k_qualname[] = "__qualname__"; static const char __pyx_k_setstate[] = "__setstate__"; -static const char __pyx_k_text_idx[] = "text_idx"; -static const char __pyx_k_CAL_INSTR[] = "CAL_INSTR"; -static const char __pyx_k_POWER_OFF[] = "POWER_OFF"; static const char __pyx_k_TypeError[] = "TypeError"; -static const char __pyx_k_enableFan[] = "enableFan"; -static const char __pyx_k_enableHat[] = "enableHat"; static const char __pyx_k_enumerate[] = "enumerate"; static const char __pyx_k_mask_gain[] = "mask_gain"; -static const char __pyx_k_metaclass[] = "__metaclass__"; static const char __pyx_k_pyx_state[] = "__pyx_state"; static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; -static const char __pyx_k_CAL_FAILED[] = "CAL_FAILED"; static const char __pyx_k_IndexError[] = "IndexError"; -static const char __pyx_k_VERS_IP_SN[] = "VERS_IP_SN"; static const char __pyx_k_ValueError[] = "ValueError"; -static const char __pyx_k_getMenuBtn[] = "getMenuBtn"; -static const char __pyx_k_hoverPlate[] = "hoverPlate"; -static const char __pyx_k_lowerPlate[] = "lowerPlate"; static const char __pyx_k_pyx_result[] = "__pyx_result"; static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; -static const char __pyx_k_servo1_pos[] = "servo1_pos"; -static const char __pyx_k_servo2_pos[] = "servo2_pos"; -static const char __pyx_k_servo3_pos[] = "servo3_pos"; -static const char __pyx_k_INVALID_ARG[] = "INVALID_ARG"; static const char __pyx_k_MemoryError[] = "MemoryError"; static const char __pyx_k_PickleError[] = "PickleError"; -static const char __pyx_k_plate_x_deg[] = "plate_x_deg"; -static const char __pyx_k_plate_y_deg[] = "plate_y_deg"; -static const char __pyx_k_CAL_CANCELED[] = "CAL_CANCELED"; -static const char __pyx_k_CAL_COMPLETE[] = "CAL_COMPLETE"; -static const char __pyx_k_UPDATE_BRAIN[] = "UPDATE_BRAIN"; -static const char __pyx_k_getJoystickX[] = "getJoystickX"; -static const char __pyx_k_getJoystickY[] = "getJoystickY"; -static const char __pyx_k_pollPowerBtn[] = "pollPowerBtn"; +static const char __pyx_k_huemask_pyx[] = "huemask.pyx"; static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; static const char __pyx_k_stringsource[] = "stringsource"; -static const char __pyx_k_UNKNOWN_ERROR[] = "UNKNOWN_ERROR"; -static const char __pyx_k_UPDATE_SYSTEM[] = "UPDATE_SYSTEM"; -static const char __pyx_k_activatePlate[] = "activatePlate"; static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer"; static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; -static const char __pyx_k_servo1_offset[] = "servo1_offset"; -static const char __pyx_k_servo2_offset[] = "servo2_offset"; -static const char __pyx_k_servo3_offset[] = "servo3_offset"; -static const char __pyx_k_getJoystickBtn[] = "getJoystickBtn"; -static const char __pyx_k_setPlateAngles[] = "setPlateAngles"; static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; -static const char __pyx_k_setServoOffsets[] = "setServoOffsets"; static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; -static const char __pyx_k_disableServoPower[] = "disableServoPower"; static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; -static const char __pyx_k_setServoPositions[] = "setServoPositions"; static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; static const char __pyx_k_strided_and_direct[] = ""; static const char __pyx_k_strided_and_indirect[] = ""; @@ -2032,62 +1886,28 @@ static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing ex static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; static PyObject *__pyx_n_s_ASCII; -static PyObject *__pyx_n_s_BLANK; -static PyObject *__pyx_n_s_BRAIN; static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; -static PyObject *__pyx_n_s_CAL; -static PyObject *__pyx_n_s_CAL_CANCELED; -static PyObject *__pyx_n_s_CAL_COMPLETE; -static PyObject *__pyx_n_s_CAL_FAILED; -static PyObject *__pyx_n_s_CAL_INSTR; -static PyObject *__pyx_n_s_CHECK; -static PyObject *__pyx_n_s_CLASSIC; -static PyObject *__pyx_n_s_CUSTOM1; -static PyObject *__pyx_n_s_CUSTOM2; static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; static PyObject *__pyx_kp_s_Cannot_index_with_type_s; -static PyObject *__pyx_n_s_DOT; -static PyObject *__pyx_n_s_DOWN; -static PyObject *__pyx_n_s_ERROR; static PyObject *__pyx_n_s_Ellipsis; static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; -static PyObject *__pyx_n_s_INFO; -static PyObject *__pyx_n_s_INIT; -static PyObject *__pyx_n_s_INVALID_ARG; -static PyObject *__pyx_n_s_Icon; static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0; static PyObject *__pyx_n_s_IndexError; static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; -static PyObject *__pyx_n_s_IntEnum; static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr; static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d; -static PyObject *__pyx_n_s_MANUAL; static PyObject *__pyx_n_s_MemoryError; static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; static PyObject *__pyx_kp_s_MemoryView_of_r_object; static PyObject *__pyx_n_b_O; -static PyObject *__pyx_n_s_OK; static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a; -static PyObject *__pyx_n_s_PAUSE; -static PyObject *__pyx_n_s_POWER_OFF; static PyObject *__pyx_n_s_PickleError; -static PyObject *__pyx_n_s_Result; -static PyObject *__pyx_n_s_Text; -static PyObject *__pyx_n_s_Tuple; static PyObject *__pyx_n_s_TypeError; -static PyObject *__pyx_n_s_UNKNOWN_ERROR; -static PyObject *__pyx_n_s_UP; -static PyObject *__pyx_n_s_UPDATE_BRAIN; -static PyObject *__pyx_n_s_UPDATE_SYSTEM; -static PyObject *__pyx_n_s_UP_DOWN; static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; -static PyObject *__pyx_n_s_VERS_IP_SN; static PyObject *__pyx_n_s_ValueError; static PyObject *__pyx_n_s_View_MemoryView; -static PyObject *__pyx_n_s_X; -static PyObject *__pyx_n_s_activatePlate; static PyObject *__pyx_n_s_allocate_buffer; static PyObject *__pyx_n_s_base; static PyObject *__pyx_n_s_c; @@ -2098,14 +1918,8 @@ static PyObject *__pyx_n_s_cline_in_traceback; static PyObject *__pyx_kp_s_contiguous_and_direct; static PyObject *__pyx_kp_s_contiguous_and_indirect; static PyObject *__pyx_n_s_dict; -static PyObject *__pyx_n_s_disableServoPower; -static PyObject *__pyx_n_s_doc; static PyObject *__pyx_n_s_dtype_is_object; -static PyObject *__pyx_n_s_enableFan; -static PyObject *__pyx_n_s_enableHat; -static PyObject *__pyx_n_s_enabled; static PyObject *__pyx_n_s_encode; -static PyObject *__pyx_n_s_enum; static PyObject *__pyx_n_s_enumerate; static PyObject *__pyx_n_s_error; static PyObject *__pyx_n_s_exp; @@ -2115,34 +1929,25 @@ static PyObject *__pyx_n_s_format; static PyObject *__pyx_n_s_fortran; static PyObject *__pyx_n_u_fortran; static PyObject *__pyx_n_s_gain; -static PyObject *__pyx_n_s_getJoystickBtn; -static PyObject *__pyx_n_s_getJoystickX; -static PyObject *__pyx_n_s_getJoystickY; -static PyObject *__pyx_n_s_getMenuBtn; static PyObject *__pyx_n_s_getstate; static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi; static PyObject *__pyx_n_s_h; static PyObject *__pyx_n_s_height; -static PyObject *__pyx_n_s_hoverPlate; static PyObject *__pyx_n_s_hue_mask; -static PyObject *__pyx_n_s_icon_idx; +static PyObject *__pyx_n_s_huemask; +static PyObject *__pyx_kp_s_huemask_pyx; static PyObject *__pyx_n_s_id; static PyObject *__pyx_n_s_ih; static PyObject *__pyx_n_s_image; static PyObject *__pyx_n_s_import; -static PyObject *__pyx_n_s_init; static PyObject *__pyx_n_s_itemsize; static PyObject *__pyx_kp_s_itemsize_0_for_cython_array; -static PyObject *__pyx_n_s_lowerPlate; static PyObject *__pyx_n_s_main; static PyObject *__pyx_n_s_mask; static PyObject *__pyx_n_s_mask_gain; static PyObject *__pyx_n_s_math; static PyObject *__pyx_n_s_memview; -static PyObject *__pyx_n_s_metaclass; -static PyObject *__pyx_kp_s_moab_pyx; static PyObject *__pyx_n_s_mode; -static PyObject *__pyx_n_s_module; static PyObject *__pyx_n_s_mu; static PyObject *__pyx_n_s_n; static PyObject *__pyx_n_s_name; @@ -2153,12 +1958,6 @@ static PyObject *__pyx_kp_s_no_default___reduce___due_to_non; static PyObject *__pyx_n_s_obj; static PyObject *__pyx_n_s_pack; static PyObject *__pyx_n_s_pickle; -static PyObject *__pyx_n_s_plate_x_deg; -static PyObject *__pyx_n_s_plate_y_deg; -static PyObject *__pyx_n_s_pollPowerBtn; -static PyObject *__pyx_n_s_pollTemp; -static PyObject *__pyx_n_s_prepare; -static PyObject *__pyx_n_s_pymoab; static PyObject *__pyx_n_s_pyx_PickleError; static PyObject *__pyx_n_s_pyx_checksum; static PyObject *__pyx_n_s_pyx_getbuffer; @@ -2167,23 +1966,11 @@ static PyObject *__pyx_n_s_pyx_state; static PyObject *__pyx_n_s_pyx_type; static PyObject *__pyx_n_s_pyx_unpickle_Enum; static PyObject *__pyx_n_s_pyx_vtable; -static PyObject *__pyx_n_s_qualname; static PyObject *__pyx_n_s_range; static PyObject *__pyx_n_s_reduce; static PyObject *__pyx_n_s_reduce_cython; static PyObject *__pyx_n_s_reduce_ex; static PyObject *__pyx_n_s_s; -static PyObject *__pyx_n_s_servo1_offset; -static PyObject *__pyx_n_s_servo1_pos; -static PyObject *__pyx_n_s_servo2_offset; -static PyObject *__pyx_n_s_servo2_pos; -static PyObject *__pyx_n_s_servo3_offset; -static PyObject *__pyx_n_s_servo3_pos; -static PyObject *__pyx_n_s_setIcon; -static PyObject *__pyx_n_s_setPlateAngles; -static PyObject *__pyx_n_s_setServoOffsets; -static PyObject *__pyx_n_s_setServoPositions; -static PyObject *__pyx_n_s_setText; static PyObject *__pyx_n_s_setstate; static PyObject *__pyx_n_s_setstate_cython; static PyObject *__pyx_n_s_shape; @@ -2197,10 +1984,7 @@ static PyObject *__pyx_kp_s_strided_and_direct_or_indirect; static PyObject *__pyx_kp_s_strided_and_indirect; static PyObject *__pyx_kp_s_stringsource; static PyObject *__pyx_n_s_struct; -static PyObject *__pyx_n_s_sync; static PyObject *__pyx_n_s_test; -static PyObject *__pyx_n_s_text_idx; -static PyObject *__pyx_n_s_typing; static PyObject *__pyx_kp_s_unable_to_allocate_array_data; static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; static PyObject *__pyx_n_s_unpack; @@ -2210,27 +1994,8 @@ static PyObject *__pyx_n_s_v; static PyObject *__pyx_n_s_width; static PyObject *__pyx_n_s_x; static PyObject *__pyx_n_s_y; -static PyObject *__pyx_pf_6pymoab_init(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_2activatePlate(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_4hoverPlate(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_6lowerPlate(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_8disableServoPower(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_10setPlateAngles(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_plate_x_deg, PyObject *__pyx_v_plate_y_deg); /* proto */ -static PyObject *__pyx_pf_6pymoab_12setServoPositions(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_servo1_pos, PyObject *__pyx_v_servo2_pos, PyObject *__pyx_v_servo3_pos); /* proto */ -static PyObject *__pyx_pf_6pymoab_14setServoOffsets(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_servo1_offset, PyObject *__pyx_v_servo2_offset, PyObject *__pyx_v_servo3_offset); /* proto */ -static PyObject *__pyx_pf_6pymoab_16setIcon(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_icon_idx); /* proto */ -static PyObject *__pyx_pf_6pymoab_18setText(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_text_idx); /* proto */ -static PyObject *__pyx_pf_6pymoab_20sync(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_22getMenuBtn(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_24getJoystickBtn(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_26getJoystickX(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_28getJoystickY(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_30enableFan(CYTHON_UNUSED PyObject *__pyx_self, __pyx_t_6pymoab_bool __pyx_v_enabled); /* proto */ -static PyObject *__pyx_pf_6pymoab_32enableHat(CYTHON_UNUSED PyObject *__pyx_self, __pyx_t_6pymoab_bool __pyx_v_enabled); /* proto */ -static PyObject *__pyx_pf_6pymoab_34pollTemp(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_36pollPowerBtn(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ -static PyObject *__pyx_pf_6pymoab_38_update_bandpass_lookup(CYTHON_UNUSED PyObject *__pyx_self, unsigned char __pyx_v_center, float __pyx_v_sigma, float __pyx_v_gain); /* proto */ -static PyObject *__pyx_pf_6pymoab_40hue_mask(CYTHON_UNUSED PyObject *__pyx_self, __Pyx_memviewslice __pyx_v_image, unsigned char __pyx_v_center, float __pyx_v_sigma, float __pyx_v_gain, float __pyx_v_mask_gain); /* proto */ +static PyObject *__pyx_pf_7huemask__update_bandpass_lookup(CYTHON_UNUSED PyObject *__pyx_self, unsigned char __pyx_v_center, float __pyx_v_sigma, float __pyx_v_gain); /* proto */ +static PyObject *__pyx_pf_7huemask_2hue_mask(CYTHON_UNUSED PyObject *__pyx_self, __Pyx_memviewslice __pyx_v_image, unsigned char __pyx_v_center, float __pyx_v_sigma, float __pyx_v_gain, float __pyx_v_mask_gain); /* proto */ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ @@ -2283,21 +2048,6 @@ static PyObject *__pyx_float_255_0; static PyObject *__pyx_int_0; static PyObject *__pyx_int_1; static PyObject *__pyx_int_2; -static PyObject *__pyx_int_3; -static PyObject *__pyx_int_4; -static PyObject *__pyx_int_5; -static PyObject *__pyx_int_6; -static PyObject *__pyx_int_7; -static PyObject *__pyx_int_8; -static PyObject *__pyx_int_9; -static PyObject *__pyx_int_10; -static PyObject *__pyx_int_11; -static PyObject *__pyx_int_12; -static PyObject *__pyx_int_13; -static PyObject *__pyx_int_14; -static PyObject *__pyx_int_15; -static PyObject *__pyx_int_16; -static PyObject *__pyx_int_17; static PyObject *__pyx_int_184977713; static PyObject *__pyx_int_neg_1; static PyObject *__pyx_tuple_; @@ -2318,369 +2068,436 @@ static PyObject *__pyx_tuple__14; static PyObject *__pyx_tuple__16; static PyObject *__pyx_tuple__17; static PyObject *__pyx_tuple__18; +static PyObject *__pyx_tuple__19; +static PyObject *__pyx_tuple__21; +static PyObject *__pyx_tuple__23; static PyObject *__pyx_tuple__24; +static PyObject *__pyx_tuple__25; static PyObject *__pyx_tuple__26; +static PyObject *__pyx_tuple__27; static PyObject *__pyx_tuple__28; -static PyObject *__pyx_tuple__30; -static PyObject *__pyx_tuple__32; -static PyObject *__pyx_tuple__39; -static PyObject *__pyx_tuple__41; -static PyObject *__pyx_tuple__45; -static PyObject *__pyx_tuple__47; -static PyObject *__pyx_tuple__49; -static PyObject *__pyx_tuple__50; -static PyObject *__pyx_tuple__51; -static PyObject *__pyx_tuple__52; -static PyObject *__pyx_tuple__53; -static PyObject *__pyx_tuple__54; -static PyObject *__pyx_codeobj__19; static PyObject *__pyx_codeobj__20; -static PyObject *__pyx_codeobj__21; static PyObject *__pyx_codeobj__22; -static PyObject *__pyx_codeobj__23; -static PyObject *__pyx_codeobj__25; -static PyObject *__pyx_codeobj__27; static PyObject *__pyx_codeobj__29; -static PyObject *__pyx_codeobj__31; -static PyObject *__pyx_codeobj__33; -static PyObject *__pyx_codeobj__34; -static PyObject *__pyx_codeobj__35; -static PyObject *__pyx_codeobj__36; -static PyObject *__pyx_codeobj__37; -static PyObject *__pyx_codeobj__38; -static PyObject *__pyx_codeobj__40; -static PyObject *__pyx_codeobj__42; -static PyObject *__pyx_codeobj__43; -static PyObject *__pyx_codeobj__44; -static PyObject *__pyx_codeobj__46; -static PyObject *__pyx_codeobj__48; -static PyObject *__pyx_codeobj__55; /* Late includes */ -/* "moab.pyx":71 - * UPDATE_SYSTEM = 17 - * - * def init() -> Result: # <<<<<<<<<<<<<< - * """ - * Initializes the library. +/* "huemask.pyx":14 + * @cython.boundscheck(False) + * @cython.wraparound(False) + * def _update_bandpass_lookup(unsigned char center, float sigma, float gain): # <<<<<<<<<<<<<< + * global _bandpass_lookup + * global _last_center */ /* Python wrapper */ -static PyObject *__pyx_pw_6pymoab_1init(PyObject *__pyx_self, CYTHON_UNUSED PyObject *unused); 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} + } - /* "View.MemoryView":782 - * memview.dtype_is_object) - * else: - * return memoryview_fromslice(dst, new_ndim, NULL, NULL, # <<<<<<<<<<<<<< - * memview.dtype_is_object) + /* "View.MemoryView":884 * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset */ - /*else*/ { - __Pyx_XDECREF(((PyObject *)__pyx_r)); + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); - /* "View.MemoryView":783 - * else: - * return memoryview_fromslice(dst, new_ndim, NULL, NULL, - * memview.dtype_is_object) # <<<<<<<<<<<<<< + /* "View.MemoryView":885 * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset * */ - __pyx_t_3 = __pyx_memoryview_fromslice(__pyx_v_dst, __pyx_v_new_ndim, NULL, NULL, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_3)) __PYX_ERR(1, 782, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_3); + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; - 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/* function exit code */ - __pyx_L1_error:; - __Pyx_XDECREF(__pyx_t_3); - __Pyx_XDECREF(__pyx_t_9); - __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); - __pyx_r = 0; - __pyx_L0:; - __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); - __Pyx_XDECREF(__pyx_v_index); - __Pyx_XGIVEREF((PyObject *)__pyx_r); - __Pyx_RefNannyFinishContext(); - return __pyx_r; -} - -/* "View.MemoryView":807 + /* "View.MemoryView":890 * - * @cname('__pyx_memoryview_slice_memviewslice') - * cdef int slice_memviewslice( # <<<<<<<<<<<<<< - * __Pyx_memviewslice *dst, - * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); -static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { - Py_ssize_t __pyx_v_new_shape; - int __pyx_v_negative_step; - int __pyx_r; - int __pyx_t_1; - int __pyx_t_2; - int __pyx_t_3; - int __pyx_lineno = 0; - const char *__pyx_filename = NULL; - int __pyx_clineno = 0; - - /* "View.MemoryView":827 - * cdef bint negative_step + /* "View.MemoryView":889 * - * if not is_slice: # <<<<<<<<<<<<<< * - * if start < 0: + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: */ - __pyx_t_1 = ((!(__pyx_v_is_slice != 0)) != 0); - if (__pyx_t_1) { + goto __pyx_L23; + } - /* "View.MemoryView":829 - * if not is_slice: + /* "View.MemoryView":892 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< * - * if start < 0: # <<<<<<<<<<<<<< - * start += shape - * if not 0 <= start < shape: + * if suboffset >= 0: */ - __pyx_t_1 = ((__pyx_v_start < 0) != 0); - if (__pyx_t_1) { + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L23:; - /* "View.MemoryView":830 + /* "View.MemoryView":894 + * dst.suboffsets[suboffset_dim[0]] += start * stride * - * if start < 0: - * start += shape # <<<<<<<<<<<<<< - * if not 0 <= start < shape: - * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: */ - __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + __pyx_t_2 = ((__pyx_v_suboffset >= 0) != 0); + if (__pyx_t_2) { - /* "View.MemoryView":829 - * if not is_slice: + /* "View.MemoryView":895 * - * if start < 0: # <<<<<<<<<<<<<< - * start += shape - * if not 0 <= start < shape: + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset */ - } + __pyx_t_2 = ((!(__pyx_v_is_slice != 0)) != 0); + if (__pyx_t_2) { - /* "View.MemoryView":831 - * if start < 0: - * start += shape - * if not 0 <= start < shape: # <<<<<<<<<<<<<< - * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) - * else: + /* "View.MemoryView":896 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: */ - __pyx_t_1 = (0 <= __pyx_v_start); - if (__pyx_t_1) { - __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); - } - __pyx_t_2 = ((!(__pyx_t_1 != 0)) != 0); - if (__pyx_t_2) { + __pyx_t_2 = ((__pyx_v_new_ndim == 0) != 0); + if (__pyx_t_2) { - /* "View.MemoryView":832 - * start += shape - * if not 0 <= start < shape: - * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< - * else: - * + /* "View.MemoryView":897 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(IndexError, "All dimensions preceding dimension %d " */ - __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_IndexError, ((char *)"Index out of bounds (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 832, __pyx_L1_error) + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); - /* "View.MemoryView":831 - * if start < 0: - * start += shape - * if not 0 <= start < shape: # <<<<<<<<<<<<<< - * _err_dim(IndexError, "Index out of bounds (axis %d)", dim) - * else: + /* "View.MemoryView":896 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: */ - } + goto __pyx_L26; + } - /* "View.MemoryView":827 - * cdef bint negative_step - * - * if not is_slice: # <<<<<<<<<<<<<< - * - * if start < 0: + /* "View.MemoryView":899 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(IndexError, "All dimensions preceding dimension %d " # <<<<<<<<<<<<<< + * "must be indexed and not sliced", dim) + * else: */ - goto __pyx_L3; - } + /*else*/ { - /* "View.MemoryView":835 - * else: - * - * negative_step = have_step != 0 and step < 0 # <<<<<<<<<<<<<< + /* "View.MemoryView":900 + * else: + * _err_dim(IndexError, "All dimensions preceding dimension %d " + * "must be indexed and not sliced", dim) # <<<<<<<<<<<<<< + * else: + * suboffset_dim[0] = new_ndim + */ + __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_IndexError, ((char *)"All dimensions preceding dimension %d must be indexed and not sliced"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 899, __pyx_L1_error) + } + __pyx_L26:; + + /* "View.MemoryView":895 * - 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__pyx_t_2 = __pyx_t_1; - __pyx_L9_bool_binop_done:; - if (__pyx_t_2) { + __pyx_L25:; - /* "View.MemoryView":838 - * - * if have_step and step == 0: - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< - * + /* "View.MemoryView":894 + * dst.suboffsets[suboffset_dim[0]] += start * stride * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: */ - __pyx_t_3 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Step may not be zero (axis %d)"), __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 838, __pyx_L1_error) + } - /* "View.MemoryView":837 - * negative_step = have_step != 0 and step < 0 + /* "View.MemoryView":904 + * suboffset_dim[0] = new_ndim + * + * return 0 # <<<<<<<<<<<<<< * - * if have_step and step == 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Step may not be zero (axis %d)", dim) * */ - } + __pyx_r = 0; + goto __pyx_L0; - /* "View.MemoryView":841 - * + /* "View.MemoryView":807 * - * if have_start: # <<<<<<<<<<<<<< - 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/*else*/ { - __pyx_v_to_object_func = NULL; + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; - /* "View.MemoryView":1099 - * else: - * to_object_func = NULL - * to_dtype_func = NULL # <<<<<<<<<<<<<< + /* "View.MemoryView":1181 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape * - * return memoryview_fromslice(memviewslice[0], memview.view.ndim, */ - __pyx_v_to_dtype_func = NULL; - } - __pyx_L3:; + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); - /* "View.MemoryView":1101 - * to_dtype_func = NULL + /* "View.MemoryView":1182 * - * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< - * to_object_func, to_dtype_func, - * memview.dtype_is_object) + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size */ - __Pyx_XDECREF(__pyx_r); + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } - /* "View.MemoryView":1103 - * return memoryview_fromslice(memviewslice[0], memview.view.ndim, - * to_object_func, to_dtype_func, - * memview.dtype_is_object) # <<<<<<<<<<<<<< + /* "View.MemoryView":1184 + * size *= shape * + * return size # <<<<<<<<<<<<<< * + * @cname('__pyx_fill_contig_strides_array') */ - __pyx_t_5 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_5)) __PYX_ERR(1, 1101, __pyx_L1_error) - __Pyx_GOTREF(__pyx_t_5); - __pyx_r = __pyx_t_5; - __pyx_t_5 = 0; + __pyx_r = __pyx_v_size; goto __pyx_L0; - /* "View.MemoryView":1087 + /* "View.MemoryView":1177 * - * @cname('__pyx_memoryview_copy_object_from_slice') - * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< - * """ - * Create a new memoryview object from a given memoryview object and slice. + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize */ /* function exit code */ - __pyx_L1_error:; - __Pyx_XDECREF(__pyx_t_5); - __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); - __pyx_r = 0; __pyx_L0:; - __Pyx_XGIVEREF(__pyx_r); - __Pyx_RefNannyFinishContext(); return __pyx_r; } -/* "View.MemoryView":1109 - * +/* "View.MemoryView":1187 * - * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: # <<<<<<<<<<<<<< - * if arg < 0: - * return -arg + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) nogil: */ -static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; Py_ssize_t __pyx_r; int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; - /* "View.MemoryView":1110 + /* "View.MemoryView":1196 + * cdef int idx * - * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: - * if arg < 0: # <<<<<<<<<<<<<< - * return -arg - * else: + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride */ - __pyx_t_1 = ((__pyx_v_arg < 0) != 0); + __pyx_t_1 = ((__pyx_v_order == 'F') != 0); if (__pyx_t_1) { - /* "View.MemoryView":1111 - * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: - * if arg < 0: - * return -arg # <<<<<<<<<<<<<< + /* "View.MemoryView":1197 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1198 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] * else: - * return arg */ - __pyx_r = (-__pyx_v_arg); - goto __pyx_L0; + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - /* "View.MemoryView":1110 - * - * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: - * if arg < 0: # <<<<<<<<<<<<<< - * return -arg + /* "View.MemoryView":1199 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1196 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride */ + goto __pyx_L3; } - /* "View.MemoryView":1113 - * return -arg + /* "View.MemoryView":1201 + * stride *= shape[idx] * else: - * return arg # <<<<<<<<<<<<<< - * - * @cname('__pyx_get_best_slice_order') + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] */ /*else*/ { - __pyx_r = __pyx_v_arg; - goto __pyx_L0; - } + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; - /* "View.MemoryView":1109 - * + /* "View.MemoryView":1202 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] * - * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) nogil: # <<<<<<<<<<<<<< - * if arg < 0: - * return -arg */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "View.MemoryView":1116 + /* "View.MemoryView":1203 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< * - * @cname('__pyx_get_best_slice_order') - * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) nogil: # <<<<<<<<<<<<<< - * """ - * Figure out the best memory access order for a given slice. + * return stride */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; -static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { - int __pyx_v_i; - Py_ssize_t __pyx_v_c_stride; - Py_ssize_t __pyx_v_f_stride; - char __pyx_r; - int __pyx_t_1; + /* "View.MemoryView":1205 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1187 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1208 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; int __pyx_t_2; int __pyx_t_3; - int __pyx_t_4; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; - /* "View.MemoryView":1121 - * """ - * cdef int i - * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< - * cdef Py_ssize_t f_stride = 0 + /* "View.MemoryView":1219 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) * */ - __pyx_v_c_stride = 0; + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; - /* "View.MemoryView":1122 - * cdef int i - * cdef Py_ssize_t c_stride = 0 - * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + /* "View.MemoryView":1220 * - * for i in range(ndim - 1, -1, -1): + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) */ - __pyx_v_f_stride = 0; + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); - /* "View.MemoryView":1124 - * cdef Py_ssize_t f_stride = 0 + /* "View.MemoryView":1222 + * cdef size_t size = slice_get_size(src, ndim) * - * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err(MemoryError, NULL) */ - for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { - __pyx_v_i = __pyx_t_1; + __pyx_v_result = malloc(__pyx_v_size); - /* "View.MemoryView":1125 + /* "View.MemoryView":1223 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err(MemoryError, NULL) * - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * c_stride = mslice.strides[i] - * break */ - __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); - if (__pyx_t_2) { + __pyx_t_2 = ((!(__pyx_v_result != 0)) != 0); + if (__pyx_t_2) { - /* "View.MemoryView":1126 - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< - * break + /* "View.MemoryView":1224 + * result = malloc(size) + * if not result: + * _err(MemoryError, NULL) # <<<<<<<<<<<<<< + * * */ - __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + __pyx_t_3 = __pyx_memoryview_err(__pyx_builtin_MemoryError, NULL); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1224, __pyx_L1_error) - /* "View.MemoryView":1127 - * if mslice.shape[i] > 1: - * c_stride = mslice.strides[i] - * break # <<<<<<<<<<<<<< + /* "View.MemoryView":1223 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err(MemoryError, NULL) * - * for i in range(ndim): */ - goto __pyx_L4_break; + } - /* "View.MemoryView":1125 + /* "View.MemoryView":1227 * - * for i in range(ndim - 1, -1, -1): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * c_stride = mslice.strides[i] - * break + * + * tmpslice.data = result # <<<<<<<<<<<<<< + * tmpslice.memview = src.memview + * for i in range(ndim): */ - } - } - __pyx_L4_break:; + __pyx_v_tmpslice->data = ((char *)__pyx_v_result); - /* "View.MemoryView":1129 - * break + /* "View.MemoryView":1228 * + * tmpslice.data = result + * tmpslice.memview = src.memview # <<<<<<<<<<<<<< + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + */ + __pyx_t_4 = __pyx_v_src->memview; + __pyx_v_tmpslice->memview = __pyx_t_4; + + /* "View.MemoryView":1229 + * tmpslice.data = result + * tmpslice.memview = src.memview * for i in range(ndim): # <<<<<<<<<<<<<< - * if mslice.shape[i] > 1: - * f_stride = mslice.strides[i] + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 */ - __pyx_t_1 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_1; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_i = __pyx_t_4; + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; - /* "View.MemoryView":1130 + /* "View.MemoryView":1230 + * tmpslice.memview = src.memview + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< + * tmpslice.suboffsets[i] = -1 * + */ + (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); + + /* "View.MemoryView":1231 * for i in range(ndim): - * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< - * f_stride = mslice.strides[i] - * break + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, */ - __pyx_t_2 = (((__pyx_v_mslice->shape[__pyx_v_i]) > 1) != 0); - if (__pyx_t_2) { + (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; + } - /* "View.MemoryView":1131 + /* "View.MemoryView":1233 + * tmpslice.suboffsets[i] = -1 + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, # <<<<<<<<<<<<<< + * ndim, order) + * + */ + (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); + + /* "View.MemoryView":1237 + * + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1238 + * * for i in range(ndim): - 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* result = malloc(size) # <<<<<<<<<<<<<< - * if not result: - * _err(MemoryError, NULL) */ - __pyx_v_result = malloc(__pyx_v_size); + } + } - /* "View.MemoryView":1223 + /* "View.MemoryView":1302 + * _err_dim(ValueError, "Dimension %d is not direct", i) * - * result = malloc(size) - * if not result: # <<<<<<<<<<<<<< - * _err(MemoryError, NULL) + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< * + * if not slice_is_contig(src, order, ndim): */ - __pyx_t_2 = ((!(__pyx_v_result != 0)) != 0); + __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0); if (__pyx_t_2) { - /* "View.MemoryView":1224 - * result = malloc(size) - * if not result: - * _err(MemoryError, NULL) # <<<<<<<<<<<<<< + /* "View.MemoryView":1304 + * if slices_overlap(&src, &dst, ndim, itemsize): * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) * */ - __pyx_t_3 = __pyx_memoryview_err(__pyx_builtin_MemoryError, NULL); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1224, __pyx_L1_error) + __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0); + if (__pyx_t_2) { - /* "View.MemoryView":1223 + /* "View.MemoryView":1305 * - * result = malloc(size) - * if not result: # <<<<<<<<<<<<<< - * _err(MemoryError, NULL) + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) */ - } + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); - /* "View.MemoryView":1227 + /* "View.MemoryView":1304 + * if slices_overlap(&src, &dst, ndim, itemsize): * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) * - * tmpslice.data = result # <<<<<<<<<<<<<< - * tmpslice.memview = src.memview - * for i in range(ndim): */ - __pyx_v_tmpslice->data = ((char *)__pyx_v_result); + } - /* "View.MemoryView":1228 + /* "View.MemoryView":1307 + * order = get_best_order(&dst, ndim) * - * tmpslice.data = result - * tmpslice.memview = src.memview # <<<<<<<<<<<<<< - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] - */ - __pyx_t_4 = __pyx_v_src->memview; - __pyx_v_tmpslice->memview = __pyx_t_4; - - /* "View.MemoryView":1229 - * tmpslice.data = result - * tmpslice.memview = src.memview - * for i in range(ndim): # <<<<<<<<<<<<<< - * tmpslice.shape[i] = src.shape[i] - * tmpslice.suboffsets[i] = -1 - */ - __pyx_t_3 = __pyx_v_ndim; - __pyx_t_5 = __pyx_t_3; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; - - /* "View.MemoryView":1230 - * tmpslice.memview = src.memview - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< - * tmpslice.suboffsets[i] = -1 + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp * */ - (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; - /* "View.MemoryView":1231 - * for i in range(ndim): - * tmpslice.shape[i] = src.shape[i] - * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + /* "View.MemoryView":1308 * - * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: */ - (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; - } + __pyx_v_src = __pyx_v_tmp; - /* "View.MemoryView":1233 - * tmpslice.suboffsets[i] = -1 + /* "View.MemoryView":1302 + * _err_dim(ValueError, "Dimension %d is not direct", i) * - * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, # <<<<<<<<<<<<<< - * ndim, order) + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< * + * if not slice_is_contig(src, order, ndim): */ - (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); + } - /* "View.MemoryView":1237 + /* "View.MemoryView":1310 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< * * - * for i in range(ndim): # <<<<<<<<<<<<<< - * if tmpslice.shape[i] == 1: - * tmpslice.strides[i] = 0 */ - __pyx_t_3 = __pyx_v_ndim; - __pyx_t_5 = __pyx_t_3; - for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { - __pyx_v_i = __pyx_t_6; + __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0); + if (__pyx_t_2) { - /* "View.MemoryView":1238 + /* "View.MemoryView":1313 * - * for i in range(ndim): - * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< - * tmpslice.strides[i] = 0 * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): */ - __pyx_t_2 = (((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1) != 0); + __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0); if (__pyx_t_2) { - /* "View.MemoryView":1239 - * for i in range(ndim): - * if tmpslice.shape[i] == 1: - * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< + /* "View.MemoryView":1314 * - * if slice_is_contig(src[0], order, ndim): + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) */ - (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); - /* "View.MemoryView":1238 + /* "View.MemoryView":1313 * - * for i in range(ndim): - * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< - * tmpslice.strides[i] = 0 * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1316 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1315 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + */ + __pyx_t_2 = (__pyx_v_direct_copy != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1320 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1321 + * + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1322 + * refcount_copying(&dst, dtype_is_object, ndim, False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1323 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1324 + * refcount_copying(&dst, dtype_is_object, ndim, True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1318 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, False) */ } + + /* "View.MemoryView":1310 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ } - /* "View.MemoryView":1241 - * tmpslice.strides[i] = 0 + /* "View.MemoryView":1326 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * * - * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< - * memcpy(result, src.data, size) - * else: */ - __pyx_t_2 = (__pyx_memviewslice_is_contig((__pyx_v_src[0]), __pyx_v_order, __pyx_v_ndim) != 0); + __pyx_t_2 = (__pyx_v_order == 'F'); if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + __pyx_t_8 = (__pyx_t_2 != 0); + if (__pyx_t_8) { - /* "View.MemoryView":1242 + /* "View.MemoryView":1329 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) * - * if slice_is_contig(src[0], order, ndim): - * memcpy(result, src.data, size) # <<<<<<<<<<<<<< - * else: - * copy_strided_to_strided(src, tmpslice, ndim, itemsize) */ - (void)(memcpy(__pyx_v_result, __pyx_v_src->data, __pyx_v_size)); + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1329, __pyx_L1_error) - 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__pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_src), __pyx_v_src_ndim); + __pyx_t_4 = (__pyx_v_inc != 0); + if (__pyx_t_4) { - /* "View.MemoryView":1280 - * cdef int i - * cdef char order = get_best_order(&src, src_ndim) - * cdef bint broadcasting = False # <<<<<<<<<<<<<< - * cdef bint direct_copy = False - * cdef __Pyx_memviewslice tmp + /* "View.MemoryView":1384 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) */ - __pyx_v_broadcasting = 0; + Py_INCREF((((PyObject **)__pyx_v_data)[0])); - /* "View.MemoryView":1281 - * cdef char order = get_best_order(&src, src_ndim) - * cdef bint broadcasting = False - * cdef bint direct_copy = False # <<<<<<<<<<<<<< - * cdef __Pyx_memviewslice tmp - * + /* "View.MemoryView":1383 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: */ - __pyx_v_direct_copy = 0; + goto __pyx_L6; + } - /* "View.MemoryView":1284 - * cdef __Pyx_memviewslice tmp - * - * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< - * broadcast_leading(&src, src_ndim, dst_ndim) - * elif dst_ndim < src_ndim: + /* "View.MemoryView":1386 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, */ - __pyx_t_2 = ((__pyx_v_src_ndim < __pyx_v_dst_ndim) != 0); - if (__pyx_t_2) { + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; - /* "View.MemoryView":1285 + /* "View.MemoryView":1382 * - * if src_ndim < dst_ndim: - * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< - * elif dst_ndim < src_ndim: - * broadcast_leading(&dst, dst_ndim, src_ndim) + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) */ - __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + goto __pyx_L5; + } - /* "View.MemoryView":1284 - * cdef __Pyx_memviewslice tmp + /* "View.MemoryView":1388 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, # <<<<<<<<<<<<<< + * ndim - 1, inc) * - * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< - * broadcast_leading(&src, src_ndim, dst_ndim) - * elif dst_ndim < src_ndim: */ - goto __pyx_L3; - } + /*else*/ { - /* "View.MemoryView":1286 - * if src_ndim < dst_ndim: - * broadcast_leading(&src, src_ndim, dst_ndim) - * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< - * broadcast_leading(&dst, dst_ndim, src_ndim) + /* "View.MemoryView":1389 + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, + * ndim - 1, inc) # <<<<<<<<<<<<<< * + * data += strides[0] */ - __pyx_t_2 = ((__pyx_v_dst_ndim < __pyx_v_src_ndim) != 0); - if (__pyx_t_2) { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; - /* "View.MemoryView":1287 - * broadcast_leading(&src, src_ndim, dst_ndim) - * elif dst_ndim < src_ndim: - * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< - * - * cdef int ndim = max(src_ndim, dst_ndim) - */ - __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); - - /* "View.MemoryView":1286 - * if src_ndim < dst_ndim: - * broadcast_leading(&src, src_ndim, dst_ndim) - * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< - * broadcast_leading(&dst, dst_ndim, src_ndim) + /* "View.MemoryView":1391 + * ndim - 1, inc) * - */ - } - __pyx_L3:; - - /* "View.MemoryView":1289 - * broadcast_leading(&dst, dst_ndim, src_ndim) + * data += strides[0] # <<<<<<<<<<<<<< * - * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< * - * for i in range(ndim): */ - __pyx_t_3 = __pyx_v_dst_ndim; - __pyx_t_4 = __pyx_v_src_ndim; - if (((__pyx_t_3 > __pyx_t_4) != 0)) { - __pyx_t_5 = __pyx_t_3; - } else { - __pyx_t_5 = __pyx_t_4; + __pyx_v_data = (__pyx_v_data + (__pyx_v_strides[0])); } - __pyx_v_ndim = __pyx_t_5; - /* "View.MemoryView":1291 - * cdef int ndim = max(src_ndim, dst_ndim) + /* "View.MemoryView":1377 * - * for i in range(ndim): # <<<<<<<<<<<<<< - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc): + * cdef Py_ssize_t i */ - __pyx_t_5 = __pyx_v_ndim; - __pyx_t_3 = __pyx_t_5; - for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { - __pyx_v_i = __pyx_t_4; - /* "View.MemoryView":1292 - * - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< - * if src.shape[i] == 1: - * broadcasting = True - */ - __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])) != 0); - if (__pyx_t_2) { + /* function exit code */ + __Pyx_RefNannyFinishContext(); +} - /* "View.MemoryView":1293 - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: # <<<<<<<<<<<<<< - * broadcasting = True - * src.strides[i] = 0 +/* "View.MemoryView":1397 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) nogil: */ - __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) == 1) != 0); - if (__pyx_t_2) { - /* "View.MemoryView":1294 - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: - * broadcasting = True # <<<<<<<<<<<<<< - * src.strides[i] = 0 - * else: - */ - __pyx_v_broadcasting = 1; +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { - /* "View.MemoryView":1295 - * if src.shape[i] == 1: - * broadcasting = True - * src.strides[i] = 0 # <<<<<<<<<<<<<< - * else: - * _err_extents(i, dst.shape[i], src.shape[i]) + /* "View.MemoryView":1400 + * size_t itemsize, void *item, + * bint dtype_is_object) nogil: + * refcount_copying(dst, dtype_is_object, ndim, False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, + * itemsize, item) */ - (__pyx_v_src.strides[__pyx_v_i]) = 0; + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); - /* "View.MemoryView":1293 - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: - * if src.shape[i] == 1: # <<<<<<<<<<<<<< - * broadcasting = True - * src.strides[i] = 0 + /* "View.MemoryView":1401 + * bint dtype_is_object) nogil: + * refcount_copying(dst, dtype_is_object, ndim, False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, # <<<<<<<<<<<<<< + * itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, True) */ - goto __pyx_L7; - } + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); - /* "View.MemoryView":1297 - * src.strides[i] = 0 - * else: - * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + /* "View.MemoryView":1403 + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, + * itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, True) # <<<<<<<<<<<<<< + * * - * if src.suboffsets[i] >= 0: */ - /*else*/ { - __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error) - } - __pyx_L7:; + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); - /* "View.MemoryView":1292 + /* "View.MemoryView":1397 * - * for i in range(ndim): - * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< - * if src.shape[i] == 1: - * broadcasting = True + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) nogil: */ - } - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) + /* function exit code */ +} + +/* "View.MemoryView":1407 * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) nogil: */ - __pyx_t_2 = (((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0) != 0); - if (__pyx_t_2) { - /* "View.MemoryView":1300 - * - * if src.suboffsets[i] >= 0: - * _err_dim(ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1411 + * size_t itemsize, void *item) nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] * - * if slices_overlap(&src, &dst, ndim, itemsize): */ - __pyx_t_6 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Dimension %d is not direct"), __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1300, __pyx_L1_error) + __pyx_v_stride = (__pyx_v_strides[0]); - /* "View.MemoryView":1299 - * _err_extents(i, dst.shape[i], src.shape[i]) - * - * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< - * _err_dim(ValueError, "Dimension %d is not direct", i) + /* "View.MemoryView":1412 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< * + * if ndim == 1: */ - } - } + __pyx_v_extent = (__pyx_v_shape[0]); - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + /* "View.MemoryView":1414 + * cdef Py_ssize_t extent = shape[0] * - * if not slice_is_contig(src, order, ndim): + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) */ - __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0); - if (__pyx_t_2) { + __pyx_t_1 = ((__pyx_v_ndim == 1) != 0); + if (__pyx_t_1) { - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) + /* "View.MemoryView":1415 * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride */ - __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0); - if (__pyx_t_2) { + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; - /* "View.MemoryView":1305 - * - * if not slice_is_contig(src, order, ndim): - * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + /* "View.MemoryView":1416 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: */ - __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); - /* "View.MemoryView":1304 - * if slices_overlap(&src, &dst, ndim, itemsize): - * - * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< - * order = get_best_order(&dst, ndim) - * + /* "View.MemoryView":1417 + * for i in range(extent): + * memcpy(data, item, itemsize) + * data += stride # <<<<<<<<<<<<<< + * else: + * for i in range(extent): */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); } - /* "View.MemoryView":1307 - * order = get_best_order(&dst, ndim) - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< - * src = tmp + /* "View.MemoryView":1414 + * cdef Py_ssize_t extent = shape[0] * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) */ - __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error) - __pyx_v_tmpdata = __pyx_t_7; + goto __pyx_L3; + } - /* "View.MemoryView":1308 - * - * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) - * src = tmp # <<<<<<<<<<<<<< - * - * if not broadcasting: - */ - __pyx_v_src = __pyx_v_tmp; - - /* "View.MemoryView":1302 - * _err_dim(ValueError, "Dimension %d is not direct", i) - * - * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< - * - * if not slice_is_contig(src, order, ndim): - */ - } - - /* "View.MemoryView":1310 - * src = tmp - * - * if not broadcasting: # <<<<<<<<<<<<<< - * - * - */ - __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0); - if (__pyx_t_2) { - - /* "View.MemoryView":1313 - * - * - * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< - * direct_copy = slice_is_contig(dst, 'C', ndim) - * elif slice_is_contig(src, 'F', ndim): + /* "View.MemoryView":1419 + * data += stride + * else: + * for i in range(extent): # <<<<<<<<<<<<<< + * _slice_assign_scalar(data, shape + 1, strides + 1, + * ndim - 1, itemsize, item) */ - __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0); - 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if (p->name) { - e = (*v)(p->name, a); if (e) return e; - } - return 0; -} - -static int __pyx_tp_clear_Enum(PyObject *o) { - PyObject* tmp; - struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; - tmp = ((PyObject*)p->name); - p->name = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - return 0; -} - -static PyMethodDef __pyx_methods_Enum[] = { - {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, METH_NOARGS, 0}, - {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, METH_O, 0}, - {0, 0, 0, 0} -}; - -static PyTypeObject __pyx_type___pyx_MemviewEnum = { - PyVarObject_HEAD_INIT(0, 0) - "pymoab.Enum", /*tp_name*/ - sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ - 0, /*tp_itemsize*/ - __pyx_tp_dealloc_Enum, /*tp_dealloc*/ - #if PY_VERSION_HEX < 0x030800b4 - 0, /*tp_print*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 - 0, /*tp_vectorcall_offset*/ - #endif - 0, /*tp_getattr*/ - 0, /*tp_setattr*/ - #if PY_MAJOR_VERSION < 3 - 0, /*tp_compare*/ - #endif - #if PY_MAJOR_VERSION >= 3 - 0, /*tp_as_async*/ - #endif - __pyx_MemviewEnum___repr__, /*tp_repr*/ - 0, /*tp_as_number*/ - 0, /*tp_as_sequence*/ - 0, /*tp_as_mapping*/ - 0, /*tp_hash*/ - 0, /*tp_call*/ - 0, /*tp_str*/ - 0, /*tp_getattro*/ - 0, /*tp_setattro*/ - 0, /*tp_as_buffer*/ - Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ - 0, /*tp_doc*/ - __pyx_tp_traverse_Enum, /*tp_traverse*/ - __pyx_tp_clear_Enum, /*tp_clear*/ - 0, /*tp_richcompare*/ - 0, /*tp_weaklistoffset*/ - 0, /*tp_iter*/ - 0, /*tp_iternext*/ - __pyx_methods_Enum, /*tp_methods*/ - 0, /*tp_members*/ - 0, /*tp_getset*/ - 0, /*tp_base*/ - 0, /*tp_dict*/ - 0, /*tp_descr_get*/ - 0, /*tp_descr_set*/ - 0, /*tp_dictoffset*/ - __pyx_MemviewEnum___init__, /*tp_init*/ - 0, /*tp_alloc*/ - __pyx_tp_new_Enum, /*tp_new*/ - 0, /*tp_free*/ - 0, /*tp_is_gc*/ - 0, /*tp_bases*/ - 0, /*tp_mro*/ - 0, /*tp_cache*/ - 0, /*tp_subclasses*/ - 0, /*tp_weaklist*/ - 0, /*tp_del*/ - 0, /*tp_version_tag*/ - #if PY_VERSION_HEX >= 0x030400a1 - 0, /*tp_finalize*/ - #endif - #if PY_VERSION_HEX >= 0x030800b1 - 0, /*tp_vectorcall*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, /*tp_print*/ - #endif -}; -static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; - -static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { - struct __pyx_memoryview_obj *p; - PyObject *o; - if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) { - o = (*t->tp_alloc)(t, 0); - } else { - o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); - } - if (unlikely(!o)) return 0; - p = ((struct __pyx_memoryview_obj *)o); - p->__pyx_vtab = __pyx_vtabptr_memoryview; - p->obj = Py_None; Py_INCREF(Py_None); - p->_size = Py_None; Py_INCREF(Py_None); - p->_array_interface = Py_None; Py_INCREF(Py_None); - p->view.obj = NULL; - if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; - return o; - bad: - Py_DECREF(o); o = 0; - return NULL; -} - -static void __pyx_tp_dealloc_memoryview(PyObject *o) { - struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; - #if CYTHON_USE_TP_FINALIZE - if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { - if (PyObject_CallFinalizerFromDealloc(o)) return; - } - #endif - PyObject_GC_UnTrack(o); - { - PyObject *etype, *eval, *etb; - PyErr_Fetch(&etype, &eval, &etb); - __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); - __pyx_memoryview___dealloc__(o); - __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); - PyErr_Restore(etype, eval, etb); - } - Py_CLEAR(p->obj); - Py_CLEAR(p->_size); - Py_CLEAR(p->_array_interface); - (*Py_TYPE(o)->tp_free)(o); -} - -static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { - int e; - struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; - if (p->obj) { - e = (*v)(p->obj, a); if (e) return e; - } - if (p->_size) { - e = (*v)(p->_size, a); if (e) return e; - } - if (p->_array_interface) { - e = (*v)(p->_array_interface, a); if (e) return e; - } - if (p->view.obj) { - e = (*v)(p->view.obj, a); if (e) return e; - } - return 0; -} - -static int __pyx_tp_clear_memoryview(PyObject *o) { - PyObject* tmp; - struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; - tmp = ((PyObject*)p->obj); - p->obj = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - tmp = ((PyObject*)p->_size); - p->_size = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - tmp = ((PyObject*)p->_array_interface); - p->_array_interface = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - Py_CLEAR(p->view.obj); - return 0; -} -static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { - PyObject *r; - PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; - r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); - Py_DECREF(x); - return r; -} - -static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { - if (v) { - return __pyx_memoryview___setitem__(o, i, v); - } - else { - PyErr_Format(PyExc_NotImplementedError, - "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name); - return -1; - } -} - -static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); -} - -static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); -} - -static PyMethodDef __pyx_methods_memoryview[] = { - {"is_c_contig", (PyCFunction)__pyx_memoryview_is_c_contig, METH_NOARGS, 0}, - {"is_f_contig", (PyCFunction)__pyx_memoryview_is_f_contig, METH_NOARGS, 0}, - {"copy", (PyCFunction)__pyx_memoryview_copy, METH_NOARGS, 0}, - {"copy_fortran", (PyCFunction)__pyx_memoryview_copy_fortran, METH_NOARGS, 0}, - {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_1__reduce_cython__, METH_NOARGS, 0}, - {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_3__setstate_cython__, METH_O, 0}, - {0, 0, 0, 0} -}; - -static struct PyGetSetDef __pyx_getsets_memoryview[] = { - {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, - {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, - {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, - {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, - {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, - {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, - {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, - {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, - {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, - {0, 0, 0, 0, 0} -}; - -static PySequenceMethods __pyx_tp_as_sequence_memoryview = { - __pyx_memoryview___len__, /*sq_length*/ - 0, /*sq_concat*/ - 0, /*sq_repeat*/ - __pyx_sq_item_memoryview, /*sq_item*/ - 0, /*sq_slice*/ - 0, /*sq_ass_item*/ - 0, /*sq_ass_slice*/ - 0, /*sq_contains*/ - 0, /*sq_inplace_concat*/ - 0, /*sq_inplace_repeat*/ -}; - -static PyMappingMethods __pyx_tp_as_mapping_memoryview = { - __pyx_memoryview___len__, /*mp_length*/ - __pyx_memoryview___getitem__, /*mp_subscript*/ - __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ -}; - -static PyBufferProcs __pyx_tp_as_buffer_memoryview = { - #if PY_MAJOR_VERSION < 3 - 0, /*bf_getreadbuffer*/ - #endif - #if PY_MAJOR_VERSION < 3 - 0, /*bf_getwritebuffer*/ - #endif - #if PY_MAJOR_VERSION < 3 - 0, /*bf_getsegcount*/ - #endif - #if PY_MAJOR_VERSION < 3 - 0, /*bf_getcharbuffer*/ - #endif - __pyx_memoryview_getbuffer, /*bf_getbuffer*/ - 0, /*bf_releasebuffer*/ -}; - -static PyTypeObject __pyx_type___pyx_memoryview = { - PyVarObject_HEAD_INIT(0, 0) - "pymoab.memoryview", /*tp_name*/ - sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ - 0, /*tp_itemsize*/ - __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ - #if PY_VERSION_HEX < 0x030800b4 - 0, /*tp_print*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 - 0, /*tp_vectorcall_offset*/ - #endif - 0, /*tp_getattr*/ - 0, /*tp_setattr*/ - #if PY_MAJOR_VERSION < 3 - 0, /*tp_compare*/ - #endif - #if PY_MAJOR_VERSION >= 3 - 0, /*tp_as_async*/ - #endif - __pyx_memoryview___repr__, /*tp_repr*/ - 0, /*tp_as_number*/ - &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ - &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ - 0, /*tp_hash*/ - 0, /*tp_call*/ - __pyx_memoryview___str__, /*tp_str*/ - 0, /*tp_getattro*/ - 0, /*tp_setattro*/ - &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ - Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ - 0, /*tp_doc*/ - __pyx_tp_traverse_memoryview, /*tp_traverse*/ - __pyx_tp_clear_memoryview, /*tp_clear*/ - 0, /*tp_richcompare*/ - 0, /*tp_weaklistoffset*/ - 0, /*tp_iter*/ - 0, /*tp_iternext*/ - __pyx_methods_memoryview, /*tp_methods*/ - 0, /*tp_members*/ - __pyx_getsets_memoryview, /*tp_getset*/ - 0, /*tp_base*/ - 0, /*tp_dict*/ - 0, /*tp_descr_get*/ - 0, /*tp_descr_set*/ - 0, /*tp_dictoffset*/ - 0, /*tp_init*/ - 0, /*tp_alloc*/ - __pyx_tp_new_memoryview, /*tp_new*/ - 0, /*tp_free*/ - 0, /*tp_is_gc*/ - 0, /*tp_bases*/ - 0, /*tp_mro*/ - 0, /*tp_cache*/ - 0, /*tp_subclasses*/ - 0, /*tp_weaklist*/ - 0, /*tp_del*/ - 0, /*tp_version_tag*/ - #if PY_VERSION_HEX >= 0x030400a1 - 0, /*tp_finalize*/ - #endif - #if PY_VERSION_HEX >= 0x030800b1 - 0, /*tp_vectorcall*/ - #endif - #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000 - 0, /*tp_print*/ - #endif -}; -static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; - -static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { - struct __pyx_memoryviewslice_obj *p; - PyObject *o = __pyx_tp_new_memoryview(t, a, k); - if (unlikely(!o)) return 0; - p = ((struct __pyx_memoryviewslice_obj *)o); - p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; - p->from_object = Py_None; Py_INCREF(Py_None); - p->from_slice.memview = NULL; - return o; -} - -static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { - struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; - #if CYTHON_USE_TP_FINALIZE - if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) { - if (PyObject_CallFinalizerFromDealloc(o)) return; - } - #endif - PyObject_GC_UnTrack(o); - { - PyObject *etype, *eval, *etb; - PyErr_Fetch(&etype, &eval, &etb); - __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); - __pyx_memoryviewslice___dealloc__(o); - __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); - PyErr_Restore(etype, eval, etb); - } - Py_CLEAR(p->from_object); - PyObject_GC_Track(o); - __pyx_tp_dealloc_memoryview(o); -} - -static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { - int e; - struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; - e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; - if (p->from_object) { - e = (*v)(p->from_object, a); if (e) return e; - } - return 0; -} - -static int __pyx_tp_clear__memoryviewslice(PyObject *o) { - PyObject* tmp; - struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; - __pyx_tp_clear_memoryview(o); - tmp = ((PyObject*)p->from_object); - p->from_object = Py_None; Py_INCREF(Py_None); - Py_XDECREF(tmp); - __PYX_XDEC_MEMVIEW(&p->from_slice, 1); - return 0; -} - -static PyObject *__pyx_getprop___pyx_memoryviewslice_base(PyObject *o, CYTHON_UNUSED void *x) { - return __pyx_pw_15View_dot_MemoryView_16_memoryviewslice_4base_1__get__(o); -} - -static PyMethodDef __pyx_methods__memoryviewslice[] = { - {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, METH_NOARGS, 0}, - {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, METH_O, 0}, - {0, 0, 0, 0} -}; - -static struct PyGetSetDef __pyx_getsets__memoryviewslice[] = { - {(char *)"base", __pyx_getprop___pyx_memoryviewslice_base, 0, (char *)0, 0}, - {0, 0, 0, 0, 0} -}; +static struct PyGetSetDef __pyx_getsets__memoryviewslice[] = { + {(char *)"base", __pyx_getprop___pyx_memoryviewslice_base, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; static PyTypeObject __pyx_type___pyx_memoryviewslice = { PyVarObject_HEAD_INIT(0, 0) - "pymoab._memoryviewslice", /*tp_name*/ + "huemask._memoryviewslice", /*tp_name*/ sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ 0, /*tp_itemsize*/ __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ @@ -18316,17 +16657,17 @@ static PyMethodDef __pyx_methods[] = { #if PY_MAJOR_VERSION >= 3 #if CYTHON_PEP489_MULTI_PHASE_INIT static PyObject* __pyx_pymod_create(PyObject *spec, PyModuleDef *def); /*proto*/ -static int __pyx_pymod_exec_pymoab(PyObject* module); /*proto*/ +static int __pyx_pymod_exec_huemask(PyObject* module); /*proto*/ static PyModuleDef_Slot __pyx_moduledef_slots[] = { {Py_mod_create, (void*)__pyx_pymod_create}, - {Py_mod_exec, (void*)__pyx_pymod_exec_pymoab}, + {Py_mod_exec, (void*)__pyx_pymod_exec_huemask}, {0, NULL} }; #endif static struct PyModuleDef __pyx_moduledef = { PyModuleDef_HEAD_INIT, - "pymoab", + "huemask", 0, /* m_doc */ #if CYTHON_PEP489_MULTI_PHASE_INIT 0, /* m_size */ @@ -18356,62 +16697,28 @@ static struct PyModuleDef __pyx_moduledef = { static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, - {&__pyx_n_s_BLANK, __pyx_k_BLANK, sizeof(__pyx_k_BLANK), 0, 0, 1, 1}, - {&__pyx_n_s_BRAIN, __pyx_k_BRAIN, sizeof(__pyx_k_BRAIN), 0, 0, 1, 1}, {&__pyx_kp_s_Buffer_view_does_not_expose_stri, __pyx_k_Buffer_view_does_not_expose_stri, sizeof(__pyx_k_Buffer_view_does_not_expose_stri), 0, 0, 1, 0}, - {&__pyx_n_s_CAL, __pyx_k_CAL, sizeof(__pyx_k_CAL), 0, 0, 1, 1}, - {&__pyx_n_s_CAL_CANCELED, __pyx_k_CAL_CANCELED, sizeof(__pyx_k_CAL_CANCELED), 0, 0, 1, 1}, - {&__pyx_n_s_CAL_COMPLETE, __pyx_k_CAL_COMPLETE, sizeof(__pyx_k_CAL_COMPLETE), 0, 0, 1, 1}, - {&__pyx_n_s_CAL_FAILED, __pyx_k_CAL_FAILED, sizeof(__pyx_k_CAL_FAILED), 0, 0, 1, 1}, - {&__pyx_n_s_CAL_INSTR, __pyx_k_CAL_INSTR, sizeof(__pyx_k_CAL_INSTR), 0, 0, 1, 1}, - {&__pyx_n_s_CHECK, __pyx_k_CHECK, sizeof(__pyx_k_CHECK), 0, 0, 1, 1}, - {&__pyx_n_s_CLASSIC, __pyx_k_CLASSIC, sizeof(__pyx_k_CLASSIC), 0, 0, 1, 1}, - {&__pyx_n_s_CUSTOM1, __pyx_k_CUSTOM1, sizeof(__pyx_k_CUSTOM1), 0, 0, 1, 1}, - {&__pyx_n_s_CUSTOM2, __pyx_k_CUSTOM2, sizeof(__pyx_k_CUSTOM2), 0, 0, 1, 1}, {&__pyx_kp_s_Can_only_create_a_buffer_that_is, __pyx_k_Can_only_create_a_buffer_that_is, sizeof(__pyx_k_Can_only_create_a_buffer_that_is), 0, 0, 1, 0}, {&__pyx_kp_s_Cannot_assign_to_read_only_memor, __pyx_k_Cannot_assign_to_read_only_memor, sizeof(__pyx_k_Cannot_assign_to_read_only_memor), 0, 0, 1, 0}, {&__pyx_kp_s_Cannot_create_writable_memory_vi, __pyx_k_Cannot_create_writable_memory_vi, sizeof(__pyx_k_Cannot_create_writable_memory_vi), 0, 0, 1, 0}, {&__pyx_kp_s_Cannot_index_with_type_s, __pyx_k_Cannot_index_with_type_s, sizeof(__pyx_k_Cannot_index_with_type_s), 0, 0, 1, 0}, - {&__pyx_n_s_DOT, __pyx_k_DOT, sizeof(__pyx_k_DOT), 0, 0, 1, 1}, - {&__pyx_n_s_DOWN, __pyx_k_DOWN, sizeof(__pyx_k_DOWN), 0, 0, 1, 1}, - {&__pyx_n_s_ERROR, __pyx_k_ERROR, sizeof(__pyx_k_ERROR), 0, 0, 1, 1}, {&__pyx_n_s_Ellipsis, __pyx_k_Ellipsis, sizeof(__pyx_k_Ellipsis), 0, 0, 1, 1}, {&__pyx_kp_s_Empty_shape_tuple_for_cython_arr, __pyx_k_Empty_shape_tuple_for_cython_arr, sizeof(__pyx_k_Empty_shape_tuple_for_cython_arr), 0, 0, 1, 0}, - {&__pyx_n_s_INFO, __pyx_k_INFO, sizeof(__pyx_k_INFO), 0, 0, 1, 1}, - {&__pyx_n_s_INIT, __pyx_k_INIT, sizeof(__pyx_k_INIT), 0, 0, 1, 1}, - {&__pyx_n_s_INVALID_ARG, __pyx_k_INVALID_ARG, sizeof(__pyx_k_INVALID_ARG), 0, 0, 1, 1}, - {&__pyx_n_s_Icon, __pyx_k_Icon, sizeof(__pyx_k_Icon), 0, 0, 1, 1}, {&__pyx_kp_s_Incompatible_checksums_s_vs_0xb0, __pyx_k_Incompatible_checksums_s_vs_0xb0, sizeof(__pyx_k_Incompatible_checksums_s_vs_0xb0), 0, 0, 1, 0}, {&__pyx_n_s_IndexError, __pyx_k_IndexError, sizeof(__pyx_k_IndexError), 0, 0, 1, 1}, {&__pyx_kp_s_Indirect_dimensions_not_supporte, __pyx_k_Indirect_dimensions_not_supporte, sizeof(__pyx_k_Indirect_dimensions_not_supporte), 0, 0, 1, 0}, - {&__pyx_n_s_IntEnum, __pyx_k_IntEnum, sizeof(__pyx_k_IntEnum), 0, 0, 1, 1}, {&__pyx_kp_s_Invalid_mode_expected_c_or_fortr, __pyx_k_Invalid_mode_expected_c_or_fortr, sizeof(__pyx_k_Invalid_mode_expected_c_or_fortr), 0, 0, 1, 0}, {&__pyx_kp_s_Invalid_shape_in_axis_d_d, __pyx_k_Invalid_shape_in_axis_d_d, sizeof(__pyx_k_Invalid_shape_in_axis_d_d), 0, 0, 1, 0}, - {&__pyx_n_s_MANUAL, __pyx_k_MANUAL, sizeof(__pyx_k_MANUAL), 0, 0, 1, 1}, {&__pyx_n_s_MemoryError, __pyx_k_MemoryError, sizeof(__pyx_k_MemoryError), 0, 0, 1, 1}, {&__pyx_kp_s_MemoryView_of_r_at_0x_x, __pyx_k_MemoryView_of_r_at_0x_x, sizeof(__pyx_k_MemoryView_of_r_at_0x_x), 0, 0, 1, 0}, {&__pyx_kp_s_MemoryView_of_r_object, __pyx_k_MemoryView_of_r_object, sizeof(__pyx_k_MemoryView_of_r_object), 0, 0, 1, 0}, {&__pyx_n_b_O, __pyx_k_O, sizeof(__pyx_k_O), 0, 0, 0, 1}, - {&__pyx_n_s_OK, __pyx_k_OK, sizeof(__pyx_k_OK), 0, 0, 1, 1}, {&__pyx_kp_s_Out_of_bounds_on_buffer_access_a, __pyx_k_Out_of_bounds_on_buffer_access_a, sizeof(__pyx_k_Out_of_bounds_on_buffer_access_a), 0, 0, 1, 0}, - {&__pyx_n_s_PAUSE, __pyx_k_PAUSE, sizeof(__pyx_k_PAUSE), 0, 0, 1, 1}, - {&__pyx_n_s_POWER_OFF, __pyx_k_POWER_OFF, sizeof(__pyx_k_POWER_OFF), 0, 0, 1, 1}, {&__pyx_n_s_PickleError, __pyx_k_PickleError, sizeof(__pyx_k_PickleError), 0, 0, 1, 1}, - {&__pyx_n_s_Result, __pyx_k_Result, sizeof(__pyx_k_Result), 0, 0, 1, 1}, - {&__pyx_n_s_Text, __pyx_k_Text, sizeof(__pyx_k_Text), 0, 0, 1, 1}, - {&__pyx_n_s_Tuple, __pyx_k_Tuple, sizeof(__pyx_k_Tuple), 0, 0, 1, 1}, {&__pyx_n_s_TypeError, __pyx_k_TypeError, sizeof(__pyx_k_TypeError), 0, 0, 1, 1}, - {&__pyx_n_s_UNKNOWN_ERROR, __pyx_k_UNKNOWN_ERROR, sizeof(__pyx_k_UNKNOWN_ERROR), 0, 0, 1, 1}, - {&__pyx_n_s_UP, __pyx_k_UP, sizeof(__pyx_k_UP), 0, 0, 1, 1}, - {&__pyx_n_s_UPDATE_BRAIN, __pyx_k_UPDATE_BRAIN, sizeof(__pyx_k_UPDATE_BRAIN), 0, 0, 1, 1}, - {&__pyx_n_s_UPDATE_SYSTEM, __pyx_k_UPDATE_SYSTEM, sizeof(__pyx_k_UPDATE_SYSTEM), 0, 0, 1, 1}, - {&__pyx_n_s_UP_DOWN, __pyx_k_UP_DOWN, sizeof(__pyx_k_UP_DOWN), 0, 0, 1, 1}, {&__pyx_kp_s_Unable_to_convert_item_to_object, __pyx_k_Unable_to_convert_item_to_object, sizeof(__pyx_k_Unable_to_convert_item_to_object), 0, 0, 1, 0}, - {&__pyx_n_s_VERS_IP_SN, __pyx_k_VERS_IP_SN, sizeof(__pyx_k_VERS_IP_SN), 0, 0, 1, 1}, {&__pyx_n_s_ValueError, __pyx_k_ValueError, sizeof(__pyx_k_ValueError), 0, 0, 1, 1}, {&__pyx_n_s_View_MemoryView, __pyx_k_View_MemoryView, sizeof(__pyx_k_View_MemoryView), 0, 0, 1, 1}, - {&__pyx_n_s_X, __pyx_k_X, sizeof(__pyx_k_X), 0, 0, 1, 1}, - {&__pyx_n_s_activatePlate, __pyx_k_activatePlate, sizeof(__pyx_k_activatePlate), 0, 0, 1, 1}, {&__pyx_n_s_allocate_buffer, __pyx_k_allocate_buffer, sizeof(__pyx_k_allocate_buffer), 0, 0, 1, 1}, {&__pyx_n_s_base, __pyx_k_base, sizeof(__pyx_k_base), 0, 0, 1, 1}, {&__pyx_n_s_c, __pyx_k_c, sizeof(__pyx_k_c), 0, 0, 1, 1}, @@ -18422,14 +16729,8 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_kp_s_contiguous_and_direct, __pyx_k_contiguous_and_direct, sizeof(__pyx_k_contiguous_and_direct), 0, 0, 1, 0}, {&__pyx_kp_s_contiguous_and_indirect, __pyx_k_contiguous_and_indirect, sizeof(__pyx_k_contiguous_and_indirect), 0, 0, 1, 0}, {&__pyx_n_s_dict, __pyx_k_dict, sizeof(__pyx_k_dict), 0, 0, 1, 1}, - {&__pyx_n_s_disableServoPower, __pyx_k_disableServoPower, sizeof(__pyx_k_disableServoPower), 0, 0, 1, 1}, - {&__pyx_n_s_doc, __pyx_k_doc, sizeof(__pyx_k_doc), 0, 0, 1, 1}, {&__pyx_n_s_dtype_is_object, __pyx_k_dtype_is_object, sizeof(__pyx_k_dtype_is_object), 0, 0, 1, 1}, - {&__pyx_n_s_enableFan, __pyx_k_enableFan, sizeof(__pyx_k_enableFan), 0, 0, 1, 1}, - {&__pyx_n_s_enableHat, __pyx_k_enableHat, sizeof(__pyx_k_enableHat), 0, 0, 1, 1}, - {&__pyx_n_s_enabled, __pyx_k_enabled, sizeof(__pyx_k_enabled), 0, 0, 1, 1}, {&__pyx_n_s_encode, __pyx_k_encode, sizeof(__pyx_k_encode), 0, 0, 1, 1}, - {&__pyx_n_s_enum, __pyx_k_enum, sizeof(__pyx_k_enum), 0, 0, 1, 1}, {&__pyx_n_s_enumerate, __pyx_k_enumerate, sizeof(__pyx_k_enumerate), 0, 0, 1, 1}, {&__pyx_n_s_error, __pyx_k_error, sizeof(__pyx_k_error), 0, 0, 1, 1}, {&__pyx_n_s_exp, __pyx_k_exp, sizeof(__pyx_k_exp), 0, 0, 1, 1}, @@ -18439,34 +16740,25 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_n_s_fortran, __pyx_k_fortran, sizeof(__pyx_k_fortran), 0, 0, 1, 1}, {&__pyx_n_u_fortran, __pyx_k_fortran, sizeof(__pyx_k_fortran), 0, 1, 0, 1}, {&__pyx_n_s_gain, __pyx_k_gain, sizeof(__pyx_k_gain), 0, 0, 1, 1}, - {&__pyx_n_s_getJoystickBtn, __pyx_k_getJoystickBtn, sizeof(__pyx_k_getJoystickBtn), 0, 0, 1, 1}, - {&__pyx_n_s_getJoystickX, __pyx_k_getJoystickX, sizeof(__pyx_k_getJoystickX), 0, 0, 1, 1}, - {&__pyx_n_s_getJoystickY, __pyx_k_getJoystickY, sizeof(__pyx_k_getJoystickY), 0, 0, 1, 1}, - {&__pyx_n_s_getMenuBtn, __pyx_k_getMenuBtn, sizeof(__pyx_k_getMenuBtn), 0, 0, 1, 1}, {&__pyx_n_s_getstate, __pyx_k_getstate, sizeof(__pyx_k_getstate), 0, 0, 1, 1}, {&__pyx_kp_s_got_differing_extents_in_dimensi, __pyx_k_got_differing_extents_in_dimensi, sizeof(__pyx_k_got_differing_extents_in_dimensi), 0, 0, 1, 0}, {&__pyx_n_s_h, __pyx_k_h, sizeof(__pyx_k_h), 0, 0, 1, 1}, {&__pyx_n_s_height, __pyx_k_height, sizeof(__pyx_k_height), 0, 0, 1, 1}, - {&__pyx_n_s_hoverPlate, __pyx_k_hoverPlate, sizeof(__pyx_k_hoverPlate), 0, 0, 1, 1}, {&__pyx_n_s_hue_mask, __pyx_k_hue_mask, sizeof(__pyx_k_hue_mask), 0, 0, 1, 1}, - {&__pyx_n_s_icon_idx, __pyx_k_icon_idx, sizeof(__pyx_k_icon_idx), 0, 0, 1, 1}, + {&__pyx_n_s_huemask, __pyx_k_huemask, sizeof(__pyx_k_huemask), 0, 0, 1, 1}, + {&__pyx_kp_s_huemask_pyx, __pyx_k_huemask_pyx, sizeof(__pyx_k_huemask_pyx), 0, 0, 1, 0}, {&__pyx_n_s_id, __pyx_k_id, sizeof(__pyx_k_id), 0, 0, 1, 1}, {&__pyx_n_s_ih, __pyx_k_ih, sizeof(__pyx_k_ih), 0, 0, 1, 1}, {&__pyx_n_s_image, __pyx_k_image, sizeof(__pyx_k_image), 0, 0, 1, 1}, {&__pyx_n_s_import, __pyx_k_import, sizeof(__pyx_k_import), 0, 0, 1, 1}, - {&__pyx_n_s_init, __pyx_k_init, sizeof(__pyx_k_init), 0, 0, 1, 1}, {&__pyx_n_s_itemsize, __pyx_k_itemsize, sizeof(__pyx_k_itemsize), 0, 0, 1, 1}, {&__pyx_kp_s_itemsize_0_for_cython_array, __pyx_k_itemsize_0_for_cython_array, sizeof(__pyx_k_itemsize_0_for_cython_array), 0, 0, 1, 0}, - {&__pyx_n_s_lowerPlate, __pyx_k_lowerPlate, sizeof(__pyx_k_lowerPlate), 0, 0, 1, 1}, {&__pyx_n_s_main, __pyx_k_main, sizeof(__pyx_k_main), 0, 0, 1, 1}, {&__pyx_n_s_mask, __pyx_k_mask, sizeof(__pyx_k_mask), 0, 0, 1, 1}, {&__pyx_n_s_mask_gain, __pyx_k_mask_gain, sizeof(__pyx_k_mask_gain), 0, 0, 1, 1}, {&__pyx_n_s_math, __pyx_k_math, sizeof(__pyx_k_math), 0, 0, 1, 1}, {&__pyx_n_s_memview, __pyx_k_memview, sizeof(__pyx_k_memview), 0, 0, 1, 1}, - {&__pyx_n_s_metaclass, __pyx_k_metaclass, sizeof(__pyx_k_metaclass), 0, 0, 1, 1}, - {&__pyx_kp_s_moab_pyx, __pyx_k_moab_pyx, sizeof(__pyx_k_moab_pyx), 0, 0, 1, 0}, {&__pyx_n_s_mode, __pyx_k_mode, sizeof(__pyx_k_mode), 0, 0, 1, 1}, - {&__pyx_n_s_module, __pyx_k_module, sizeof(__pyx_k_module), 0, 0, 1, 1}, {&__pyx_n_s_mu, __pyx_k_mu, sizeof(__pyx_k_mu), 0, 0, 1, 1}, {&__pyx_n_s_n, __pyx_k_n, sizeof(__pyx_k_n), 0, 0, 1, 1}, {&__pyx_n_s_name, __pyx_k_name, sizeof(__pyx_k_name), 0, 0, 1, 1}, @@ -18477,12 +16769,6 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_n_s_obj, __pyx_k_obj, sizeof(__pyx_k_obj), 0, 0, 1, 1}, {&__pyx_n_s_pack, __pyx_k_pack, sizeof(__pyx_k_pack), 0, 0, 1, 1}, {&__pyx_n_s_pickle, __pyx_k_pickle, sizeof(__pyx_k_pickle), 0, 0, 1, 1}, - {&__pyx_n_s_plate_x_deg, __pyx_k_plate_x_deg, sizeof(__pyx_k_plate_x_deg), 0, 0, 1, 1}, - {&__pyx_n_s_plate_y_deg, __pyx_k_plate_y_deg, sizeof(__pyx_k_plate_y_deg), 0, 0, 1, 1}, - {&__pyx_n_s_pollPowerBtn, __pyx_k_pollPowerBtn, sizeof(__pyx_k_pollPowerBtn), 0, 0, 1, 1}, - {&__pyx_n_s_pollTemp, __pyx_k_pollTemp, sizeof(__pyx_k_pollTemp), 0, 0, 1, 1}, - {&__pyx_n_s_prepare, __pyx_k_prepare, sizeof(__pyx_k_prepare), 0, 0, 1, 1}, - {&__pyx_n_s_pymoab, __pyx_k_pymoab, sizeof(__pyx_k_pymoab), 0, 0, 1, 1}, {&__pyx_n_s_pyx_PickleError, __pyx_k_pyx_PickleError, sizeof(__pyx_k_pyx_PickleError), 0, 0, 1, 1}, {&__pyx_n_s_pyx_checksum, __pyx_k_pyx_checksum, sizeof(__pyx_k_pyx_checksum), 0, 0, 1, 1}, {&__pyx_n_s_pyx_getbuffer, __pyx_k_pyx_getbuffer, sizeof(__pyx_k_pyx_getbuffer), 0, 0, 1, 1}, @@ -18491,23 +16777,11 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_n_s_pyx_type, __pyx_k_pyx_type, sizeof(__pyx_k_pyx_type), 0, 0, 1, 1}, {&__pyx_n_s_pyx_unpickle_Enum, __pyx_k_pyx_unpickle_Enum, sizeof(__pyx_k_pyx_unpickle_Enum), 0, 0, 1, 1}, {&__pyx_n_s_pyx_vtable, __pyx_k_pyx_vtable, sizeof(__pyx_k_pyx_vtable), 0, 0, 1, 1}, - {&__pyx_n_s_qualname, __pyx_k_qualname, sizeof(__pyx_k_qualname), 0, 0, 1, 1}, {&__pyx_n_s_range, __pyx_k_range, sizeof(__pyx_k_range), 0, 0, 1, 1}, {&__pyx_n_s_reduce, __pyx_k_reduce, sizeof(__pyx_k_reduce), 0, 0, 1, 1}, {&__pyx_n_s_reduce_cython, __pyx_k_reduce_cython, sizeof(__pyx_k_reduce_cython), 0, 0, 1, 1}, {&__pyx_n_s_reduce_ex, __pyx_k_reduce_ex, sizeof(__pyx_k_reduce_ex), 0, 0, 1, 1}, {&__pyx_n_s_s, __pyx_k_s, sizeof(__pyx_k_s), 0, 0, 1, 1}, - {&__pyx_n_s_servo1_offset, __pyx_k_servo1_offset, sizeof(__pyx_k_servo1_offset), 0, 0, 1, 1}, - {&__pyx_n_s_servo1_pos, __pyx_k_servo1_pos, sizeof(__pyx_k_servo1_pos), 0, 0, 1, 1}, - {&__pyx_n_s_servo2_offset, __pyx_k_servo2_offset, sizeof(__pyx_k_servo2_offset), 0, 0, 1, 1}, - {&__pyx_n_s_servo2_pos, __pyx_k_servo2_pos, sizeof(__pyx_k_servo2_pos), 0, 0, 1, 1}, - {&__pyx_n_s_servo3_offset, __pyx_k_servo3_offset, sizeof(__pyx_k_servo3_offset), 0, 0, 1, 1}, - {&__pyx_n_s_servo3_pos, __pyx_k_servo3_pos, sizeof(__pyx_k_servo3_pos), 0, 0, 1, 1}, - {&__pyx_n_s_setIcon, __pyx_k_setIcon, sizeof(__pyx_k_setIcon), 0, 0, 1, 1}, - {&__pyx_n_s_setPlateAngles, __pyx_k_setPlateAngles, sizeof(__pyx_k_setPlateAngles), 0, 0, 1, 1}, - {&__pyx_n_s_setServoOffsets, __pyx_k_setServoOffsets, sizeof(__pyx_k_setServoOffsets), 0, 0, 1, 1}, - {&__pyx_n_s_setServoPositions, __pyx_k_setServoPositions, sizeof(__pyx_k_setServoPositions), 0, 0, 1, 1}, - {&__pyx_n_s_setText, __pyx_k_setText, sizeof(__pyx_k_setText), 0, 0, 1, 1}, {&__pyx_n_s_setstate, __pyx_k_setstate, sizeof(__pyx_k_setstate), 0, 0, 1, 1}, {&__pyx_n_s_setstate_cython, __pyx_k_setstate_cython, sizeof(__pyx_k_setstate_cython), 0, 0, 1, 1}, {&__pyx_n_s_shape, __pyx_k_shape, sizeof(__pyx_k_shape), 0, 0, 1, 1}, @@ -18521,10 +16795,7 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {&__pyx_kp_s_strided_and_indirect, __pyx_k_strided_and_indirect, sizeof(__pyx_k_strided_and_indirect), 0, 0, 1, 0}, {&__pyx_kp_s_stringsource, __pyx_k_stringsource, sizeof(__pyx_k_stringsource), 0, 0, 1, 0}, {&__pyx_n_s_struct, __pyx_k_struct, sizeof(__pyx_k_struct), 0, 0, 1, 1}, - {&__pyx_n_s_sync, __pyx_k_sync, sizeof(__pyx_k_sync), 0, 0, 1, 1}, {&__pyx_n_s_test, __pyx_k_test, sizeof(__pyx_k_test), 0, 0, 1, 1}, - {&__pyx_n_s_text_idx, __pyx_k_text_idx, sizeof(__pyx_k_text_idx), 0, 0, 1, 1}, - {&__pyx_n_s_typing, __pyx_k_typing, sizeof(__pyx_k_typing), 0, 0, 1, 1}, {&__pyx_kp_s_unable_to_allocate_array_data, __pyx_k_unable_to_allocate_array_data, sizeof(__pyx_k_unable_to_allocate_array_data), 0, 0, 1, 0}, {&__pyx_kp_s_unable_to_allocate_shape_and_str, __pyx_k_unable_to_allocate_shape_and_str, sizeof(__pyx_k_unable_to_allocate_shape_and_str), 0, 0, 1, 0}, {&__pyx_n_s_unpack, __pyx_k_unpack, sizeof(__pyx_k_unpack), 0, 0, 1, 1}, @@ -18537,7 +16808,7 @@ static __Pyx_StringTabEntry __pyx_string_tab[] = { {0, 0, 0, 0, 0, 0, 0} }; static CYTHON_SMALL_CODE int __Pyx_InitCachedBuiltins(void) { - __pyx_builtin_range = __Pyx_GetBuiltinName(__pyx_n_s_range); if (!__pyx_builtin_range) __PYX_ERR(0, 176, __pyx_L1_error) + __pyx_builtin_range = __Pyx_GetBuiltinName(__pyx_n_s_range); if (!__pyx_builtin_range) __PYX_ERR(0, 25, __pyx_L1_error) __pyx_builtin_ValueError = __Pyx_GetBuiltinName(__pyx_n_s_ValueError); if (!__pyx_builtin_ValueError) __PYX_ERR(1, 133, __pyx_L1_error) __pyx_builtin_MemoryError = __Pyx_GetBuiltinName(__pyx_n_s_MemoryError); if (!__pyx_builtin_MemoryError) __PYX_ERR(1, 148, __pyx_L1_error) __pyx_builtin_enumerate = __Pyx_GetBuiltinName(__pyx_n_s_enumerate); if (!__pyx_builtin_enumerate) __PYX_ERR(1, 151, __pyx_L1_error) @@ -18746,221 +17017,29 @@ static CYTHON_SMALL_CODE int __Pyx_InitCachedConstants(void) { __Pyx_GOTREF(__pyx_tuple__18); __Pyx_GIVEREF(__pyx_tuple__18); - 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+ #else + return; + #endif } -#endif -/* PyObjectCallOneArg */ -#if CYTHON_COMPILING_IN_CPYTHON -static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_New(1); - if (unlikely(!args)) return NULL; - Py_INCREF(arg); - PyTuple_SET_ITEM(args, 0, arg); - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); - return result; +/* --- Runtime support code --- */ +/* Refnanny */ +#if CYTHON_REFNANNY +static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname) { + PyObject *m = NULL, *p = NULL; + void *r = NULL; + m = PyImport_ImportModule(modname); + if (!m) goto end; + p = PyObject_GetAttrString(m, "RefNannyAPI"); + if (!p) goto end; + r = PyLong_AsVoidPtr(p); +end: + Py_XDECREF(p); + Py_XDECREF(m); + return (__Pyx_RefNannyAPIStruct *)r; } -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { -#if CYTHON_FAST_PYCALL - if (PyFunction_Check(func)) { - return __Pyx_PyFunction_FastCall(func, &arg, 1); - } #endif - if (likely(PyCFunction_Check(func))) { - if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { - return __Pyx_PyObject_CallMethO(func, arg); -#if CYTHON_FAST_PYCCALL - } else if (PyCFunction_GET_FLAGS(func) & METH_FASTCALL) { - return __Pyx_PyCFunction_FastCall(func, &arg, 1); + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); #endif - } - } - return __Pyx__PyObject_CallOneArg(func, arg); + return PyObject_GetAttr(obj, attr_name); } +#endif + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStr(__pyx_b, name); + if (unlikely(!result)) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); #else -static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { - PyObject *result; - PyObject *args = PyTuple_Pack(1, arg); - if (unlikely(!args)) return NULL; - result = __Pyx_PyObject_Call(func, args, NULL); - Py_DECREF(args); + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } return result; } -#endif /* RaiseArgTupleInvalid */ static void __Pyx_RaiseArgtupleInvalid( @@ -20750,194 +17863,40 @@ static int __Pyx_ParseOptionalKeywords( if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; if (cmp == 0) goto arg_passed_twice; argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - PyErr_Format(PyExc_TypeError, - #if PY_MAJOR_VERSION < 3 - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - return -1; -} - -/* PyFloatBinop */ -#if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyFloat_TrueDivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) { - const double b = floatval; - double a, result; - (void)inplace; - (void)zerodivision_check; - if (likely(PyFloat_CheckExact(op1))) { - a = PyFloat_AS_DOUBLE(op1); - - } else - #if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(op1))) { - a = (double) PyInt_AS_LONG(op1); - - } else - #endif - if (likely(PyLong_CheckExact(op1))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - switch (size) { - case 0: a = 0.0; break; - case -1: a = -(double) digits[0]; break; - case 1: a = (double) digits[0]; break; - case -2: - case 2: - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) { - a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { - if (size == -2) - a = -a; - break; - } - } - CYTHON_FALLTHROUGH; - case -3: - case 3: - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) { - a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { - if (size == -3) - a = -a; - break; - } - } - CYTHON_FALLTHROUGH; - case -4: - case 4: - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) { - a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { - if (size == -4) - a = -a; - break; - } - } - CYTHON_FALLTHROUGH; - default: - #else - { - #endif - a = PyLong_AsDouble(op1); - if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL; - - } - } else { - return (inplace ? PyNumber_InPlaceTrueDivide : PyNumber_TrueDivide)(op1, op2); - } - - PyFPE_START_PROTECT("divide", return NULL) - result = a / b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); -} -#endif - -/* PyFloatBinop */ - #if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyFloat_SubtractObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) { - const double b = floatval; - double a, result; - (void)inplace; - (void)zerodivision_check; - if (likely(PyFloat_CheckExact(op1))) { - a = PyFloat_AS_DOUBLE(op1); - - } else - #if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(op1))) { - a = (double) PyInt_AS_LONG(op1); - - } else - #endif - if (likely(PyLong_CheckExact(op1))) { - #if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - switch (size) { - case 0: a = 0.0; break; - case -1: a = -(double) digits[0]; break; - case 1: a = (double) digits[0]; break; - case -2: - case 2: - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) { - a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { - if (size == -2) - a = -a; - break; - } - } - CYTHON_FALLTHROUGH; - case -3: - case 3: - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) { - a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { - if (size == -3) - a = -a; - break; - } - } - CYTHON_FALLTHROUGH; - case -4: - case 4: - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) { - a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { - if (size == -4) - a = -a; - break; - } - } - CYTHON_FALLTHROUGH; - default: - #else - { - #endif - a = PyLong_AsDouble(op1); - if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL; - + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; } - } else { - return (inplace ? PyNumber_InPlaceSubtract : PyNumber_Subtract)(op1, op2); } - - PyFPE_START_PROTECT("subtract", return NULL) - result = a - b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + PyErr_Format(PyExc_TypeError, + #if PY_MAJOR_VERSION < 3 + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + return -1; } -#endif /* PyFloatBinop */ - #if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyFloat_AddObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) { +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyFloat_TrueDivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) { const double b = floatval; double a, result; (void)inplace; @@ -20997,3170 +17956,3152 @@ static PyObject* __Pyx_PyFloat_AddObjC(PyObject *op1, PyObject *op2, double floa #else { #endif - a = PyLong_AsDouble(op1); - if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL; - - } - } else { - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); - } - - PyFPE_START_PROTECT("add", return NULL) - result = a + b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); -} -#endif - -/* MemviewSliceInit */ - static int -__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, - int ndim, - __Pyx_memviewslice *memviewslice, - int memview_is_new_reference) -{ - __Pyx_RefNannyDeclarations - int i, retval=-1; - Py_buffer *buf = &memview->view; - __Pyx_RefNannySetupContext("init_memviewslice", 0); - if (unlikely(memviewslice->memview || memviewslice->data)) { - PyErr_SetString(PyExc_ValueError, - "memviewslice is already initialized!"); - goto fail; - } - if (buf->strides) { - for (i = 0; i < ndim; i++) { - memviewslice->strides[i] = buf->strides[i]; - } - } else { - Py_ssize_t stride = buf->itemsize; - for (i = ndim - 1; i >= 0; i--) { - memviewslice->strides[i] = stride; - stride *= buf->shape[i]; - } - } - for (i = 0; i < ndim; i++) { - memviewslice->shape[i] = buf->shape[i]; - if (buf->suboffsets) { - memviewslice->suboffsets[i] = buf->suboffsets[i]; - } else { - memviewslice->suboffsets[i] = -1; - } - } - memviewslice->memview = memview; - memviewslice->data = (char *)buf->buf; - if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { - Py_INCREF(memview); - } - retval = 0; - goto no_fail; -fail: - memviewslice->memview = 0; - memviewslice->data = 0; - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; -} -#ifndef Py_NO_RETURN -#define Py_NO_RETURN -#endif -static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { - va_list vargs; - char msg[200]; -#ifdef HAVE_STDARG_PROTOTYPES - va_start(vargs, fmt); -#else - va_start(vargs); -#endif - vsnprintf(msg, 200, fmt, vargs); - va_end(vargs); - Py_FatalError(msg); -} -static CYTHON_INLINE int -__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)++; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE int -__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, - PyThread_type_lock lock) -{ - int result; - PyThread_acquire_lock(lock, 1); - result = (*acquisition_count)--; - PyThread_release_lock(lock); - return result; -} -static CYTHON_INLINE void -__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) -{ - int first_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) - return; - if (unlikely(__pyx_get_slice_count(memview) < 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - first_time = __pyx_add_acquisition_count(memview) == 0; - if (unlikely(first_time)) { - if (have_gil) { - Py_INCREF((PyObject *) memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_INCREF((PyObject *) memview); - PyGILState_Release(_gilstate); - } - } -} -static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, - int have_gil, int lineno) { - int last_time; - struct __pyx_memoryview_obj *memview = memslice->memview; - if (unlikely(!memview || (PyObject *) memview == Py_None)) { - memslice->memview = NULL; - return; - } - if (unlikely(__pyx_get_slice_count(memview) <= 0)) - __pyx_fatalerror("Acquisition count is %d (line %d)", - __pyx_get_slice_count(memview), lineno); - last_time = __pyx_sub_acquisition_count(memview) == 1; - memslice->data = NULL; - if (unlikely(last_time)) { - if (have_gil) { - Py_CLEAR(memslice->memview); - } else { - PyGILState_STATE _gilstate = PyGILState_Ensure(); - Py_CLEAR(memslice->memview); - PyGILState_Release(_gilstate); - } - } else { - memslice->memview = NULL; - } -} - -/* ArgTypeTest */ - static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", - name, type->tp_name, Py_TYPE(obj)->tp_name); - return 0; -} - -/* PyErrFetchRestore */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -} -#endif - -/* RaiseException */ - #if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, - CYTHON_UNUSED PyObject *cause) { - __Pyx_PyThreadState_declare - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; + a = PyLong_AsDouble(op1); + if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL; + } -#endif - PyErr_NormalizeException(&type, &value, &tb); } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } + return (inplace ? PyNumber_InPlaceTrueDivide : PyNumber_TrueDivide)(op1, op2); } - __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; + + PyFPE_START_PROTECT("divide", return NULL) + result = a / b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); } -#else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; - } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; +#endif + +/* PyFloatBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyFloat_SubtractObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) { + const double b = floatval; + double a, result; + (void)inplace; + (void)zerodivision_check; + if (likely(PyFloat_CheckExact(op1))) { + a = PyFloat_AS_DOUBLE(op1); + + } else + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + a = (double) PyInt_AS_LONG(op1); + + } else + #endif + if (likely(PyLong_CheckExact(op1))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)op1)->ob_digit; + const Py_ssize_t size = Py_SIZE(op1); + switch (size) { + case 0: a = 0.0; break; + case -1: a = -(double) digits[0]; break; + case 1: a = (double) digits[0]; break; + case -2: + case 2: + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) { + a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { + if (size == -2) + a = -a; + break; + } } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } + CYTHON_FALLTHROUGH; + case -3: + case 3: + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) { + a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { + if (size == -3) + a = -a; + break; + } + } + CYTHON_FALLTHROUGH; + case -4: + case 4: + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) { + a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { + if (size == -4) + a = -a; + break; + } + } + CYTHON_FALLTHROUGH; + default: + #else + { + #endif + a = PyLong_AsDouble(op1); + if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL; + } } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; - } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); + return (inplace ? PyNumber_InPlaceSubtract : PyNumber_Subtract)(op1, op2); } - PyErr_SetObject(type, value); - if (tb) { -#if CYTHON_COMPILING_IN_PYPY - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); -#else - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); + + PyFPE_START_PROTECT("subtract", return NULL) + result = a - b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); +} +#endif + +/* PyFloatBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyFloat_AddObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) { + const double b = floatval; + double a, result; + (void)inplace; + (void)zerodivision_check; + if (likely(PyFloat_CheckExact(op1))) { + a = PyFloat_AS_DOUBLE(op1); + + } else + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + a = (double) PyInt_AS_LONG(op1); + + } else + #endif + if (likely(PyLong_CheckExact(op1))) { + #if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)op1)->ob_digit; + const Py_ssize_t size = Py_SIZE(op1); + switch (size) { + case 0: a = 0.0; break; + case -1: a = -(double) digits[0]; break; + case 1: a = (double) digits[0]; break; + case -2: + case 2: + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) { + a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { + if (size == -2) + a = -a; + break; + } + } + CYTHON_FALLTHROUGH; + case -3: + case 3: + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) { + a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { + if (size == -3) + a = -a; + break; + } + } + CYTHON_FALLTHROUGH; + case -4: + case 4: + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) { + a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) { + if (size == -4) + a = -a; + break; + } + } + CYTHON_FALLTHROUGH; + default: + #else + { + #endif + a = PyLong_AsDouble(op1); + if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL; + } -#endif + } else { + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); } -bad: - Py_XDECREF(owned_instance); - return; + + PyFPE_START_PROTECT("add", return NULL) + result = a + b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); } #endif -/* BytesEquals */ - static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); +/* PyDictVersioning */ + #if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); #else - if (s1 == s2) { - return (equals == Py_EQ); - } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { - const char *ps1, *ps2; - Py_ssize_t length = PyBytes_GET_SIZE(s1); - if (length != PyBytes_GET_SIZE(s2)) - return (equals == Py_NE); - ps1 = PyBytes_AS_STRING(s1); - ps2 = PyBytes_AS_STRING(s2); - if (ps1[0] != ps2[0]) { - return (equals == Py_NE); - } else if (length == 1) { - return (equals == Py_EQ); - } else { - int result; -#if CYTHON_USE_UNICODE_INTERNALS - Py_hash_t hash1, hash2; - hash1 = ((PyBytesObject*)s1)->ob_shash; - hash2 = ((PyBytesObject*)s2)->ob_shash; - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - return (equals == Py_NE); - } + dictptr = _PyObject_GetDictPtr(obj); #endif - result = memcmp(ps1, ps2, (size_t)length); - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { - return (equals == Py_NE); - } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { - return (equals == Py_NE); - } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; } -#endif + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); } +#endif -/* UnicodeEquals */ - static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { -#if CYTHON_COMPILING_IN_PYPY - return PyObject_RichCompareBool(s1, s2, equals); +/* GetModuleGlobalName */ + #if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) #else -#if PY_MAJOR_VERSION < 3 - PyObject* owned_ref = NULL; +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) #endif - int s1_is_unicode, s2_is_unicode; - if (s1 == s2) { - goto return_eq; +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; } - s1_is_unicode = PyUnicode_CheckExact(s1); - s2_is_unicode = PyUnicode_CheckExact(s2); -#if PY_MAJOR_VERSION < 3 - if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { - owned_ref = PyUnicode_FromObject(s2); - if (unlikely(!owned_ref)) - return -1; - s2 = owned_ref; - s2_is_unicode = 1; - } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { - owned_ref = PyUnicode_FromObject(s1); - if (unlikely(!owned_ref)) - return -1; - s1 = owned_ref; - s1_is_unicode = 1; - } else if (((!s2_is_unicode) & (!s1_is_unicode))) { - return __Pyx_PyBytes_Equals(s1, s2, equals); +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); } #endif - if (s1_is_unicode & s2_is_unicode) { - Py_ssize_t length; - int kind; - void *data1, *data2; - if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) - return -1; - length = __Pyx_PyUnicode_GET_LENGTH(s1); - if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { - goto return_ne; - } -#if CYTHON_USE_UNICODE_INTERNALS - { - Py_hash_t hash1, hash2; - #if CYTHON_PEP393_ENABLED - hash1 = ((PyASCIIObject*)s1)->hash; - hash2 = ((PyASCIIObject*)s2)->hash; - #else - hash1 = ((PyUnicodeObject*)s1)->hash; - hash2 = ((PyUnicodeObject*)s2)->hash; - #endif - if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { - goto return_ne; - } - } +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); #endif - kind = __Pyx_PyUnicode_KIND(s1); - if (kind != __Pyx_PyUnicode_KIND(s2)) { - goto return_ne; - } - data1 = __Pyx_PyUnicode_DATA(s1); - data2 = __Pyx_PyUnicode_DATA(s2); - if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { - goto return_ne; - } else if (length == 1) { - goto return_eq; - } else { - int result = memcmp(data1, data2, (size_t)(length * kind)); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ) ? (result == 0) : (result != 0); - } - } else if ((s1 == Py_None) & s2_is_unicode) { - goto return_ne; - } else if ((s2 == Py_None) & s1_is_unicode) { - goto return_ne; + return __Pyx_GetBuiltinName(name); +} + +/* PyCFunctionFastCall */ + #if CYTHON_FAST_PYCCALL +static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) { + PyCFunctionObject *func = (PyCFunctionObject*)func_obj; + PyCFunction meth = PyCFunction_GET_FUNCTION(func); + PyObject *self = PyCFunction_GET_SELF(func); + int flags = PyCFunction_GET_FLAGS(func); + assert(PyCFunction_Check(func)); + assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS))); + assert(nargs >= 0); + assert(nargs == 0 || args != NULL); + /* _PyCFunction_FastCallDict() must not be called with an exception set, + because it may clear it (directly or indirectly) and so the + caller loses its exception */ + assert(!PyErr_Occurred()); + if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) { + return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL); } else { - int result; - PyObject* py_result = PyObject_RichCompare(s1, s2, equals); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - if (!py_result) - return -1; - result = __Pyx_PyObject_IsTrue(py_result); - Py_DECREF(py_result); - return result; + return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs); } -return_eq: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_EQ); -return_ne: - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(owned_ref); - #endif - return (equals == Py_NE); -#endif } +#endif -/* None */ - static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { - Py_ssize_t q = a / b; - Py_ssize_t r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; +/* PyFunctionFastCall */ + #if CYTHON_FAST_PYCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; } - -/* GetAttr */ - static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { -#if CYTHON_USE_TYPE_SLOTS +#if 1 || PY_VERSION_HEX < 0x030600B1 +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; #if PY_MAJOR_VERSION >= 3 - if (likely(PyUnicode_Check(n))) -#else - if (likely(PyString_Check(n))) + PyObject *kwdefs; #endif - return __Pyx_PyObject_GetAttrStr(o, n); + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + if (Py_EnterRecursiveCall((char*)" while calling a Python object")) { + return NULL; + } + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && #endif - return PyObject_GetAttr(o, n); -} - -/* GetItemInt */ - static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { - PyObject *r; - if (!j) return NULL; - r = PyObject_GetItem(o, j); - Py_DECREF(j); - return r; -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyList_GET_SIZE(o); + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { - PyObject *r = PyList_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -#else - return PySequence_GetItem(o, i); + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); #endif -} -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - Py_ssize_t wrapped_i = i; - if (wraparound & unlikely(i < 0)) { - wrapped_i += PyTuple_GET_SIZE(o); + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); } - if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); - Py_INCREF(r); - return r; + else { + d = NULL; + nd = 0; } - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); #else - return PySequence_GetItem(o, i); + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); #endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; } -static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, - CYTHON_NCP_UNUSED int wraparound, - CYTHON_NCP_UNUSED int boundscheck) { -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS - if (is_list || PyList_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } +#endif +#endif + +/* PyObjectCall */ + #if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = func->ob_type->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; - if (likely(m && m->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { - Py_ssize_t l = m->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return m->sq_item(o, i); - } + return result; +} +#endif + +/* PyObjectCall2Args */ + static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args, *result = NULL; + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyFunction_FastCall(function, args, 2); } -#else - if (is_list || PySequence_Check(o)) { - return PySequence_GetItem(o, i); + #endif + #if CYTHON_FAST_PYCCALL + if (__Pyx_PyFastCFunction_Check(function)) { + PyObject *args[2] = {arg1, arg2}; + return __Pyx_PyCFunction_FastCall(function, args, 2); } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); + #endif + args = PyTuple_New(2); + if (unlikely(!args)) goto done; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + Py_INCREF(function); + result = __Pyx_PyObject_Call(function, args, NULL); + Py_DECREF(args); + Py_DECREF(function); +done: + return result; } -/* ObjectGetItem */ - #if CYTHON_USE_TYPE_SLOTS -static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { - PyObject *runerr; - Py_ssize_t key_value; - PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; - if (unlikely(!(m && m->sq_item))) { - PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); +/* PyObjectCallMethO */ + #if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = PyCFunction_GET_FUNCTION(func); + self = PyCFunction_GET_SELF(func); + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) return NULL; + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); } - key_value = __Pyx_PyIndex_AsSsize_t(index); - if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { - return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + return result; +} +#endif + +/* PyObjectCallOneArg */ + #if CYTHON_COMPILING_IN_CPYTHON +static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_New(1); + if (unlikely(!args)) return NULL; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { +#if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCall(func, &arg, 1); } - if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { - PyErr_Clear(); - PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); +#endif + if (likely(PyCFunction_Check(func))) { + if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) { + return __Pyx_PyObject_CallMethO(func, arg); +#if CYTHON_FAST_PYCCALL + } else if (PyCFunction_GET_FLAGS(func) & METH_FASTCALL) { + return __Pyx_PyCFunction_FastCall(func, &arg, 1); +#endif + } } - return NULL; + return __Pyx__PyObject_CallOneArg(func, arg); } -static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { - PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; - if (likely(m && m->mp_subscript)) { - return m->mp_subscript(obj, key); - } - return __Pyx_PyObject_GetIndex(obj, key); +#else +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *result; + PyObject *args = PyTuple_Pack(1, arg); + if (unlikely(!args)) return NULL; + result = __Pyx_PyObject_Call(func, args, NULL); + Py_DECREF(args); + return result; } #endif -/* decode_c_string */ - static CYTHON_INLINE PyObject* __Pyx_decode_c_string( - const char* cstring, Py_ssize_t start, Py_ssize_t stop, - const char* encoding, const char* errors, - PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { - Py_ssize_t length; - if (unlikely((start < 0) | (stop < 0))) { - size_t slen = strlen(cstring); - if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, - "c-string too long to convert to Python"); - return NULL; - } - length = (Py_ssize_t) slen; - if (start < 0) { - start += length; - if (start < 0) - start = 0; - } - if (stop < 0) - stop += length; +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; } - if (unlikely(stop <= start)) - return __Pyx_NewRef(__pyx_empty_unicode); - length = stop - start; - cstring += start; - if (decode_func) { - return decode_func(cstring, length, errors); + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } } else { - return PyUnicode_Decode(cstring, length, encoding, errors); + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } } -} - -/* PyErrExceptionMatches */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; ishape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } } -#endif - for (i=0; imemview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); } - return 0; -} -static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err) { - PyObject *exc_type = tstate->curexc_type; - if (exc_type == err) return 1; - if (unlikely(!exc_type)) return 0; - if (unlikely(PyTuple_Check(err))) - return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); - return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; } +#ifndef Py_NO_RETURN +#define Py_NO_RETURN #endif - -/* GetAttr3 */ - static PyObject *__Pyx_GetAttr3Default(PyObject *d) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - __Pyx_PyErr_Clear(); - Py_INCREF(d); - return d; +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#ifdef HAVE_STDARG_PROTOTYPES + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); } -static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { - PyObject *r = __Pyx_GetAttr(o, n); - return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; } - -/* RaiseTooManyValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { - PyErr_Format(PyExc_ValueError, - "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; } - -/* RaiseNeedMoreValuesToUnpack */ - static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { - PyErr_Format(PyExc_ValueError, - "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", - index, (index == 1) ? "" : "s"); +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + int first_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) + return; + if (unlikely(__pyx_get_slice_count(memview) < 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + first_time = __pyx_add_acquisition_count(memview) == 0; + if (unlikely(first_time)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } } - -/* RaiseNoneIterError */ - static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { - PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + int last_time; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + if (unlikely(__pyx_get_slice_count(memview) <= 0)) + __pyx_fatalerror("Acquisition count is %d (line %d)", + __pyx_get_slice_count(memview), lineno); + last_time = __pyx_sub_acquisition_count(memview) == 1; + memslice->data = NULL; + if (unlikely(last_time)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + memslice->memview = NULL; + } } -/* ExtTypeTest */ - static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { +/* ArgTypeTest */ + static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ if (unlikely(!type)) { PyErr_SetString(PyExc_SystemError, "Missing type object"); return 0; } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", - Py_TYPE(obj)->tp_name, type->tp_name); - return 0; -} - -/* GetTopmostException */ - #if CYTHON_USE_EXC_INFO_STACK -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif } - return exc_info; + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)", + name, type->tp_name, Py_TYPE(obj)->tp_name); + return 0; } -#endif -/* SaveResetException */ +/* PyErrFetchRestore */ #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - #endif - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; Py_XDECREF(tmp_type); Py_XDECREF(tmp_value); Py_XDECREF(tmp_tb); } -#endif - -/* GetException */ - #if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type, *local_value, *local_tb; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; tstate->curexc_type = 0; tstate->curexc_value = 0; tstate->curexc_traceback = 0; -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); +} #endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) + +/* RaiseException */ + #if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, + CYTHON_UNUSED PyObject *cause) { + __Pyx_PyThreadState_declare + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } #endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); + PyErr_SetObject(type, value); + if (tb) { +#if CYTHON_COMPILING_IN_PYPY + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#else + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* BytesEquals */ + static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); #else - PyErr_SetExcInfo(local_type, local_value, local_tb); + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } #endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; } -/* SwapException */ - #if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = *type; - exc_info->exc_value = *value; - exc_info->exc_traceback = *tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = *type; - tstate->exc_value = *value; - tstate->exc_traceback = *tb; - #endif - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} +/* UnicodeEquals */ + static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY + return PyObject_RichCompareBool(s1, s2, equals); #else -static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); - PyErr_SetExcInfo(*type, *value, *tb); - *type = tmp_type; - *value = tmp_value; - *tb = tmp_tb; -} +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; #endif - -/* Import */ - static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *empty_list = 0; - PyObject *module = 0; - PyObject *global_dict = 0; - PyObject *empty_dict = 0; - PyObject *list; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (!py_import) - goto bad; - #endif - if (from_list) - list = from_list; - else { - empty_list = PyList_New(0); - if (!empty_list) - goto bad; - list = empty_list; + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; } - global_dict = PyModule_GetDict(__pyx_m); - if (!global_dict) - goto bad; - empty_dict = PyDict_New(); - if (!empty_dict) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, 1); - if (!module) { - if (!PyErr_ExceptionMatches(PyExc_ImportError)) - goto bad; - PyErr_Clear(); - } - } - level = 0; + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; #endif - if (!module) { + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (!py_level) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, global_dict, empty_dict, list, level); + Py_XDECREF(owned_ref); #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; } -bad: +return_eq: #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); + Py_XDECREF(owned_ref); #endif - Py_XDECREF(empty_list); - Py_XDECREF(empty_dict); - return module; + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif } -/* FastTypeChecks */ - #if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = a->tp_base; - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; +/* None */ + static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; } -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); + +/* GetAttr */ + static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); } -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; + +/* GetItemInt */ + static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (!j) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; } - __Pyx_ErrRestore(exception, value, tb); - return res; -} + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); #else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; - if (!res) { - res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } - return res; -} + return PySequence_GetItem(o, i); #endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; } } - return 0; -} -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject* exc_type) { - if (likely(err == exc_type)) return 1; - if (likely(PyExceptionClass_Check(err))) { - if (likely(PyExceptionClass_Check(exc_type))) { - return __Pyx_inner_PyErr_GivenExceptionMatches2(err, NULL, exc_type); - } else if (likely(PyTuple_Check(exc_type))) { - return __Pyx_PyErr_GivenExceptionMatchesTuple(err, exc_type); - } else { + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence; + if (likely(m && m->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(m->sq_length)) { + Py_ssize_t l = m->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return m->sq_item(o, i); } } - return PyErr_GivenExceptionMatches(err, exc_type); -} -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *exc_type1, PyObject *exc_type2) { - assert(PyExceptionClass_Check(exc_type1)); - assert(PyExceptionClass_Check(exc_type2)); - if (likely(err == exc_type1 || err == exc_type2)) return 1; - if (likely(PyExceptionClass_Check(err))) { - return __Pyx_inner_PyErr_GivenExceptionMatches2(err, exc_type1, exc_type2); +#else + if (is_list || PySequence_Check(o)) { + return PySequence_GetItem(o, i); } - return (PyErr_GivenExceptionMatches(err, exc_type1) || PyErr_GivenExceptionMatches(err, exc_type2)); -} #endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} -/* PyIntBinop */ - #if !CYTHON_COMPILING_IN_PYPY -static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { - (void)inplace; - (void)zerodivision_check; - #if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(op1))) { - const long b = intval; - long x; - long a = PyInt_AS_LONG(op1); - x = (long)((unsigned long)a + b); - if (likely((x^a) >= 0 || (x^b) >= 0)) - return PyInt_FromLong(x); - return PyLong_Type.tp_as_number->nb_add(op1, op2); +/* ObjectGetItem */ + #if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) { + PyObject *runerr; + Py_ssize_t key_value; + PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence; + if (unlikely(!(m && m->sq_item))) { + PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name); + return NULL; } - #endif - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(PyLong_CheckExact(op1))) { - const long b = intval; - long a, x; -#ifdef HAVE_LONG_LONG - const PY_LONG_LONG llb = intval; - PY_LONG_LONG lla, llx; -#endif - const digit* digits = ((PyLongObject*)op1)->ob_digit; - const Py_ssize_t size = Py_SIZE(op1); - if (likely(__Pyx_sst_abs(size) <= 1)) { - a = likely(size) ? digits[0] : 0; - if (size == -1) a = -a; - } else { - switch (size) { - case -2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 2: - if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { - a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 3: - if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { - a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case -4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; -#endif - } - CYTHON_FALLTHROUGH; - case 4: - if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { - a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); - break; -#ifdef HAVE_LONG_LONG - } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { - lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); - goto long_long; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) { + PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping; + if (likely(m && m->mp_subscript)) { + return m->mp_subscript(obj, key); + } + return __Pyx_PyObject_GetIndex(obj, key); +} #endif - } - CYTHON_FALLTHROUGH; - default: return PyLong_Type.tp_as_number->nb_add(op1, op2); - } + +/* decode_c_string */ + static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + Py_ssize_t length; + if (unlikely((start < 0) | (stop < 0))) { + size_t slen = strlen(cstring); + if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, + "c-string too long to convert to Python"); + return NULL; } - x = a + b; - return PyLong_FromLong(x); -#ifdef HAVE_LONG_LONG - long_long: - llx = lla + llb; - return PyLong_FromLongLong(llx); -#endif - - + length = (Py_ssize_t) slen; + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; } - #endif - if (PyFloat_CheckExact(op1)) { - const long b = intval; - double a = PyFloat_AS_DOUBLE(op1); - double result; - PyFPE_START_PROTECT("add", return NULL) - result = ((double)a) + (double)b; - PyFPE_END_PROTECT(result) - return PyFloat_FromDouble(result); + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); } - return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} + +/* PyErrExceptionMatches */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; icurexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; + if (unlikely(PyTuple_Check(err))) + return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + return __Pyx_PyErr_GivenExceptionMatches(exc_type, err); } #endif -/* None */ - static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { - PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +/* GetAttr3 */ + static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r = __Pyx_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); } -/* None */ - static CYTHON_INLINE long __Pyx_div_long(long a, long b) { - long q = a / b; - long r = a - q*b; - q -= ((r != 0) & ((r ^ b) < 0)); - return q; +/* RaiseTooManyValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); } -/* ImportFrom */ - static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { - PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); - if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { - PyErr_Format(PyExc_ImportError, - #if PY_MAJOR_VERSION < 3 - "cannot import name %.230s", PyString_AS_STRING(name)); - #else - "cannot import name %S", name); - #endif - } - return value; +/* RaiseNeedMoreValuesToUnpack */ + static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); } -/* HasAttr */ - static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { - PyObject *r; - if (unlikely(!__Pyx_PyBaseString_Check(n))) { - PyErr_SetString(PyExc_TypeError, - "hasattr(): attribute name must be string"); - return -1; - } - r = __Pyx_GetAttr(o, n); - if (unlikely(!r)) { - PyErr_Clear(); +/* RaiseNoneIterError */ + static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ + static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); return 0; - } else { - Py_DECREF(r); + } + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s", + Py_TYPE(obj)->tp_name, type->tp_name); + return 0; +} + +/* GetTopmostException */ + #if CYTHON_USE_EXC_INFO_STACK +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; } + return exc_info; } +#endif -/* PyObject_GenericGetAttrNoDict */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { - PyErr_Format(PyExc_AttributeError, -#if PY_MAJOR_VERSION >= 3 - "'%.50s' object has no attribute '%U'", - tp->tp_name, attr_name); +/* SaveResetException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + #endif + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +} +#endif + +/* GetException */ + #if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) #else - "'%.50s' object has no attribute '%.400s'", - tp->tp_name, PyString_AS_STRING(attr_name)); +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) #endif - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { - PyObject *descr; - PyTypeObject *tp = Py_TYPE(obj); - if (unlikely(!PyString_Check(attr_name))) { - return PyObject_GenericGetAttr(obj, attr_name); - } - assert(!tp->tp_dictoffset); - descr = _PyType_Lookup(tp, attr_name); - if (unlikely(!descr)) { - return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); +{ + PyObject *local_type, *local_value, *local_tb; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; } - Py_INCREF(descr); - #if PY_MAJOR_VERSION < 3 - if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK { - descrgetfunc f = Py_TYPE(descr)->tp_descr_get; - if (unlikely(f)) { - PyObject *res = f(descr, obj, (PyObject *)tp); - Py_DECREF(descr); - return res; - } - } - return descr; -} -#endif - -/* PyObject_GenericGetAttr */ - #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 -static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { - if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { - return PyObject_GenericGetAttr(obj, attr_name); + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; } - return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); -} -#endif - -/* SetVTable */ - static int __Pyx_SetVtable(PyObject *dict, void *vtable) { -#if PY_VERSION_HEX >= 0x02070000 - PyObject *ob = PyCapsule_New(vtable, 0, 0); + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); #else - PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); + PyErr_SetExcInfo(local_type, local_value, local_tb); #endif - if (!ob) - goto bad; - if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) - goto bad; - Py_DECREF(ob); return 0; bad: - Py_XDECREF(ob); + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); return -1; } -/* PyObjectGetAttrStrNoError */ - static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -} - -/* SetupReduce */ - static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { - int ret; - PyObject *name_attr; - name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); - if (likely(name_attr)) { - ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); - } else { - ret = -1; - } - if (unlikely(ret < 0)) { - PyErr_Clear(); - ret = 0; - } - Py_XDECREF(name_attr); - return ret; +/* SwapException */ + #if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; } -static int __Pyx_setup_reduce(PyObject* type_obj) { - int ret = 0; - PyObject *object_reduce = NULL; - PyObject *object_reduce_ex = NULL; - PyObject *reduce = NULL; - PyObject *reduce_ex = NULL; - PyObject *reduce_cython = NULL; - PyObject *setstate = NULL; - PyObject *setstate_cython = NULL; -#if CYTHON_USE_PYTYPE_LOOKUP - if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#else - if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; -#endif -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#else - object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; -#endif - reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; - if (reduce_ex == object_reduce_ex) { -#if CYTHON_USE_PYTYPE_LOOKUP - object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; #else - object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} #endif - reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; - if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { - reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); - if (likely(reduce_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (reduce == object_reduce || PyErr_Occurred()) { - goto __PYX_BAD; - } - setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); - if (!setstate) PyErr_Clear(); - if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { - setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); - if (likely(setstate_cython)) { - ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; - } else if (!setstate || PyErr_Occurred()) { - goto __PYX_BAD; + +/* Import */ + static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *empty_list = 0; + PyObject *module = 0; + PyObject *global_dict = 0; + PyObject *empty_dict = 0; + PyObject *list; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (!py_import) + goto bad; + #endif + if (from_list) + list = from_list; + else { + empty_list = PyList_New(0); + if (!empty_list) + goto bad; + list = empty_list; + } + global_dict = PyModule_GetDict(__pyx_m); + if (!global_dict) + goto bad; + empty_dict = PyDict_New(); + if (!empty_dict) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) { + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, 1); + if (!module) { + if (!PyErr_ExceptionMatches(PyExc_ImportError)) + goto bad; + PyErr_Clear(); } } - PyType_Modified((PyTypeObject*)type_obj); - } - } - goto __PYX_GOOD; -__PYX_BAD: - if (!PyErr_Occurred()) - PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); - ret = -1; -__PYX_GOOD: -#if !CYTHON_USE_PYTYPE_LOOKUP - Py_XDECREF(object_reduce); - Py_XDECREF(object_reduce_ex); -#endif - Py_XDECREF(reduce); - Py_XDECREF(reduce_ex); - Py_XDECREF(reduce_cython); - Py_XDECREF(setstate); - Py_XDECREF(setstate_cython); - return ret; -} - -/* CalculateMetaclass */ - static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { - Py_ssize_t i, nbases = PyTuple_GET_SIZE(bases); - for (i=0; i < nbases; i++) { - PyTypeObject *tmptype; - PyObject *tmp = PyTuple_GET_ITEM(bases, i); - tmptype = Py_TYPE(tmp); -#if PY_MAJOR_VERSION < 3 - if (tmptype == &PyClass_Type) - continue; -#endif - if (!metaclass) { - metaclass = tmptype; - continue; + level = 0; } - if (PyType_IsSubtype(metaclass, tmptype)) - continue; - if (PyType_IsSubtype(tmptype, metaclass)) { - metaclass = tmptype; - continue; + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (!py_level) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, global_dict, empty_dict, list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, global_dict, empty_dict, list, level); + #endif } - PyErr_SetString(PyExc_TypeError, - "metaclass conflict: " - "the metaclass of a derived class " - "must be a (non-strict) subclass " - "of the metaclasses of all its bases"); - return NULL; - } - if (!metaclass) { -#if PY_MAJOR_VERSION < 3 - metaclass = &PyClass_Type; -#else - metaclass = &PyType_Type; -#endif } - Py_INCREF((PyObject*) metaclass); - return (PyObject*) metaclass; +bad: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + Py_XDECREF(empty_list); + Py_XDECREF(empty_dict); + return module; } -/* Py3ClassCreate */ - static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, - PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { - PyObject *ns; - if (metaclass) { - PyObject *prep = __Pyx_PyObject_GetAttrStr(metaclass, __pyx_n_s_prepare); - if (prep) { - PyObject *pargs = PyTuple_Pack(2, name, bases); - if (unlikely(!pargs)) { - Py_DECREF(prep); - return NULL; - } - ns = PyObject_Call(prep, pargs, mkw); - Py_DECREF(prep); - Py_DECREF(pargs); - } else { - if (unlikely(!PyErr_ExceptionMatches(PyExc_AttributeError))) - return NULL; - PyErr_Clear(); - ns = PyDict_New(); - } - } else { - ns = PyDict_New(); +/* FastTypeChecks */ + #if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = a->tp_base; + if (a == b) + return 1; } - if (unlikely(!ns)) - return NULL; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; - if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; - if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; - return ns; -bad: - Py_DECREF(ns); - return NULL; + return b == &PyBaseObject_Type; } -static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, - PyObject *dict, PyObject *mkw, - int calculate_metaclass, int allow_py2_metaclass) { - PyObject *result, *margs; - PyObject *owned_metaclass = NULL; - if (allow_py2_metaclass) { - owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); - if (owned_metaclass) { - metaclass = owned_metaclass; - } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { - PyErr_Clear(); - } else { - return NULL; +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; } + return 0; } - if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { - metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); - Py_XDECREF(owned_metaclass); - if (unlikely(!metaclass)) - return NULL; - owned_metaclass = metaclass; + return __Pyx_InBases(a, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; } - margs = PyTuple_Pack(3, name, bases, dict); - if (unlikely(!margs)) { - result = NULL; - } else { - result = PyObject_Call(metaclass, margs, mkw); - Py_DECREF(margs); + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } } - Py_XDECREF(owned_metaclass); - return result; + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0; + if (!res) { + res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } + return res; } - -/* CLineInTraceback */ - #ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; #endif - if (unlikely(!__pyx_cython_runtime)) { - return c_line; +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0 && code_line > entries[end].code_line) { - return count; +/* PyIntBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) { + (void)inplace; + (void)zerodivision_check; + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long x; + long a = PyInt_AS_LONG(op1); + x = (long)((unsigned long)a + b); + if (likely((x^a) >= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + const digit* digits = ((PyLongObject*)op1)->ob_digit; + const Py_ssize_t size = Py_SIZE(op1); + if (likely(__Pyx_sst_abs(size) <= 1)) { + a = likely(size) ? digits[0] : 0; + if (size == -1) a = -a; } else { - return mid; + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; +#ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; +#endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; + double a = PyFloat_AS_DOUBLE(op1); + double result; + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); } -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; +#endif + +/* None */ + static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); } -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); + +/* None */ + static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; } -/* AddTraceback */ - #include "compile.h" -#include "frameobject.h" -#include "traceback.h" -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyObject *py_srcfile = 0; - PyObject *py_funcname = 0; - #if PY_MAJOR_VERSION < 3 - py_srcfile = PyString_FromString(filename); - #else - py_srcfile = PyUnicode_FromString(filename); - #endif - if (!py_srcfile) goto bad; - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - #endif - } - else { +/* ImportFrom */ + static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Format(PyExc_ImportError, #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); + "cannot import name %.230s", PyString_AS_STRING(name)); #else - py_funcname = PyUnicode_FromString(funcname); + "cannot import name %S", name); #endif } - if (!py_funcname) goto bad; - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - Py_DECREF(py_funcname); - return py_code; -bad: - Py_XDECREF(py_srcfile); - Py_XDECREF(py_funcname); - return NULL; + return value; } -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); + +/* HasAttr */ + static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) goto bad; - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + r = __Pyx_GetAttr(o, n); + if (unlikely(!r)) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); } -#if PY_MAJOR_VERSION < 3 -static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { - if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); - if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); - PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); - return -1; +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'%.50s' object has no attribute '%U'", + tp->tp_name, attr_name); +#else + "'%.50s' object has no attribute '%.400s'", + tp->tp_name, PyString_AS_STRING(attr_name)); +#endif + return NULL; } -static void __Pyx_ReleaseBuffer(Py_buffer *view) { - PyObject *obj = view->obj; - if (!obj) return; - if (PyObject_CheckBuffer(obj)) { - PyBuffer_Release(view); - return; +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); } - if ((0)) {} - view->obj = NULL; - Py_DECREF(obj); -} -#endif - - - /* MemviewSliceIsContig */ - static int -__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) -{ - int i, index, step, start; - Py_ssize_t itemsize = mvs.memview->view.itemsize; - if (order == 'F') { - step = 1; - start = 0; - } else { - step = -1; - start = ndim - 1; + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); } - for (i = 0; i < ndim; i++) { - index = start + step * i; - if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) - return 0; - itemsize *= mvs.shape[index]; + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } } - return 1; + return descr; } +#endif -/* OverlappingSlices */ - static void -__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, - void **out_start, void **out_end, - int ndim, size_t itemsize) -{ - char *start, *end; - int i; - start = end = slice->data; - for (i = 0; i < ndim; i++) { - Py_ssize_t stride = slice->strides[i]; - Py_ssize_t extent = slice->shape[i]; - if (extent == 0) { - *out_start = *out_end = start; - return; - } else { - if (stride > 0) - end += stride * (extent - 1); - else - start += stride * (extent - 1); - } +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); } - *out_start = start; - *out_end = end + itemsize; -} -static int -__pyx_slices_overlap(__Pyx_memviewslice *slice1, - __Pyx_memviewslice *slice2, - int ndim, size_t itemsize) -{ - void *start1, *end1, *start2, *end2; - __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); - __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); - return (start1 < end2) && (start2 < end1); + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); } +#endif -/* Capsule */ - static CYTHON_INLINE PyObject * -__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) -{ - PyObject *cobj; +/* SetVTable */ + static int __Pyx_SetVtable(PyObject *dict, void *vtable) { #if PY_VERSION_HEX >= 0x02070000 - cobj = PyCapsule_New(p, sig, NULL); + PyObject *ob = PyCapsule_New(vtable, 0, 0); #else - cobj = PyCObject_FromVoidPtr(p, NULL); + PyObject *ob = PyCObject_FromVoidPtr(vtable, 0); #endif - return cobj; + if (!ob) + goto bad; + if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0) + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; } -/* CIntFromPyVerify */ - #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ +/* PyObjectGetAttrStrNoError */ + static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); } - -/* IsLittleEndian */ - static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) -{ - union { - uint32_t u32; - uint8_t u8[4]; - } S; - S.u32 = 0x01020304; - return S.u8[0] == 4; +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; } -/* BufferFormatCheck */ - static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, - __Pyx_BufFmt_StackElem* stack, - __Pyx_TypeInfo* type) { - stack[0].field = &ctx->root; - stack[0].parent_offset = 0; - ctx->root.type = type; - ctx->root.name = "buffer dtype"; - ctx->root.offset = 0; - ctx->head = stack; - ctx->head->field = &ctx->root; - ctx->fmt_offset = 0; - ctx->head->parent_offset = 0; - ctx->new_packmode = '@'; - ctx->enc_packmode = '@'; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->is_complex = 0; - ctx->is_valid_array = 0; - ctx->struct_alignment = 0; - while (type->typegroup == 'S') { - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = 0; - type = type->fields->type; +/* SetupReduce */ + static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#else + if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD; +#endif +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) + PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name); + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; } -static int __Pyx_BufFmt_ParseNumber(const char** ts) { - int count; - const char* t = *ts; - if (*t < '0' || *t > '9') { - return -1; - } else { - count = *t++ - '0'; - while (*t >= '0' && *t <= '9') { - count *= 10; - count += *t++ - '0'; +#endif + +/* CodeObjectCache */ + static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; } } - *ts = t; - return count; -} -static int __Pyx_BufFmt_ExpectNumber(const char **ts) { - int number = __Pyx_BufFmt_ParseNumber(ts); - if (number == -1) - PyErr_Format(PyExc_ValueError,\ - "Does not understand character buffer dtype format string ('%c')", **ts); - return number; -} -static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { - PyErr_Format(PyExc_ValueError, - "Unexpected format string character: '%c'", ch); -} -static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { - switch (ch) { - case '?': return "'bool'"; - case 'c': return "'char'"; - case 'b': return "'signed char'"; - case 'B': return "'unsigned char'"; - case 'h': return "'short'"; - case 'H': return "'unsigned short'"; - case 'i': return "'int'"; - case 'I': return "'unsigned int'"; - case 'l': return "'long'"; - case 'L': return "'unsigned long'"; - case 'q': return "'long long'"; - case 'Q': return "'unsigned long long'"; - case 'f': return (is_complex ? "'complex float'" : "'float'"); - case 'd': return (is_complex ? "'complex double'" : "'double'"); - case 'g': return (is_complex ? "'complex long double'" : "'long double'"); - case 'T': return "a struct"; - case 'O': return "Python object"; - case 'P': return "a pointer"; - case 's': case 'p': return "a string"; - case 0: return "end"; - default: return "unparseable format string"; - } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } } -static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return 2; - case 'i': case 'I': case 'l': case 'L': return 4; - case 'q': case 'Q': return 8; - case 'f': return (is_complex ? 8 : 4); - case 'd': return (is_complex ? 16 : 8); - case 'g': { - PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); - return 0; +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; } - case 'O': case 'P': return sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; } -static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(short); - case 'i': case 'I': return sizeof(int); - case 'l': case 'L': return sizeof(long); - #ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(PY_LONG_LONG); - #endif - case 'f': return sizeof(float) * (is_complex ? 2 : 1); - case 'd': return sizeof(double) * (is_complex ? 2 : 1); - case 'g': return sizeof(long double) * (is_complex ? 2 : 1); - case 'O': case 'P': return sizeof(void*); - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; } - } -} -typedef struct { char c; short x; } __Pyx_st_short; -typedef struct { char c; int x; } __Pyx_st_int; -typedef struct { char c; long x; } __Pyx_st_long; -typedef struct { char c; float x; } __Pyx_st_float; -typedef struct { char c; double x; } __Pyx_st_double; -typedef struct { char c; long double x; } __Pyx_st_longdouble; -typedef struct { char c; void *x; } __Pyx_st_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_st_float) - sizeof(float); - case 'd': return sizeof(__Pyx_st_double) - sizeof(double); - case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; } -} -/* These are for computing the padding at the end of the struct to align - on the first member of the struct. This will probably the same as above, - but we don't have any guarantees. - */ -typedef struct { short x; char c; } __Pyx_pad_short; -typedef struct { int x; char c; } __Pyx_pad_int; -typedef struct { long x; char c; } __Pyx_pad_long; -typedef struct { float x; char c; } __Pyx_pad_float; -typedef struct { double x; char c; } __Pyx_pad_double; -typedef struct { long double x; char c; } __Pyx_pad_longdouble; -typedef struct { void *x; char c; } __Pyx_pad_void_p; -#ifdef HAVE_LONG_LONG -typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; -#endif -static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { - switch (ch) { - case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; - case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); - case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); - case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); -#ifdef HAVE_LONG_LONG - case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); -#endif - case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); - case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); - case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); - case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); - default: - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); } -static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { - switch (ch) { - case 'c': - return 'H'; - case 'b': case 'h': case 'i': - case 'l': case 'q': case 's': case 'p': - return 'I'; - case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': - return 'U'; - case 'f': case 'd': case 'g': - return (is_complex ? 'C' : 'R'); - case 'O': - return 'O'; - case 'P': - return 'P'; - default: { - __Pyx_BufFmt_RaiseUnexpectedChar(ch); - return 0; + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyObject *py_srcfile = 0; + PyObject *py_funcname = 0; + #if PY_MAJOR_VERSION < 3 + py_srcfile = PyString_FromString(filename); + #else + py_srcfile = PyUnicode_FromString(filename); + #endif + if (!py_srcfile) goto bad; + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + #endif } - } -} -static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { - if (ctx->head == NULL || ctx->head->field == &ctx->root) { - const char* expected; - const char* quote; - if (ctx->head == NULL) { - expected = "end"; - quote = ""; - } else { - expected = ctx->head->field->type->name; - quote = "'"; + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + #else + py_funcname = PyUnicode_FromString(funcname); + #endif } - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected %s%s%s but got %s", - quote, expected, quote, - __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); - } else { - __Pyx_StructField* field = ctx->head->field; - __Pyx_StructField* parent = (ctx->head - 1)->field; - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", - field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), - parent->type->name, field->name); - } + if (!py_funcname) goto bad; + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + Py_DECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_srcfile); + Py_XDECREF(py_funcname); + return NULL; } -static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { - char group; - size_t size, offset, arraysize = 1; - if (ctx->enc_type == 0) return 0; - if (ctx->head->field->type->arraysize[0]) { - int i, ndim = 0; - if (ctx->enc_type == 's' || ctx->enc_type == 'p') { - ctx->is_valid_array = ctx->head->field->type->ndim == 1; - ndim = 1; - if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { - PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %zu", - ctx->head->field->type->arraysize[0], ctx->enc_count); - return -1; - } +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); } - if (!ctx->is_valid_array) { - PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", - ctx->head->field->type->ndim, ndim); - return -1; + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) goto bad; + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); } - for (i = 0; i < ctx->head->field->type->ndim; i++) { - arraysize *= ctx->head->field->type->arraysize[i]; + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; } - ctx->is_valid_array = 0; - ctx->enc_count = 1; - } - group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); - do { - __Pyx_StructField* field = ctx->head->field; - __Pyx_TypeInfo* type = field->type; - if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { - size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; } else { - size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); - } - if (ctx->enc_packmode == '@') { - size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); - size_t align_mod_offset; - if (align_at == 0) return -1; - align_mod_offset = ctx->fmt_offset % align_at; - if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; - if (ctx->struct_alignment == 0) - ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, - ctx->is_complex); - } - if (type->size != size || type->typegroup != group) { - if (type->typegroup == 'C' && type->fields != NULL) { - size_t parent_offset = ctx->head->parent_offset + field->offset; - ++ctx->head; - ctx->head->field = type->fields; - ctx->head->parent_offset = parent_offset; - continue; - } - if ((type->typegroup == 'H' || group == 'H') && type->size == size) { - } else { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; - } + step = -1; + start = ndim - 1; } - offset = ctx->head->parent_offset + field->offset; - if (ctx->fmt_offset != offset) { - PyErr_Format(PyExc_ValueError, - "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", - (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); - return -1; + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; } - ctx->fmt_offset += size; - if (arraysize) - ctx->fmt_offset += (arraysize - 1) * size; - --ctx->enc_count; - while (1) { - if (field == &ctx->root) { - ctx->head = NULL; - if (ctx->enc_count != 0) { - __Pyx_BufFmt_RaiseExpected(ctx); - return -1; + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); } - break; - } - ctx->head->field = ++field; - if (field->type == NULL) { - --ctx->head; - field = ctx->head->field; - continue; - } else if (field->type->typegroup == 'S') { - size_t parent_offset = ctx->head->parent_offset + field->offset; - if (field->type->fields->type == NULL) continue; - field = field->type->fields; - ++ctx->head; - ctx->head->field = field; - ctx->head->parent_offset = parent_offset; - break; - } else { - break; - } } - } while (ctx->enc_count); + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* Capsule */ + static CYTHON_INLINE PyObject * +__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig) +{ + PyObject *cobj; +#if PY_VERSION_HEX >= 0x02070000 + cobj = PyCapsule_New(p, sig, NULL); +#else + cobj = PyCObject_FromVoidPtr(p, NULL); +#endif + return cobj; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* IsLittleEndian */ + static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ + static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; ctx->enc_type = 0; ctx->is_complex = 0; - return 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } } -static PyObject * -__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) -{ - const char *ts = *tsp; - int i = 0, number, ndim; - ++ts; - if (ctx->new_count != 1) { - PyErr_SetString(PyExc_ValueError, - "Cannot handle repeated arrays in format string"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ndim = ctx->head->field->type->ndim; - while (*ts && *ts != ')') { - switch (*ts) { - case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; - default: break; +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; } - number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) - return PyErr_Format(PyExc_ValueError, - "Expected a dimension of size %zu, got %d", - ctx->head->field->type->arraysize[i], number); - if (*ts != ',' && *ts != ')') - return PyErr_Format(PyExc_ValueError, - "Expected a comma in format string, got '%c'", *ts); - if (*ts == ',') ts++; - i++; - } - if (i != ndim) - return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", - ctx->head->field->type->ndim, i); - if (!*ts) { - PyErr_SetString(PyExc_ValueError, - "Unexpected end of format string, expected ')'"); - return NULL; } - ctx->is_valid_array = 1; - ctx->new_count = 1; - *tsp = ++ts; - return Py_None; + *ts = t; + return count; } -static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { - int got_Z = 0; - while (1) { - switch(*ts) { - case 0: - if (ctx->enc_type != 0 && ctx->head == NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - if (ctx->head != NULL) { - __Pyx_BufFmt_RaiseExpected(ctx); - return NULL; - } - return ts; - case ' ': - case '\r': - case '\n': - ++ts; - break; - case '<': - if (!__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '>': - case '!': - if (__Pyx_Is_Little_Endian()) { - PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); - return NULL; - } - ctx->new_packmode = '='; - ++ts; - break; - case '=': - case '@': - case '^': - ctx->new_packmode = *ts++; - break; - case 'T': - { - const char* ts_after_sub; - size_t i, struct_count = ctx->new_count; - size_t struct_alignment = ctx->struct_alignment; - ctx->new_count = 1; - ++ts; - if (*ts != '{') { - PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); - return NULL; - } - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - ctx->enc_count = 0; - ctx->struct_alignment = 0; - ++ts; - ts_after_sub = ts; - for (i = 0; i != struct_count; ++i) { - ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); - if (!ts_after_sub) return NULL; - } - ts = ts_after_sub; - if (struct_alignment) ctx->struct_alignment = struct_alignment; - } - break; - case '}': - { - size_t alignment = ctx->struct_alignment; - ++ts; - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_type = 0; - if (alignment && ctx->fmt_offset % alignment) { - ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); - } - } - return ts; - case 'x': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->fmt_offset += ctx->new_count; - ctx->new_count = 1; - ctx->enc_count = 0; - ctx->enc_type = 0; - ctx->enc_packmode = ctx->new_packmode; - ++ts; - break; - case 'Z': - got_Z = 1; - ++ts; - if (*ts != 'f' && *ts != 'd' && *ts != 'g') { - __Pyx_BufFmt_RaiseUnexpectedChar('Z'); - return NULL; - } - CYTHON_FALLTHROUGH; - case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': - case 'l': case 'L': case 'q': case 'Q': - case 'f': case 'd': case 'g': - case 'O': case 'p': - if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && - (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { - ctx->enc_count += ctx->new_count; - ctx->new_count = 1; - got_Z = 0; - ++ts; - break; - } - CYTHON_FALLTHROUGH; - case 's': - if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; - ctx->enc_count = ctx->new_count; - ctx->enc_packmode = ctx->new_packmode; - ctx->enc_type = *ts; - ctx->is_complex = got_Z; - ++ts; - ctx->new_count = 1; - got_Z = 0; - break; - case ':': - ++ts; - while(*ts != ':') ++ts; - ++ts; - break; - case '(': - if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; - break; - default: - { - int number = __Pyx_BufFmt_ExpectNumber(&ts); - if (number == -1) return NULL; - ctx->new_count = (size_t)number; - } +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparseable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; } } } - -/* TypeInfoCompare */ - static int -__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) -{ - int i; - if (!a || !b) - return 0; - if (a == b) - return 1; - if (a->size != b->size || a->typegroup != b->typegroup || - a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { - if (a->typegroup == 'H' || b->typegroup == 'H') { - return a->size == b->size; - } else { - return 0; - } +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; } - if (a->ndim) { - for (i = 0; i < a->ndim; i++) - if (a->arraysize[i] != b->arraysize[i]) - return 0; +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; } - if (a->typegroup == 'S') { - if (a->flags != b->flags) - return 0; - if (a->fields || b->fields) { - if (!(a->fields && b->fields)) - return 0; - for (i = 0; a->fields[i].type && b->fields[i].type; i++) { - __Pyx_StructField *field_a = a->fields + i; - __Pyx_StructField *field_b = b->fields + i; - if (field_a->offset != field_b->offset || - !__pyx_typeinfo_cmp(field_a->type, field_b->type)) - return 0; - } - return !a->fields[i].type && !b->fields[i].type; - } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; } - return 1; + } } - -/* MemviewSliceValidateAndInit */ - static int -__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) -{ - if (buf->shape[dim] <= 1) - return 1; - if (buf->strides) { - if (spec & __Pyx_MEMVIEW_CONTIG) { - if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { - if (unlikely(buf->strides[dim] != sizeof(void *))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly contiguous " - "in dimension %d.", dim); - goto fail; - } - } else if (unlikely(buf->strides[dim] != buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } - if (spec & __Pyx_MEMVIEW_FOLLOW) { - Py_ssize_t stride = buf->strides[dim]; - if (stride < 0) - stride = -stride; - if (unlikely(stride < buf->itemsize)) { - PyErr_SetString(PyExc_ValueError, - "Buffer and memoryview are not contiguous " - "in the same dimension."); - goto fail; - } - } +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; } else { - if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not contiguous in " - "dimension %d", dim); - goto fail; - } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { - PyErr_Format(PyExc_ValueError, - "C-contiguous buffer is not indirect in " - "dimension %d", dim); - goto fail; - } else if (unlikely(buf->suboffsets)) { - PyErr_SetString(PyExc_ValueError, - "Buffer exposes suboffsets but no strides"); - goto fail; - } + expected = ctx->head->field->type->name; + quote = "'"; } - return 1; -fail: - return 0; -} -static int -__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) -{ - if (spec & __Pyx_MEMVIEW_DIRECT) { - if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { PyErr_Format(PyExc_ValueError, - "Buffer not compatible with direct access " - "in dimension %d.", dim); - goto fail; + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; } } - if (spec & __Pyx_MEMVIEW_PTR) { - if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { - PyErr_Format(PyExc_ValueError, - "Buffer is not indirectly accessible " - "in dimension %d.", dim); - goto fail; - } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; } - return 1; -fail: - return 0; -} -static int -__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) -{ - int i; - if (c_or_f_flag & __Pyx_IS_F_CONTIG) { - Py_ssize_t stride = 1; - for (i = 0; i < ndim; i++) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not fortran contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } - } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { - Py_ssize_t stride = 1; - for (i = ndim - 1; i >- 1; i--) { - if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { - PyErr_SetString(PyExc_ValueError, - "Buffer not C contiguous."); - goto fail; - } - stride = stride * buf->shape[i]; - } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; } - return 1; -fail: - return 0; -} -static int __Pyx_ValidateAndInit_memviewslice( - int *axes_specs, - int c_or_f_flag, - int buf_flags, - int ndim, - __Pyx_TypeInfo *dtype, - __Pyx_BufFmt_StackElem stack[], - __Pyx_memviewslice *memviewslice, - PyObject *original_obj) -{ - struct __pyx_memoryview_obj *memview, *new_memview; - __Pyx_RefNannyDeclarations - Py_buffer *buf; - int i, spec = 0, retval = -1; - __Pyx_BufFmt_Context ctx; - int from_memoryview = __pyx_memoryview_check(original_obj); - __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); - if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) - original_obj)->typeinfo)) { - memview = (struct __pyx_memoryview_obj *) original_obj; - new_memview = NULL; + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); } else { - memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - original_obj, buf_flags, 0, dtype); - new_memview = memview; - if (unlikely(!memview)) - goto fail; + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); } - buf = &memview->view; - if (unlikely(buf->ndim != ndim)) { - PyErr_Format(PyExc_ValueError, - "Buffer has wrong number of dimensions (expected %d, got %d)", - ndim, buf->ndim); - goto fail; + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); } - if (new_memview) { - __Pyx_BufFmt_Init(&ctx, stack, dtype); - if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } } - if (unlikely((unsigned) buf->itemsize != dtype->size)) { - PyErr_Format(PyExc_ValueError, - "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " - "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", - buf->itemsize, - (buf->itemsize > 1) ? "s" : "", - dtype->name, - dtype->size, - (dtype->size > 1) ? "s" : ""); - goto fail; + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; } - if (buf->len > 0) { - for (i = 0; i < ndim; i++) { - spec = axes_specs[i]; - if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) - goto fail; - if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) - goto fail; + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; } - if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) - goto fail; - } - if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, - new_memview != NULL) == -1)) { - goto fail; + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } } - retval = 0; - goto no_fail; -fail: - Py_XDECREF(new_memview); - retval = -1; -no_fail: - __Pyx_RefNannyFinishContext(); - return retval; + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; } - -/* ObjectToMemviewSlice */ - static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsdsds_unsigned_char(PyObject *obj, int writable_flag) { - __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; - __Pyx_BufFmt_StackElem stack[1]; - int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; - int retcode; - if (obj == Py_None) { - result.memview = (struct __pyx_memoryview_obj *) Py_None; - return result; +static PyObject * +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return NULL; } - retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, - PyBUF_RECORDS_RO | writable_flag, 3, - &__Pyx_TypeInfo_unsigned_char, stack, - &result, obj); - if (unlikely(retcode == -1)) - goto __pyx_fail; - return result; -__pyx_fail: - result.memview = NULL; - result.data = NULL; - return result; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { - const int neg_one = (int) ((int) 0 - (int) 1), const_zero = (int) 0; - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(int) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(int) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(int) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) + return PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + if (*ts != ',' && *ts != ')') + return PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + if (*ts == ',') ts++; + i++; } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(int), - little, !is_unsigned); + if (i != ndim) + return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return NULL; } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return Py_None; } - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value) { - const unsigned char neg_one = (unsigned char) ((unsigned char) 0 - (unsigned char) 1), const_zero = (unsigned char) 0; - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(unsigned char) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(unsigned char) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; } - } else { - if (sizeof(unsigned char) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(unsigned char), - little, !is_unsigned); - } -} - -/* MemviewDtypeToObject */ - static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char(const char *itemp) { - return (PyObject *) __Pyx_PyInt_From_unsigned_char(*(unsigned char *) itemp); -} -static CYTHON_INLINE int __pyx_memview_set_unsigned_char(const char *itemp, PyObject *obj) { - unsigned char value = __Pyx_PyInt_As_unsigned_char(obj); - if ((value == (unsigned char)-1) && PyErr_Occurred()) - return 0; - *(unsigned char *) itemp = value; - return 1; -} - -/* CIntToPy */ - static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { - const long neg_one = (long) ((long) 0 - (long) 1), const_zero = (long) 0; - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); - } -} - -/* MemviewSliceCopyTemplate */ - static __Pyx_memviewslice -__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, - const char *mode, int ndim, - size_t sizeof_dtype, int contig_flag, - int dtype_is_object) -{ - __Pyx_RefNannyDeclarations - int i; - __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; - struct __pyx_memoryview_obj *from_memview = from_mvs->memview; - Py_buffer *buf = &from_memview->view; - PyObject *shape_tuple = NULL; - PyObject *temp_int = NULL; - struct __pyx_array_obj *array_obj = NULL; - struct __pyx_memoryview_obj *memview_obj = NULL; - __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); - for (i = 0; i < ndim; i++) { - if (unlikely(from_mvs->suboffsets[i] >= 0)) { - PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " - "indirect dimensions (axis %d)", i); - goto fail; + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; } } - shape_tuple = PyTuple_New(ndim); - if (unlikely(!shape_tuple)) { - goto fail; - } - __Pyx_GOTREF(shape_tuple); - for(i = 0; i < ndim; i++) { - temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); - if(unlikely(!temp_int)) { - goto fail; + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; } else { - PyTuple_SET_ITEM(shape_tuple, i, temp_int); - temp_int = NULL; + return 0; } } - array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); - if (unlikely(!array_obj)) { - goto fail; + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; } - __Pyx_GOTREF(array_obj); - memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( - (PyObject *) array_obj, contig_flag, - dtype_is_object, - from_mvs->memview->typeinfo); - if (unlikely(!memview_obj)) - goto fail; - if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) - goto fail; - if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, - dtype_is_object) < 0)) - goto fail; - goto no_fail; -fail: - __Pyx_XDECREF(new_mvs.memview); - new_mvs.memview = NULL; - new_mvs.data = NULL; -no_fail: - __Pyx_XDECREF(shape_tuple); - __Pyx_XDECREF(temp_int); - __Pyx_XDECREF(array_obj); - __Pyx_RefNannyFinishContext(); - return new_mvs; + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; } -/* CIntFromPy */ - static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { - const char neg_one = (char) ((char) 0 - (char) 1), const_zero = (char) 0; - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if (sizeof(char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; } - return (char) val; } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { - return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { - return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { - return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if (sizeof(char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (char) 0; - case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) - case -2: - if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { - return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); - } - } - break; - } -#endif - if (sizeof(char) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; } } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - char val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec) +{ + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; } -#endif - return (char) -1; + stride = stride * buf->shape[i]; } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; } else { - char val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (char) -1; - val = __Pyx_PyInt_As_char(tmp); - Py_DECREF(tmp); - return val; + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to char"); - return (char) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to char"); - return (char) -1; + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; } -/* CIntFromPy */ - static CYTHON_INLINE unsigned char __Pyx_PyInt_As_unsigned_char(PyObject *x) { +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsdsds_unsigned_char(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 3, + &__Pyx_TypeInfo_unsigned_char, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value) { const unsigned char neg_one = (unsigned char) ((unsigned char) 0 - (unsigned char) 1), const_zero = (unsigned char) 0; const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { + if (is_unsigned) { if (sizeof(unsigned char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(unsigned char, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (unsigned char) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (unsigned char) 0; - case 1: __PYX_VERIFY_RETURN_INT(unsigned char, digit, digits[0]) - case 2: - if (8 * sizeof(unsigned char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) >= 2 * PyLong_SHIFT) { - return (unsigned char) (((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])); - } - } - break; - case 3: - if (8 * sizeof(unsigned char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) >= 3 * PyLong_SHIFT) { - return (unsigned char) (((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])); - } - } - break; - case 4: - if (8 * sizeof(unsigned char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) >= 4 * PyLong_SHIFT) { - return (unsigned char) (((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])); - } - } - break; - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (unsigned char) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } + return PyInt_FromLong((long) value); + } else if (sizeof(unsigned char) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); #endif - if (sizeof(unsigned char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(unsigned char, unsigned long, PyLong_AsUnsignedLong(x)) + } + } else { + if (sizeof(unsigned char) <= sizeof(long)) { + return PyInt_FromLong((long) value); #ifdef HAVE_LONG_LONG - } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(unsigned char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) + } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); #endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - const digit* digits = ((PyLongObject*)x)->ob_digit; - switch (Py_SIZE(x)) { - case 0: return (unsigned char) 0; - case -1: __PYX_VERIFY_RETURN_INT(unsigned char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(unsigned char, digit, +digits[0]) - case -2: - if (8 * sizeof(unsigned char) - 1 > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT) { - return (unsigned char) (((unsigned char)-1)*(((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); - } - } - break; - case 2: - if (8 * sizeof(unsigned char) > 1 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT) { - return (unsigned char) ((((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); - } - } - break; - case -3: - if (8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT) { - return (unsigned char) (((unsigned char)-1)*(((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); - } - } - break; - case 3: - if (8 * sizeof(unsigned char) > 2 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT) { - return (unsigned char) ((((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); - } - } - break; - case -4: - if (8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) - 1 > 4 * PyLong_SHIFT) { - return (unsigned char) (((unsigned char)-1)*(((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); - } - } - break; - case 4: - if (8 * sizeof(unsigned char) > 3 * PyLong_SHIFT) { - if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(unsigned char) - 1 > 4 * PyLong_SHIFT) { - return (unsigned char) ((((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); - } - } - break; - } + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(unsigned char), + little, !is_unsigned); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { + const int neg_one = (int) ((int) 0 - (int) 1), const_zero = (int) 0; + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); #endif - if (sizeof(unsigned char) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(unsigned char, long, PyLong_AsLong(x)) + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); #ifdef HAVE_LONG_LONG - } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(unsigned char, PY_LONG_LONG, PyLong_AsLongLong(x)) + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); #endif - } } - { -#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) - PyErr_SetString(PyExc_RuntimeError, - "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); -#else - unsigned char val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); - #if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } - #endif - if (likely(v)) { - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - int ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); - Py_DECREF(v); - if (likely(!ret)) - return val; - } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); + } +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char(const char *itemp) { + return (PyObject *) __Pyx_PyInt_From_unsigned_char(*(unsigned char *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_unsigned_char(const char *itemp, PyObject *obj) { + unsigned char value = __Pyx_PyInt_As_unsigned_char(obj); + if ((value == (unsigned char)-1) && PyErr_Occurred()) + return 0; + *(unsigned char *) itemp = value; + return 1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { + const long neg_one = (long) ((long) 0 - (long) 1), const_zero = (long) 0; + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); #endif - return (unsigned char) -1; } } else { - unsigned char val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (unsigned char) -1; - val = __Pyx_PyInt_As_unsigned_char(tmp); - Py_DECREF(tmp); - return val; + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to unsigned char"); - return (unsigned char) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to unsigned char"); - return (unsigned char) -1; + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); + } +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; } /* CIntFromPy */ - static CYTHON_INLINE signed char __Pyx_PyInt_As_signed__char(PyObject *x) { - const signed char neg_one = (signed char) ((signed char) 0 - (signed char) 1), const_zero = (signed char) 0; + static CYTHON_INLINE unsigned char __Pyx_PyInt_As_unsigned_char(PyObject *x) { + const unsigned char neg_one = (unsigned char) ((unsigned char) 0 - (unsigned char) 1), const_zero = (unsigned char) 0; const int is_unsigned = neg_one > const_zero; #if PY_MAJOR_VERSION < 3 if (likely(PyInt_Check(x))) { - if (sizeof(signed char) < sizeof(long)) { - __PYX_VERIFY_RETURN_INT(signed char, long, PyInt_AS_LONG(x)) + if (sizeof(unsigned char) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(unsigned char, long, PyInt_AS_LONG(x)) } else { long val = PyInt_AS_LONG(x); if (is_unsigned && unlikely(val < 0)) { goto raise_neg_overflow; } - return (signed char) val; + return (unsigned char) val; } } else #endif @@ -24169,32 +21110,32 @@ __pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, #if CYTHON_USE_PYLONG_INTERNALS const digit* digits = ((PyLongObject*)x)->ob_digit; switch (Py_SIZE(x)) { - case 0: return (signed char) 0; - case 1: __PYX_VERIFY_RETURN_INT(signed char, digit, digits[0]) + case 0: return (unsigned char) 0; + case 1: __PYX_VERIFY_RETURN_INT(unsigned char, digit, digits[0]) case 2: - if (8 * sizeof(signed char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) > 1 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) >= 2 * PyLong_SHIFT) { - return (signed char) (((((signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0])); + __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) >= 2 * PyLong_SHIFT) { + return (unsigned char) (((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])); } } break; case 3: - if (8 * sizeof(signed char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) > 2 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) >= 3 * PyLong_SHIFT) { - return (signed char) (((((((signed char)digits[2]) << PyLong_SHIFT) | (signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0])); + __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) >= 3 * PyLong_SHIFT) { + return (unsigned char) (((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])); } } break; case 4: - if (8 * sizeof(signed char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) > 3 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) >= 4 * PyLong_SHIFT) { - return (signed char) (((((((((signed char)digits[3]) << PyLong_SHIFT) | (signed char)digits[2]) << PyLong_SHIFT) | (signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0])); + __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) >= 4 * PyLong_SHIFT) { + return (unsigned char) (((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0])); } } break; @@ -24208,86 +21149,86 @@ __pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, { int result = PyObject_RichCompareBool(x, Py_False, Py_LT); if (unlikely(result < 0)) - return (signed char) -1; + return (unsigned char) -1; if (unlikely(result == 1)) goto raise_neg_overflow; } #endif - if (sizeof(signed char) <= sizeof(unsigned long)) { - __PYX_VERIFY_RETURN_INT_EXC(signed char, unsigned long, PyLong_AsUnsignedLong(x)) + if (sizeof(unsigned char) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(unsigned char, unsigned long, PyLong_AsUnsignedLong(x)) #ifdef HAVE_LONG_LONG - } else if (sizeof(signed char) <= sizeof(unsigned PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(signed char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) + } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(unsigned char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) #endif } } else { #if CYTHON_USE_PYLONG_INTERNALS const digit* digits = ((PyLongObject*)x)->ob_digit; switch (Py_SIZE(x)) { - case 0: return (signed char) 0; - case -1: __PYX_VERIFY_RETURN_INT(signed char, sdigit, (sdigit) (-(sdigit)digits[0])) - case 1: __PYX_VERIFY_RETURN_INT(signed char, digit, +digits[0]) + case 0: return (unsigned char) 0; + case -1: __PYX_VERIFY_RETURN_INT(unsigned char, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(unsigned char, digit, +digits[0]) case -2: - if (8 * sizeof(signed char) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) - 1 > 1 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) - 1 > 2 * PyLong_SHIFT) { - return (signed char) (((signed char)-1)*(((((signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0]))); + __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT) { + return (unsigned char) (((unsigned char)-1)*(((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); } } break; case 2: - if (8 * sizeof(signed char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) > 1 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) - 1 > 2 * PyLong_SHIFT) { - return (signed char) ((((((signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0]))); + __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT) { + return (unsigned char) ((((((unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); } } break; case -3: - if (8 * sizeof(signed char) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) - 1 > 2 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) - 1 > 3 * PyLong_SHIFT) { - return (signed char) (((signed char)-1)*(((((((signed char)digits[2]) << PyLong_SHIFT) | (signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0]))); + __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT) { + return (unsigned char) (((unsigned char)-1)*(((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); } } break; case 3: - if (8 * sizeof(signed char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) > 2 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) - 1 > 3 * PyLong_SHIFT) { - return (signed char) ((((((((signed char)digits[2]) << PyLong_SHIFT) | (signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0]))); + __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT) { + return (unsigned char) ((((((((unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); } } break; case -4: - if (8 * sizeof(signed char) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) - 1 > 3 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) - 1 > 4 * PyLong_SHIFT) { - return (signed char) (((signed char)-1)*(((((((((signed char)digits[3]) << PyLong_SHIFT) | (signed char)digits[2]) << PyLong_SHIFT) | (signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0]))); + __PYX_VERIFY_RETURN_INT(unsigned char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) - 1 > 4 * PyLong_SHIFT) { + return (unsigned char) (((unsigned char)-1)*(((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); } } break; case 4: - if (8 * sizeof(signed char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned char) > 3 * PyLong_SHIFT) { if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { - __PYX_VERIFY_RETURN_INT(signed char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if (8 * sizeof(signed char) - 1 > 4 * PyLong_SHIFT) { - return (signed char) ((((((((((signed char)digits[3]) << PyLong_SHIFT) | (signed char)digits[2]) << PyLong_SHIFT) | (signed char)digits[1]) << PyLong_SHIFT) | (signed char)digits[0]))); + __PYX_VERIFY_RETURN_INT(unsigned char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(unsigned char) - 1 > 4 * PyLong_SHIFT) { + return (unsigned char) ((((((((((unsigned char)digits[3]) << PyLong_SHIFT) | (unsigned char)digits[2]) << PyLong_SHIFT) | (unsigned char)digits[1]) << PyLong_SHIFT) | (unsigned char)digits[0]))); } } break; } #endif - if (sizeof(signed char) <= sizeof(long)) { - __PYX_VERIFY_RETURN_INT_EXC(signed char, long, PyLong_AsLong(x)) + if (sizeof(unsigned char) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(unsigned char, long, PyLong_AsLong(x)) #ifdef HAVE_LONG_LONG - } else if (sizeof(signed char) <= sizeof(PY_LONG_LONG)) { - __PYX_VERIFY_RETURN_INT_EXC(signed char, PY_LONG_LONG, PyLong_AsLongLong(x)) + } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(unsigned char, PY_LONG_LONG, PyLong_AsLongLong(x)) #endif } } @@ -24296,7 +21237,7 @@ __pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, PyErr_SetString(PyExc_RuntimeError, "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); #else - signed char val; + unsigned char val; PyObject *v = __Pyx_PyNumber_IntOrLong(x); #if PY_MAJOR_VERSION < 3 if (likely(v) && !PyLong_Check(v)) { @@ -24316,24 +21257,24 @@ __pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, return val; } #endif - return (signed char) -1; + return (unsigned char) -1; } } else { - signed char val; + unsigned char val; PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (signed char) -1; - val = __Pyx_PyInt_As_signed__char(tmp); + if (!tmp) return (unsigned char) -1; + val = __Pyx_PyInt_As_unsigned_char(tmp); Py_DECREF(tmp); return val; } raise_overflow: PyErr_SetString(PyExc_OverflowError, - "value too large to convert to signed char"); - return (signed char) -1; + "value too large to convert to unsigned char"); + return (unsigned char) -1; raise_neg_overflow: PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to signed char"); - return (signed char) -1; + "can't convert negative value to unsigned char"); + return (unsigned char) -1; } /* CIntFromPy */ @@ -24714,6 +21655,195 @@ __pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, return (long) -1; } +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { + const char neg_one = (char) ((char) 0 - (char) 1), const_zero = (char) 0; + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if (sizeof(char) < sizeof(long)) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case 1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0]) + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if (sizeof(char) <= sizeof(unsigned long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + const digit* digits = ((PyLongObject*)x)->ob_digit; + switch (Py_SIZE(x)) { + case 0: return (char) 0; + case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0])) + case 1: __PYX_VERIFY_RETURN_INT(char, digit, +digits[0]) + case -2: + if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if (8 * sizeof(char) > 1 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if (8 * sizeof(char) > 2 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if (8 * sizeof(char) > 3 * PyLong_SHIFT) { + if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } +#endif + if (sizeof(char) <= sizeof(long)) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { +#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray) + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers"); +#else + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); + #if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } + #endif + if (likely(v)) { + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + int ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); + Py_DECREF(v); + if (likely(!ret)) + return val; + } +#endif + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + /* CheckBinaryVersion */ static int __Pyx_check_binary_version(void) { char ctversion[4], rtversion[4]; diff --git a/sw/huemask/huemask.pyx b/sw/huemask/huemask.pyx new file mode 100644 index 0000000..2c1f1f7 --- /dev/null +++ b/sw/huemask/huemask.pyx @@ -0,0 +1,87 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import math +import cython + +cdef float _bandpass_lookup[256] +cdef float _last_sigma = 0.0 +cdef float _last_gain = 0.0 +cdef unsigned char _last_center = 0 + +@cython.boundscheck(False) +@cython.wraparound(False) +def _update_bandpass_lookup(unsigned char center, float sigma, float gain): + global _bandpass_lookup + global _last_center + global _last_gain + global _last_sigma + + _last_center = center + _last_sigma = sigma + _last_gain = gain + + mu = 0.5 + for n in range(256): + h = n / 255.0 + + # rotate the hue phase so that `center` is at 0.5 + h = h + (0.5 - (center / 255.0)) + if (h > 1.0): + h = h - 1.0 + if (h < 0.0): + h = h + 1.0 + + # gaussian bandpass filter + f = math.exp(-( (h - mu)**2 / ( 2.0 * sigma**2 ) ) ) + + # pre-gain around center + f = f * gain + if f > 1.0: + f = 1.0 + + _bandpass_lookup[n] = f + + +@cython.boundscheck(False) +@cython.wraparound(False) +def hue_mask(unsigned char [:, :, :] image, unsigned char center, float sigma, float gain, float mask_gain): + global _bandpass_lookup + + # set the variable extension types + cdef int x, y, n, width, height + cdef float h, s, v, mu, f + cdef unsigned char mask, ih + + # grab the image dimensions + height = image.shape[0] + width = image.shape[1] + + # generate a lookup table for center, sigma & gain + if (center != _last_center or sigma != _last_sigma or gain != _last_gain): + _update_bandpass_lookup(center, sigma, gain) + + for y in range(0, height): + for x in range(0, width): + # pull each component out as a float [0..1] + ih = image[y, x, 0] + s = image[y, x, 1] / 255.0 + v = image[y, x, 2] / 255.0 + + # map from [0..255] -> [0..1] through lookup table + # this applies the bandpass filter on hue + h = _bandpass_lookup[ih] + + # mask the hue with sat, val and apply another gain filter + f = (h * s * v) * mask_gain + if f > 1.0: + f = 1.0 + + # covert back to char space + mask = (f * 255) + image[y, x, 0] = mask + image[y, x, 1] = mask + image[y, x, 2] = mask + + # return the thresholded image + return image diff --git a/sw/huemask/setup.py b/sw/huemask/setup.py new file mode 100644 index 0000000..7c5cffd --- /dev/null +++ b/sw/huemask/setup.py @@ -0,0 +1,45 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import os +import sys +from distutils.core import setup +from distutils.extension import Extension + +if '--use-cython' in sys.argv: + use_cython = True + sys.argv.remove('--use-cython') +else: + use_cython = False + +# Force use_cython = False for moab v3.0 setup +# install with: +# pip3 install . + +ext = '.pyx' if use_cython else '.c' + +extensions = [ + Extension( + name="huemask", + sources=["huemask"+ext], + library_dirs=["/usr/local/lib"], + include_dirs=["/usr/local/include"], + ) +] + +if use_cython: + from Cython.Build import cythonize + extensions = cythonize(extensions, compiler_directives={"language_level": 3}) + +version="3.0.0" + +print(f"Installing {version}", flush=True) + +setup( + name="huemask", + version=version, + description="Python bindings for huemask", + ext_modules=extensions, + package_data={"huemask": ["huemask.pyi"]}, +) + diff --git a/sw/info_screen.py b/sw/info_screen.py new file mode 100644 index 0000000..e3223e6 --- /dev/null +++ b/sw/info_screen.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 + +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import os +from random import * +from time import * +import socket +import logging as log +from hat import Hat, Icon +from env import MoabEnv + + +def _get_host_ip(): + ip = '127.0.0.1' + try: + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + s.connect(("1.1.1.1", 1)) + ip = s.getsockname()[0] # returns string like '1.2.3.4' + except Exception as e: + print(f"No IP: {ip}") + + return ip + + +def _get_sw_version(): + ver_string = os.environ.get("MOABIAN", "1.0.0") + ver_triplet = [int(b) for b in ver_string.split(".")] + log.info(f"Version string: {ver_string}") + log.info(f"Version triplet: {ver_triplet}") + return ver_triplet + + +def info_screen_controller(env, **kwargs): + sw_major, sw_minor, sw_bug = _get_sw_version() + ip = _get_host_ip() + s = f"VER {sw_major}.{sw_minor}.{sw_bug}\nIP {ip}" + env.hat.display_long_string(s) + + def wait_for_menu(): + menu_button = False + while not menu_button: + sleep(1 / env.frequency) + env.hat.noop() + menu_button, joy_button, joy_x, joy_y = env.hat.get_buttons() + + return wait_for_menu + + +def info_config_controller(env, **kwargs): + so = env.servo_offsets + s = f"HUE {env.hue}" + # s += f"\nX,Y {env.plate_offsets_pixels[0]},{env.plate_offsets_pixels[1]}" + s += f"\nSERVOS {so[0]:.0f}, {so[1]:.0f}, {so[2]:.0f}" + env.hat.display_long_string(s) + + def wait_for_menu(): + menu_button = False + while not menu_button: + sleep(1 / env.frequency) + env.hat.noop() + menu_button, joy_button, joy_x, joy_y = env.hat.get_buttons() + + return wait_for_menu + + +def sequence(env, msec=1 / 20): + + info_screen_controller(env) + for x in range(randint(1, 5)): + sleep(msec) + env.hat.noop() + + info_config_controller(env) + for x in range(randint(1, 15)): + sleep(msec) + env.hat.noop() + + +def main(): + with MoabEnv(debug=True, verbose=3) as env: + for x in range(10): + sequence(env) + + env.hat.display_string("done") + + +if __name__ == "__main__": + main() diff --git a/sw/libs/moab/Makefile b/sw/libs/moab/Makefile deleted file mode 100644 index 1476de2..0000000 --- a/sw/libs/moab/Makefile +++ /dev/null @@ -1,34 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -CFLAGS := -O3 -g -Wall -Werror -CC := gcc -MAJOR := 1 -MINOR := 0 -NAME := moab -VERSION := $(MAJOR).$(MINOR) -LDLIBS=-L/usr/local/lib -LDFLAGS=-lbcm2835 -SHARED=-shared -Wl,-soname,lib$(NAME).so.$(MAJOR) -PREFIX=/usr/local/lib - -lib: lib$(NAME).so - -install: lib$(NAME).so.$(VERSION) - cp moab.h /usr/local/include - cp $^ $(PREFIX) - ldconfig -v -n $(PREFIX) - ln -f -s $(PREFIX)/lib$(NAME).so.$(MAJOR) $(PREFIX)/lib$(NAME).so - ldconfig - chmod 644 $(PREFIX)/lib$(NAME)* - $(RM) *.o *.so* - -lib$(NAME).so: lib$(NAME).so.$(VERSION) - ldconfig -v -n . - ln -s lib$(NAME).so.$(MAJOR) lib$(NAME).so - -lib$(NAME).so.$(VERSION): $(NAME).o spi.o startup.o - $(CC) $(LDLIBS) $(SHARED) $(LDFLAGS) $^ -o $@ - -clean: - $(RM) *.o *.so* diff --git a/sw/libs/moab/moab.c b/sw/libs/moab/moab.c deleted file mode 100644 index 37c65ed..0000000 --- a/sw/libs/moab/moab.c +++ /dev/null @@ -1,164 +0,0 @@ -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#include -#include -#include "startup.h" -#include "moab.h" -#include "spi.h" - - -#ifdef __cplusplus -extern "C" { -#endif - -static int8_t _servo1_offset = 0; -static int8_t _servo2_offset = 0; -static int8_t _servo3_offset = 0; - -static int8_t _plate_x_deg = 0; -static int8_t _plate_y_deg = 0; - -static send_packet_standard _spi_out = {0}; -static receive_packet_type _spi_in = {0}; - -#define X_TILT_SERVO1 -0.5 -#define Y_TILT_SERVO2 0.866 -#define Y_TILT_SERVO3 -0.866 - -#define PLATE_X_OFFSET(x) (x + (_servo1_offset + (int8_t)(X_TILT_SERVO1 * _servo2_offset) + (int8_t)(X_TILT_SERVO1 * _servo3_offset))) -#define PLATE_Y_OFFSET(y) (y + ((int)(Y_TILT_SERVO2 * _servo2_offset) + (int)(Y_TILT_SERVO3 * _servo3_offset))) - -int moab_init() -{ - // Initialize GPIO - gpio_init(); - - // Set mode to runtime, not bootloader - runtime(); - - // clear IO structures - memset(&_spi_out, 0, sizeof(_spi_out)); - memset(&_spi_in, 0, sizeof(_spi_in)); - - // init state: servos disabled - _spi_out.display.icon = MOAB_ICON_BLANK; - _spi_out.display.text = MOAB_TXT_INIT; - - // set plate angles based on current offsets - _plate_x_deg = 0; - _plate_y_deg = 0; - _spi_out.plate_angle_x = PLATE_X_OFFSET(_plate_x_deg); - _spi_out.plate_angle_y = PLATE_Y_OFFSET(_plate_y_deg); - - delay(250); - return MOAB_RESULT_OK; -} - -// call to set current state and get current input -int moab_sync() -{ - transceive_packet(_spi_out.combined_packet, _spi_in.combined_packet, SEND_PACKET_BYTES); - return MOAB_RESULT_OK; -} - -void moab_setIcon(int icon) -{ - _spi_out.display.icon = icon; -} - -void moab_setText(int text) -{ - _spi_out.display.text = text; -} - -void moab_activatePlate() -{ - _spi_out.control.servo_en = 1; - _spi_out.control.servo_control = 0; - // _spi_out.plate_angle_x and - // _spi_out.plate_angle_y will be restored -} - -void moab_setPlateAngles(int8_t plate_x_deg, int8_t plate_y_deg) -{ - _spi_out.control.servo_en = 1; - _spi_out.control.servo_control = 0; - - _plate_x_deg = plate_x_deg; - _plate_y_deg = plate_y_deg; - _spi_out.plate_angle_x = PLATE_X_OFFSET(_plate_x_deg); - _spi_out.plate_angle_y = PLATE_Y_OFFSET(_plate_y_deg); - - // _spi_out.servoX_pos will now be ignored. -} - -void moab_setServoPositions(uint8_t servo1_pos, uint8_t servo2_pos, uint8_t servo3_pos) -{ - // instead of using plate_angle_x,y set raw servo positions - _spi_out.control.servo_en = 1; - _spi_out.control.servo_control = 1; - - _spi_out.servo1_pos = servo1_pos; - _spi_out.servo2_pos = servo2_pos; - _spi_out.servo3_pos = servo3_pos; -} - -void moab_setServoOffsets(int8_t servo1_offset, int8_t servo2_offset, int8_t servo3_offset) -{ - _servo1_offset = servo1_offset; - _servo2_offset = servo2_offset; - _servo3_offset = servo3_offset; -} - -int moab_getMenuBtn() { return _spi_in.buttons.menu; } -int moab_getJoystickBtn() { return _spi_in.buttons.joystick; } -int moab_getJoystickX() { return _spi_in.joystick_x; } -int moab_getJoystickY() { return _spi_in.joystick_y; } - -int moab_pollPowerBtn() { - int power = PIN_READ(HAT_PWR_N); - return power != 1; -} - -void moab_disableServoPower() -{ - _spi_out.control.servo_en = 0; -} - -void moab_enableFan(bool enabled) -{ - if (enabled) - SET_HIGH(FAN_EN); - else - SET_LOW(FAN_EN); -} - -void moab_enableHat(bool enabled) -{ - if (enabled) - SET_HIGH(HAT_EN); - else - SET_LOW(HAT_EN); -} - -float moab_pollTemp() -{ - float millideg; - FILE *thermal; - - thermal = fopen("/sys/class/thermal/thermal_zone0/temp","r"); - if( thermal > 0) - { - fscanf(thermal,"%f",&millideg); - fclose(thermal); - - return millideg / 1000.0; - } - - return NAN; -} - -#ifdef __cplusplus -} -#endif diff --git a/sw/libs/moab/moab.h b/sw/libs/moab/moab.h deleted file mode 100644 index 09e1d47..0000000 --- a/sw/libs/moab/moab.h +++ /dev/null @@ -1,66 +0,0 @@ -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#pragma once - -#include "stdbool.h" -#include "stdint.h" - -#define EXPORT __attribute__((visibility("default"))) - -// Result values -#define MOAB_RESULT_OK 0 -#define MOAB_RESULT_UNKNOWN_ERROR 1 -#define MOAB_RESULT_INVALID_ARG 2 - -// Icons available to display -#define MOAB_ICON_BLANK 0 -#define MOAB_ICON_UP_DOWN 1 -#define MOAB_ICON_DOWN 2 -#define MOAB_ICON_UP 3 -#define MOAB_ICON_DOT 4 -#define MOAB_ICON_PAUSE 5 -#define MOAB_ICON_CHECK 6 -#define MOAB_ICON_X 7 - -// Predefined text strings available to display -#define MOAB_TXT_BLANK 0 -#define MOAB_TXT_INIT 1 -#define MOAB_TXT_POWER_OFF 2 -#define MOAB_TXT_ERROR 3 -#define MOAB_TXT_CAL 4 -#define MOAB_TXT_MANUAL 5 -#define MOAB_TXT_CLASSIC 6 -#define MOAB_TXT_BRAIN 7 -#define MOAB_TXT_CUSTOM1 8 -#define MOAB_TXT_CUSTOM2 9 -#define MOAB_TXT_INFO 10 -#define MOAB_TXT_CAL_INSTR 11 -#define MOAB_TXT_CAL_COMPLETE 12 -#define MOAB_TXT_CAL_CANCELED 13 -#define MOAB_TXT_CAL_FAILED 14 -#define MOAB_TXT_VERS_IP_SN 15 -#define MOAB_TXT_UPDATE_BRAIN 16 -#define MOAB_TXT_UPDATE_SYSTEM 17 - -EXPORT int moab_init(); - -EXPORT void moab_setIcon(int icon); -EXPORT void moab_setText(int text); -EXPORT void moab_activatePlate(); -EXPORT void moab_disableServoPower(); -EXPORT void moab_setPlateAngles(int8_t plate_x_deg, int8_t plate_y_deg); -EXPORT void moab_setServoPositions(uint8_t servo1_pos, uint8_t servo2_pos, uint8_t servo3_pos); -EXPORT void moab_setServoOffsets(int8_t servo1_offset, int8_t servo2_offset, int8_t servo3_offset); - -EXPORT int moab_sync(); - -EXPORT int moab_getMenuBtn(); -EXPORT int moab_getJoystickBtn(); -EXPORT int moab_getJoystickX(); -EXPORT int moab_getJoystickY(); - -EXPORT void moab_enableFan(bool enabled); -EXPORT void moab_enableHat(bool enabled); -EXPORT float moab_pollTemp(); -EXPORT int moab_pollPowerBtn(); diff --git a/sw/libs/moab/oled/.gitignore b/sw/libs/moab/oled/.gitignore deleted file mode 100644 index fbb2c4f..0000000 --- a/sw/libs/moab/oled/.gitignore +++ /dev/null @@ -1 +0,0 @@ -oled diff --git a/sw/libs/moab/oled/Makefile b/sw/libs/moab/oled/Makefile deleted file mode 100644 index 3ed5993..0000000 --- a/sw/libs/moab/oled/Makefile +++ /dev/null @@ -1,20 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -NAME=oled -OBJECTS= -CFLAGS=-Wall -O3 -std=gnu11 -LDLIBS=-L/usr/local/lib -LDFLAGS=-lmoab -lbcm2835 -CC=gcc - -$(NAME): $(OBJECTS) - -clean: - $(RM) $(NAME) - - -PREFIX=/usr/local/bin - -install: $(NAME) - cp oled $(PREFIX) diff --git a/sw/libs/moab/oled/oled.c b/sw/libs/moab/oled/oled.c deleted file mode 100644 index d0c35b4..0000000 --- a/sw/libs/moab/oled/oled.c +++ /dev/null @@ -1,85 +0,0 @@ -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#include -#include -#include -#include -#include "../moab.h" - -char *options = -"ICON_BLANK 0\t" -"TXT_BLANK 0\n" - -"ICON_UP_DOWN 1\t" -"TXT_INIT 1\n" - -"ICON_DOWN 2\t" -"TXT_POWER_OFF 2\n" - -"TXT_ERROR 3\t" -"ICON_UP 3\n" - -"TXT_CAL 4\t" -"ICON_DOT 4\n" - -"TXT_MANUAL 5\t" -"ICON_PAUSE 5\n" - -"TXT_CLASSIC 6\t" -"ICON_CHECK 6\n" - -"TXT_BRAIN 7\t" -"ICON_X 7\n" - -"TXT_CUSTOM1 8\n" -"TXT_CUSTOM2 9\n" -"TXT_INFO 10\n" -"TXT_CAL_INSTR 11\n" -"TXT_CAL_COMPLETE 12\n" -"TXT_CAL_CANCELED 13\n" -"TXT_CAL_FAILED 14\n" -"TXT_VERS_IP_SN 15\n" -"TXT_UPDATE_BRAIN 16\n" -"TXT_UPDATE_SYSTEM 17\n" -"TXT_PROJECT_MOAB 18\n"; - -int main(int argc, char* argv[]) { - - int icon = 0; - int text = 0; - - if (argc != 3) { - printf("Usage: %s icon# text#\n", argv[0]); - printf("*Must run as root*\n"); - printf("\nExamples:\n"); - printf("\n"); - printf("oled 4 10 \t# dot / BOT INFO\n"); - printf("oled 0 0 \t# clear oled screen\n"); - printf("oled 0 1 \t# INITIALIZING\n"); - printf("oled 0 2 \t# POWER OFF\n"); - printf("oled 0 18 \t# PROJECT MOAB\n"); - printf("\n"); - printf(options); - return(1); - } - - if (geteuid() != 0) { - printf("Run this as root\n"); - return(1); - } - - icon = atoi(argv[1]); - text = atoi(argv[2]); - - moab_init(); - moab_setIcon(icon); - moab_setText(text); - moab_sync(); - - bcm2835_spi_end(); - bcm2835_close(); -} - - - diff --git a/sw/libs/moab/spi.c b/sw/libs/moab/spi.c deleted file mode 100644 index 4b660cc..0000000 --- a/sw/libs/moab/spi.c +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#include "spi.h" - -/*-------------------------------------- -|= Function: transeive -|= ------------------------------------ -|= Sends and receives single packet to and from the SPI bus -|= -|= data_out: data send to SPI bus -|= Returns: data read from buffer ---------------------------------------*/ -char transceive(char data_out){ - char data_in = bcm2835_spi_transfer(data_out); - return data_in; -} - -/*-------------------------------------- -|= Function: transeive_packet -|= ------------------------------------ -|= Sends and receives a packet of set length -|= to and from the SPI bus -|= -|= *data_out: data send to SPI bus -|= *data_in: data received from SPI bus -|= size: # of bytes to read/write from SPI -|= Returns: data read from buffer ---------------------------------------*/ -char *transceive_packet(char *data_out, char *data_in, int size){ - bcm2835_spi_transfernb(data_out, data_in, size); - return data_in; -} diff --git a/sw/libs/moab/spi.h b/sw/libs/moab/spi.h deleted file mode 100644 index 59c5716..0000000 --- a/sw/libs/moab/spi.h +++ /dev/null @@ -1,149 +0,0 @@ -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#ifndef SPI_H -#define SPI_H - -#include -#include -#include - -#define SEND_PACKET_BYTES 7 -#define ICON_BITS 3 -#define RECEIVE_PACKET_BYTES 7 -#define MAXSIZE 1023 - -// Defining receive SPI packet // -typedef union -{ - struct - { - uint8_t menu: 1; - uint8_t joystick: 1; - uint8_t res: 6; - }; - char raw; -} hat_buttons; - -typedef union -{ - struct - { - hat_buttons buttons; - int8_t joystick_x; - int8_t joystick_y; - }; - char combined_packet[RECEIVE_PACKET_BYTES]; -}receive_packet_type; - -// Defining send SPI packet // -typedef union -{ - struct - { - uint8_t servo_en: 1; - uint8_t servo_control: 1; - uint8_t ip_message: 1; - uint8_t arbitrary: 1; - uint8_t version_message: 1; - uint8_t res: 3; - }; - char raw; -} mssg_control; -typedef union -{ - struct - { - uint8_t icon: 3; - uint8_t text: 5; - }; - char raw; -} disp_control; -typedef union -{ - struct - { - uint8_t menu_item: 1; - uint8_t scroll_text: 1; - uint8_t res: 2; - // Replacment text should be in the form of an integer defined in mode.h - uint8_t text_to_replacement: 4; - }; - char raw; -} text_control; - -// Standard Mssg -typedef union -{ - struct - { - mssg_control control; - disp_control display; - char plate_angle_x; - char plate_angle_y; - char servo1_pos; - char servo2_pos; - char servo3_pos; - }; - char combined_packet[SEND_PACKET_BYTES]; -} send_packet_standard; - -// Info Message IP -typedef union -{ - struct - { - mssg_control control; - char IP_1; - char IP_2; - char IP_3; - char IP_4; - char res1; - char res2; - }; - char combined_packet[SEND_PACKET_BYTES]; -} send_packet_ip; - -// Info Message Version -typedef union -{ - struct - { - mssg_control control; - char sw_major; - char sw_minor; - char sw_bug; - char res1; - char res2; - char res3; - }; - char combined_packet[SEND_PACKET_BYTES]; -} send_packet_version; - -// Arbitrary text -typedef union -{ - struct - { - mssg_control control; - text_control text_control; - char string_length; - }; - char combined_packet[MAXSIZE]; -} send_packet_text; - - - -/*-------------------------------------- -|= transceive() -|= Sends & receives single byte over spi ---------------------------------------*/ -char transceive(char data_out); - -/*-------------------------------------- -|= transceive_packet() -|= Sends & receives multiple bytes over spi ---------------------------------------*/ -char *transceive_packet(char* data_out, char* data_in, int size); - -#endif diff --git a/sw/libs/moab/startup.c b/sw/libs/moab/startup.c deleted file mode 100644 index 481f43e..0000000 --- a/sw/libs/moab/startup.c +++ /dev/null @@ -1,78 +0,0 @@ -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#include "startup.h" - -/*-------------------------------------- -|= Function: software_and_IP_to_config -|= ------------------------------------ -|= Gets environment variable or returns default value specified -|= -|= Returns: char* ---------------------------------------*/ -char* getEnvOrDefaultTo(char* env, char* defaultVal) -{ - char* result = getenv(env); - return result == NULL ? defaultVal: result; -} - -/*-------------------------------------- -|= Function: runtime -|= ------------------------------------ -|= Turns the hat on in normal operation mode -|= -|= Returns: Void ---------------------------------------*/ -void runtime() -{ - SET_LOW(HAT_EN); - delay(20); - SET_HIGH(HAT_EN); - SET_LOW(HAT_RESET); - SET_LOW(BOOT_EN); - delay(250); -} - -/*-------------------------------------- -|= Function: BCM_spi_init -|= ------------------------------------ -|= Enables the BCM2835 SPI bus -|= -|= Returns: Void ---------------------------------------*/ -static void BCM_spi_init(){ - bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST); // The default - bcm2835_spi_setDataMode(BCM2835_SPI_MODE0); // The default - bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_65536); // The default - bcm2835_spi_chipSelect(BCM2835_SPI_CS0); // The default - bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW); // The default -} - -/*-------------------------------------- -|= Function: gpio_init -|= ------------------------------------ -|= Initializes the GPIO used by the BCM2835 -|= -|= Returns: 1 for passed || 0 for failed ---------------------------------------*/ -void gpio_init(){ - - if (!bcm2835_init()) - { - printf("bcm2835_init failed. Are you running as root??\n"); - exit(1); - } - if (!bcm2835_spi_begin()) - { - printf("bcm2835_spi_begin failed. Are you running as root??\n"); - exit(1); - } - BCM_spi_init(); - - bcm2835_gpio_fsel(BOOT_EN, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(HAT_EN, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(HAT_RESET, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(FAN_EN, BCM2835_GPIO_FSEL_OUTP); - bcm2835_gpio_fsel(HAT_PWR_N, BCM2835_GPIO_FSEL_INPT); -} - diff --git a/sw/libs/moab/startup.h b/sw/libs/moab/startup.h deleted file mode 100644 index 62fb41c..0000000 --- a/sw/libs/moab/startup.h +++ /dev/null @@ -1,41 +0,0 @@ -// Copyright (c) Microsoft Corporation. -// Licensed under the MIT License. - -#ifndef STARTUP_H -#define STARTUP_H - -#include -#include -#include -#include -#include -#include -// Functions for getting IP Address // -#include -#include -#include -#include -#include -#include - -#define BOOT_EN RPI_BPLUS_GPIO_J8_29 -#define FAN_EN RPI_BPLUS_GPIO_J8_37 -#define HAT_EN RPI_BPLUS_GPIO_J8_38 -#define HAT_RESET RPI_BPLUS_GPIO_J8_31 -#define HAT_PWR_N RPI_BPLUS_GPIO_J8_05 - -#define PIN_READ(pin) (bcm2835_gpio_lev(pin)) -#define SET_HIGH(pin) (bcm2835_gpio_set(pin)) -#define SET_LOW(pin) (bcm2835_gpio_clr(pin)) - -typedef enum boot_mode{DEFAULT, BOOTLOADER}boot_mode; - -/*-------------------------------------- -|= pi_init() -|= initializes the what is needed for RPI ---------------------------------------*/ -void pi_init(uint8_t mode_bootloader); -void runtime(); -void gpio_init(); -char* getEnvOrDefaultTo(char* env, char* defaultVal); -#endif diff --git a/sw/libs/pymoab/Makefile b/sw/libs/pymoab/Makefile deleted file mode 100644 index 0bb4874..0000000 --- a/sw/libs/pymoab/Makefile +++ /dev/null @@ -1,30 +0,0 @@ -# https://gist.github.com/ctokheim/6c34dc1d672afca0676a - -clean: - rm -f -r build/ - rm -f src/python/cython_utils.so - -clean-cpp: - rm -f src/python/cython_utils.cpp - -clean-all: clean clean-cpp - -moab.c: moab.pyx - python3 setup.py build - -.PHONY: install -install: - pip3 install . - -uninstall: - pip3 uninstall -y pymoab - - -.PHONY: build -build: clean - python setup.py build_ext --inplace - -.PHONY: cython-build -cython-build: clean clean-cpp - python setup.py build_ext --inplace --use-cython - diff --git a/sw/libs/pymoab/moab.pyx b/sw/libs/pymoab/moab.pyx deleted file mode 100644 index 869db22..0000000 --- a/sw/libs/pymoab/moab.pyx +++ /dev/null @@ -1,238 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -import math -import cython -from enum import IntEnum -from typing import Tuple - -ctypedef char bool -ctypedef signed char int8_t -ctypedef unsigned char uint8_t - -cdef extern from "moab.h": - int moab_init(); - - void moab_setIcon(int icon); - void moab_setText(int text); - void moab_activatePlate(); - void moab_disableServoPower(); - void moab_setPlateAngles(int8_t plate_x_deg, int8_t plate_y_deg); - void moab_setServoPositions(uint8_t servo1_pos, uint8_t servo2_pos, uint8_t servo3_pos); - void moab_setServoOffsets(int8_t servo1_offset, int8_t servo2_offset, int8_t servo3_offset); - - int moab_sync(); - - int moab_getMenuBtn(); - int moab_getJoystickBtn(); - int moab_getJoystickX(); - int moab_getJoystickY(); - - int moab_pollPowerBtn(); - void moab_enableFan(bool enabled); - void moab_enableHat(bool enabled); - float moab_pollTemp(); - -class Result(IntEnum): - OK = 0 - UNKNOWN_ERROR = 1 - INVALID_ARG = 2 - -class Icon(IntEnum): - BLANK = 0 - UP_DOWN = 1 - DOWN = 2 - UP = 3 - DOT = 4 - PAUSE = 5 - CHECK = 6 - X = 7 - -class Text(IntEnum): - BLANK = 0 - INIT = 1 - POWER_OFF = 2 - ERROR = 3 - CAL = 4 - MANUAL = 5 - CLASSIC = 6 - BRAIN = 7 - CUSTOM1 = 8 - CUSTOM2 = 9 - INFO = 10 - CAL_INSTR = 11 - CAL_COMPLETE = 12 - CAL_CANCELED = 13 - CAL_FAILED = 14 - VERS_IP_SN = 15 - UPDATE_BRAIN = 16 - UPDATE_SYSTEM = 17 - -def init() -> Result: - """ - Initializes the library. - Call once at startup. - - return OK on success. - """ - return Result(moab_init()) - -def activatePlate(): - """ Set the plate to track plate angles. """ - moab_activatePlate() - -def hoverPlate(): - """ - Set the plate to its hover position. - This was experimentally found to be 150 (down but still leaving some - space at the bottom). - """ - moab_setServoPositions(150, 150, 150) - -def lowerPlate(): - """ - Set the plate to its lower position (usually powered-off state). - This was experimentally found to be 155 (lowest possible position). - """ - moab_setServoPositions(155, 155, 155) - -def disableServoPower(): - """ Disables the power to the servos. """ - moab_disableServoPower() - -def setPlateAngles(plate_x_deg: int, plate_y_deg: int): - moab_setPlateAngles(plate_x_deg, plate_y_deg) - -def setServoPositions(servo1_pos: int, servo2_pos: int, servo3_pos: int): - moab_setServoPositions(servo1_pos, servo2_pos, servo3_pos) - -def setServoOffsets(servo1_offset: int, servo2_offset: int, servo3_offset: int): - """ - Set post-factory calibration offsets for each servo. - Can be called before init(). - - Normally this call should not be needed. - """ - moab_setServoOffsets(servo1_offset, servo2_offset, servo3_offset) - -def setIcon(icon_idx: Icon): - moab_setIcon(icon_idx) - -def setText(text_idx: Text): - moab_setText(text_idx) - -def sync() -> Result: - """ - Sets the current state on the hardware and polls - the current control states. - - return OK on success. - """ - return Result(moab_sync()) - -def getMenuBtn() -> bool: - return True if moab_getMenuBtn() else False - -def getJoystickBtn() -> bool: - return True if moab_getJoystickBtn() else False - -def getJoystickX() -> float: - return moab_getJoystickX() / 100.0 - -def getJoystickY() -> float: - return moab_getJoystickY() / 100.0 - -def enableFan(enabled: bool): - moab_enableFan(enabled) - -def enableHat(enabled: bool): - moab_enableHat(enabled) - -def pollTemp() -> float: - return moab_pollTemp() - -def pollPowerBtn() -> bool: - return True if moab_pollPowerBtn() else False - - -cdef float _bandpass_lookup[256] -cdef float _last_sigma = 0.0 -cdef float _last_gain = 0.0 -cdef unsigned char _last_center = 0 - -@cython.boundscheck(False) -@cython.wraparound(False) -def _update_bandpass_lookup(unsigned char center, float sigma, float gain): - global _bandpass_lookup - global _last_center - global _last_gain - global _last_sigma - - _last_center = center - _last_sigma = sigma - _last_gain = gain - - mu = 0.5 - for n in range(256): - h = n / 255.0 - - # rotate the hue phase so that `center` is at 0.5 - h = h + (0.5 - (center / 255.0)) - if (h > 1.0): - h = h - 1.0 - if (h < 0.0): - h = h + 1.0 - - # gaussian bandpass filter - f = math.exp(-( (h - mu)**2 / ( 2.0 * sigma**2 ) ) ) - - # pre-gain around center - f = f * gain - if f > 1.0: - f = 1.0 - - _bandpass_lookup[n] = f - - -@cython.boundscheck(False) -@cython.wraparound(False) -def hue_mask(unsigned char [:, :, :] image, unsigned char center, float sigma, float gain, float mask_gain): - global _bandpass_lookup - - # set the variable extension types - cdef int x, y, n, width, height - cdef float h, s, v, mu, f - cdef unsigned char mask, ih - - # grab the image dimensions - height = image.shape[0] - width = image.shape[1] - - # generate a lookup table for center, sigma & gain - if (center != _last_center or sigma != _last_sigma or gain != _last_gain): - _update_bandpass_lookup(center, sigma, gain) - - for y in range(0, height): - for x in range(0, width): - # pull each component out as a float [0..1] - ih = image[y, x, 0] - s = image[y, x, 1] / 255.0 - v = image[y, x, 2] / 255.0 - - # map from [0..255] -> [0..1] through lookup table - # this applies the bandpass filter on hue - h = _bandpass_lookup[ih] - - # mask the hue with sat, val and apply another gain filter - f = (h * s * v) * mask_gain - if f > 1.0: - f = 1.0 - - # covert back to char space - mask = (f * 255) - image[y, x, 0] = mask - image[y, x, 1] = mask - image[y, x, 2] = mask - - # return the thresholded image - return image diff --git a/sw/libs/pymoab/setup.py b/sw/libs/pymoab/setup.py deleted file mode 100644 index 315a536..0000000 --- a/sw/libs/pymoab/setup.py +++ /dev/null @@ -1,32 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -import os -from distutils.core import setup -from distutils.extension import Extension - -extensions = [ - Extension( - name="pymoab", - sources=["moab.pyx"], - libraries=["moab", "bcm2835"], - library_dirs=["/usr/local/lib"], - include_dirs=["/usr/local/include"], - ) -] - - -# if cython is installed, build from source, otherwise use moab.c -try: - from Cython.Build import cythonize - extensions = cythonize(extensions, compiler_directives={"language_level": 3}) -except ImportError: - pass - -setup( - name="pymoab", - version="1.0.0", - description="Python bindings for libmoab", - ext_modules=extensions, - package_data={"pymoab": ["pymoab.pyi"]}, -) diff --git a/sw/libs/pymoab/test_pymoab.py b/sw/libs/pymoab/test_pymoab.py deleted file mode 100644 index c40e0ea..0000000 --- a/sw/libs/pymoab/test_pymoab.py +++ /dev/null @@ -1,86 +0,0 @@ -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -from pymoab import * -from time import sleep - -def test_display(): - init() - - # display all the icons - print("cycling icons") - sleep(1) - icons = list(Icon) - for icon in icons: - setIcon(icon) - sync() - sleep(0.1) - - # display all the text - print("cycling text") - sleep(1) - texts = list(Text) - for text in texts: - setText(text) - sync() - sleep(0.1) - - # display all the text - print("plate angles") - setIcon(Icon.BLANK) - setText(Text.MANUAL) - sync() - sleep(1) - lowerPlate() - sync() - sleep(1) - activatePlate() - sync() - sleep(1) - - angles = [(0, 0), (0, 15), (0, -15), (0, 0), (15, 0), (-15, 0), (0, 0)] - - for angle in angles: - sleep(0.5) - setPlateAngles(angle[0], angle[1]) - sync() - - print("press joystick") - sleep(1) - while not getJoystickBtn(): - sleep(0.01) - sync() - - print("press menu") - sleep(1) - while not getMenuBtn(): - sleep(0.01) - sync() - - print("joy right") - sleep(1) - while getJoystickX() < 0.5: - sleep(0.01) - sync() - - print("joy left") - sleep(1) - while getJoystickX() > -0.5: - sleep(0.01) - sync() - - print("joy up") - sleep(1) - while getJoystickY() < 0.5: - sleep(0.01) - sync() - - print("joy down") - sleep(1) - while getJoystickY() > -0.5: - sleep(0.01) - sync() - - -if __name__ == "__main__": - test_display() diff --git a/sw/log_csv.py b/sw/log_csv.py new file mode 100644 index 0000000..d122121 --- /dev/null +++ b/sw/log_csv.py @@ -0,0 +1,64 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import time +import logging as log + +from common import Vector2 + + +def log_decorator(fn, logfile="/tmp/log.csv"): + # Add the header line + cols = ["tick", "dt"] # Timing + cols += ["x", "y", "vel_x", "vel_y"] # State + cols += ["pitch", "roll"] # Action + cols += ["status", "error_response"] # Error status + + header = ",".join(cols) + with open(logfile, "w") as fd: + print(header, file=fd) + + # Create the state variables + prev_time = time.time() + tick = -1 # Start at -1 since we do += 1 at the top (keep all updates together) + + # Acts like a normal controller function + def decorated_fn(state): + nonlocal prev_time, tick + dt = time.time() - prev_time + prev_time = time.time() + tick += 1 + + # Run the actual controller + action, info = fn(state) + + # If the status and resp are in the dictionary, save them, otherwise + # use default values of 200 and empty string + status = info.get("status") or 200 + resp = info.get("resp") or "" + + resp = '"' + str(resp) + '"' + + # Deconstuct the state to get the values we want + env_state, ball_detected, buttons = state + x, y, vel_x, vel_y, sum_x, sum_y = env_state + # Deconstruct action + pitch, roll = action + # combine all to a list for the log + l = [tick, dt] + [x, y, vel_x, vel_y] + [pitch, roll] + [status, resp] + + # combine all to a list for the log + # l = [tick, dt] + state + action + [status + resp] + + # round floats to 5 digits + l = [f"{n:8.5f}" if type(n) is float else n for n in l] + + # Convert all fields into strings + l = ",".join([str(e) for e in l]) + + with open(logfile, "a") as fd: + print(l, file=fd) + + return action, info + + return decorated_fn diff --git a/sw/main.py b/sw/main.py deleted file mode 100644 index b115838..0000000 --- a/sw/main.py +++ /dev/null @@ -1,210 +0,0 @@ -#!/usr/bin/python3 - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -""" -Moab Controller - -Main entry point for robot runtime stack. - -- Actuators: used to make things move -- Sensors: used to pull data from hardware -- Detectors: take sensor output and detect things with it -- Controllers: move actuators based on detected sensor output -- Device: a collection of the above -""" -import argparse -import codecs -import json -import logging as log -import logging.config -import signal -import sys -import time - -import pymoab -from dacite import from_dict -from collections import deque -from control.common import IDevice -from control.device import Device -from control.timers import ThreadedTimer, BusyTimer -from control.perfcounters import PerformanceCounters -from control.config import calibration_path, config_path - - -def printPerformanceCounters(): - PerformanceCounters.logAllCounters() - - -def parse_args(): - parser = argparse.ArgumentParser() - parser.add_argument( - "-c", - "--config", - default=config_path, - help="Path to the JSON configuration file to use", - ) - parser.add_argument( - "-k", - "--calibration", - default=calibration_path, - help="Path to the JSON configuration file to use", - ) - parser.add_argument( - "-d", - "--device", - default="menu", - help="Top level device, usually {menu,calibration,classic}", - ) - parser.add_argument( - "-t", - "--perf-interval-sec", - default="-1", - type=int, - help="Frequency to print perf counters to the 'performance' logger. Values <= 0 suppress this output", - ) - - return parser.parse_args() - - -def load_config(config_path: str) -> dict: - config = None - try: - with codecs.open(config_path, "r", encoding="utf-8") as fd: - config = json.load(fd) - - logging.config.dictConfig(config["logging"]) - - except Exception as e: - print(f"Error opening {config_path}\n{e}") - exit(1) - - return config - - -warningGiven = False - - -def load_calibration(calibration_path: str) -> IDevice.Calibration: - global warningGiven - - calibration: IDevice.Calibration = IDevice.Calibration() - try: - with codecs.open(calibration_path, "r", encoding="utf-8") as fd: - calibration = from_dict(IDevice.Calibration, json.load(fd)) - warningGiven = False - except Exception as e: - if warningGiven == False: - log.warning(f"{calibration_path} not found. CALIBRATE bot.") - warningGiven = True - - return calibration - - -def signal_handler(sig, frame) -> int: - log.info(f"Signal {sig} received, shutting down...") - - # Lower the plate and deactivate the servos - # lowerPlate is 155º; testing a lower position of 160º - pymoab.setServoPositions(155, 155, 155) - pymoab.sync() - time.sleep(0.2) - - pymoab.disableServoPower() - pymoab.sync() - time.sleep(0.1) - - # Clear the screen - pymoab.setIcon(pymoab.Icon.BLANK) - pymoab.setText(pymoab.Text.BLANK) - pymoab.sync() - time.sleep(0.1) - - sys.exit(0) - - -def main(): - args = parse_args() - - # load configs - config = load_config(args.config) - - # Load calibration.json file which contains the ball hue (22 default) - calibration = load_calibration(args.calibration) - - # Now that log is configured, we can say we're starting up - log.info("Moab starting.") - - # onetime init of pymoab library - # side effect of setting OLED to Initalizing... which is ok - pymoab.init() - pymoab.sync() - time.sleep(0.1) - - # put plate in "ready" mode, then cut power until needed - pymoab.setServoPositions(150, 150, 150) - pymoab.sync() - time.sleep(0.1) - pymoab.disableServoPower() - pymoab.sync() - time.sleep(0.1) - - # optional perf timing - global perf_timer - if args.perf_interval_sec > 0: - perf_timer = ThreadedTimer() - perf_timer.start(args.perf_interval_sec, printPerformanceCounters) - - try: - devices = config["devices"] - except Exception as e: - log.exception(f"Error reading devices from {args.config}\n{e}") - sys.exit(-1) - - device_stack = deque() - device_stack.append(args.device) - - previous_menu: int = 0 - - # Register the signal handler - signal.signal(signal.SIGINT, signal_handler) - signal.signal(signal.SIGTERM, signal_handler) - - while True: - - curr_device = device_stack.pop() if len(device_stack) > 0 else None - if curr_device is None: - break - - try: - config = from_dict(IDevice.Config, devices.get(curr_device)) - config.menu_idx = previous_menu - device = Device.createFromConfig(config, calibration) - - log.info("{} §".format(curr_device.upper())) - device.run() - previous_menu = device.previous_menu - - # Did our current device ask us to activate another one? - next_device = device.get_next_device() - if next_device is not None: - # Save this device so we can go back to it - device_stack.append(curr_device) - - # Will be the one popped off next iteration - device_stack.append(next_device) - except Exception as e: - log.exception(f"Error instantiating {args.device}\n{e}") - curr_device = None - continue - - # Reload configs - config = load_config(args.config) - calibration = load_calibration(args.calibration) - - -perf_timer = ThreadedTimer() - -if __name__ == "__main__": - main() diff --git a/sw/menu.py b/sw/menu.py new file mode 100755 index 0000000..f4675d7 --- /dev/null +++ b/sw/menu.py @@ -0,0 +1,345 @@ +#!/usr/bin/env python3 + +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import os +import sys +import time +import yaml +import click +import procid +import logging + +from hat import Icon +from enum import Enum +from env import MoabEnv +from functools import partial +from dataclasses import dataclass +from log_csv import log_decorator +from calibrate import calibrate_controller +from typing import Callable, Any, Union, Optional, List +from procid import setup_signal_handlers, stop_doppelgänger +from info_screen import info_screen_controller, info_config_controller +from controllers import pid_controller, brain_controller, joystick_controller, BrainNotFound + +LOG = logging.getLogger(__name__) + + +@dataclass +class MenuOption: + name: str + closure: Callable + kwargs: dict + # Some menu options are controllers (run a control loop), others are simply + # blocking functions that return on menu press. These other functions are + # for anything that does something to the bot (displaying info to the screen, + # doing a calibration, running git pull, etc.) + is_controller: bool = True + decorators: Optional[List[Callable]] = None # List of functions to decorate + require_servos: bool = True # To not turn on servos unnecessarily + + +class MenuState(Enum): + first_level = 1 # In the main menu screen (selecting beteween menu options) + second_level = 2 # Inside a controller or 'modal' (running the fn from MenuOption) + + +def squash_small_angles(controller_fn, min_angle=1.0): + """ + Decorates a controller that sets actions smaller than a certain angle to 0. + """ + # Acts like a normal controller function + def decorated_controller(state): + action, info = controller_fn(state) # The actual controller + (pitch, roll) = action + + if abs(pitch) < min_angle: + pitch = 0 + if abs(roll) < min_angle: + roll = 0 + + action = (pitch, roll) + return (action), info + + return decorated_controller + + +def build_menu(env, log_on, logfile): + log_csv = lambda fn: log_decorator(fn, logfile) + + top_menu = [ + MenuOption( + name="Joystick", + closure=joystick_controller, + kwargs={}, + decorators=[squash_small_angles], + ), + MenuOption( + name="PID", + closure=pid_controller, + kwargs={}, + decorators=[log_csv] if log_on else None + ), + ] + + # Parse the docker-compose.yml file for a list of brains + middle_menu = [] + if os.path.isfile("../docker-compose.yml"): + with open("../docker-compose.yml", "r") as f: + docker_compose = yaml.safe_load(f) + + # limit to services node in docker compose + services = docker_compose["services"] + + for service, info in services.items(): + # host:image port convention (need host) + splitports = info["ports"] + port = splitports[0].split(":")[0] + + # if container name exists, use it, else use image name + if "container_name" in info.keys(): + menu_name = info["container_name"] + else: + slashes = info["image"].split("/") + # if image tag or no slashes, use the image name + if slashes is not None and len(slashes) == 1: + menu_name = info["image"] + else: + colon = slashes[-1].split(":") + menu_name = colon[0] + + m = MenuOption( + name=menu_name, + closure=brain_controller, + kwargs={"port": port, "alert_fn":alert_callback}, + decorators=[log_csv] if log_on else none, + ) + middle_menu.append(m) + + bottom_menu = [ + MenuOption( + name="Calibrate", + closure=calibrate_controller, + kwargs={ + "env": env, + "pid_fn": pid_controller(), + "calibration_file": "bot.json", + }, + is_controller=False, + ), + MenuOption( + name="Hue Info", + closure=info_config_controller, + kwargs={"env": env}, + is_controller=False, + require_servos=False, + ), + MenuOption( + name="Bot Info", + closure=info_screen_controller, + kwargs={"env": env}, + is_controller=False, + require_servos=False, + ), + ] + return top_menu + middle_menu + bottom_menu + +# color list: https://github.com/pallets/click/blob/master/examples/colors/colors.py +out = partial(click.secho, bold=False, err=True) +err = partial(click.secho, fg="red", err=True) + +def alert_callback(is_error): + if is_error: + err("Brain predict error") + + +def _handle_debug(ctx, param, debug): + log_level = logging.DEBUG if debug else logging.INFO + logging.basicConfig( + format="[%(asctime)s] %(levelname)s: %(message)s", + level=log_level, + ) + return debug + + +@click.command() +@click.version_option(version="3.0.24") +@click.option( + "-c", + "--cont", + type=click.IntRange(-1, 7), + default=-1, + help="Default startup controller index", + show_default=True, +) +@click.option( + "-d", + "--debug/--no-debug", + default=True, + help="programmer details showing Tx/Rx buffers", +) +@click.option( + "-f", + "--file", + default="/tmp/log.csv", + help=("If --log, then save CSV to this file"), + type=click.Path( + exists=False, + dir_okay=False, + writable=True, + resolve_path=True, + ), +) +@click.option( + "-h", + "--hertz", + type=click.IntRange(1, 40), + default=30, + help="Frequency of controller in Hz", + show_default=True, +) +@click.option( + "-l", + "--log/--no-log", + default=True, + help=("Enables or disables the logging as specified by -f/--file"), +) +@click.option( + "-r", + "--reset/--no-reset", + help="Reset Moab firmware on start" +) +@click.option( + "-v", + "--verbose", + count=True, + default=1, + help="verbose tx/rx (-v=OLED changes, -vv=servo commands, -vvv=NOOPs)", +) +@click.pass_context +def main(ctx: click.core.Context, **kwargs: Any) -> None: + if kwargs["verbose"] == 2: + err(f"Starting {sys.argv[0]}") + out(f"Starting {kwargs}") + + main_menu(**kwargs) + + +def main_menu(cont, debug, file, hertz, log, reset, verbose): + + if reset: + out("Resetting firmware") + os.system("raspi-gpio set 6 dh && sleep 0.05 && raspi-gpio set 6 dl") + + with MoabEnv(hertz, debug=debug, verbose=verbose) as env: + menu_list = build_menu(env, log, file) + + if cont == -1: + # normal startup state + current = MenuState.first_level + index = 0 + last_index = -1 + else: + # CLI argument to start in one of the controllers + current = MenuState.second_level + index = cont + last_index = -1 + + # Default menu raises the plate to alert the user the system is ready + if cont == -1: + env.hat.enable_servos() + env.hat.go_up() + buttons = env.hat.get_buttons() + time.sleep(1 / env.frequency) + env.hat.disable_servos() + + while True: + time.sleep(1 / env.frequency) + + if current == MenuState.first_level: + # Depends on if it's the first/last icon + if index == 0: + icon = Icon.DOWN + elif index == len(menu_list) - 1: + icon = Icon.UP + else: + icon = Icon.UP_DOWN + + if last_index != index: + env.hat.display_string_icon(menu_list[index].name, icon) + last_index = index + + # Noop is needed since display string only sends msg when it has + # a new string (different from previous string) + env.hat.noop() + buttons = env.hat.get_buttons() + + if buttons.joy_button: # Selected controller + current = MenuState.second_level + elif buttons.joy_y < -0.8: # Flicked joystick down + index = min(index + 1, len(menu_list) - 1) + time.sleep(0.1) + elif buttons.joy_y > 0.8: # Flicked joystick up + index = max(index - 1, 0) + time.sleep(0.1) + + else: # current == MenuState.second_level: + if menu_list[index].require_servos: + env.hat.enable_servos() + + # Reset the controller + if menu_list[index].is_controller: + state, detected, buttons = env.reset( + menu_list[index].name, Icon.DOT + ) + + # Initialize the controller + controller_closure = menu_list[index].closure + kwargs = menu_list[index].kwargs + controller = controller_closure(**kwargs) + + # Wrap a decorator if it has one + if menu_list[index].decorators: + for decorator in menu_list[index].decorators: + controller = decorator(controller) + + # Ensure there's enough time to process the display command on + # the hat side (if a control command happens too soon after a + # display command the hat may not have enough time to read the + # next command, which will mess with SPI) + time.sleep(1 / env.frequency) + + if menu_list[index].is_controller: + # If it's a controller run the control loop + try: + while not buttons.menu_button: + action, info = controller((state, detected, buttons)) + state, detected, buttons = env.step(action) + except BrainNotFound: + print(f'caught BrainNotFound in loop') + + env.hat.go_up() + else: + # If not a controller, let it do it's own thing. We assume + # it's a blocking call that will return when menu is pressed + controller() + + # Loop breaks after menu pressed and puts the plate back to go_up + current = MenuState.first_level + last_index = -1 + + if menu_list[index].require_servos: + env.hat.disable_servos() + + +if __name__ == "__main__": + + setup_signal_handlers() + stop_doppelgänger() + + try: + main(standalone_mode=False) + except click.Abort: + sys.stderr.write("Stopping.\n") + sys.exit(1) diff --git a/sw/procid.py b/sw/procid.py new file mode 100644 index 0000000..4b8ae88 --- /dev/null +++ b/sw/procid.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 +import sys, os, time, errno +import psutil +import logging as log +from psutil import Process, signal + + +def stop_doppelgänger(pid_path="/tmp/menu.pid"): + + if os.path.isfile(pid_path): + if os.path.isfile(pid_path): + with open(pid_path, "r") as f: + pid = int(f.read()) + + try: + twin = Process(pid) + twin.send_signal(signal.SIGTERM) + print(f"our twin {twin.pid} was stopped", flush=True) + twin.wait(timeout=5) + except psutil.NoSuchProcess as e: + pass + except psutil.TimeoutExpired as e: + print(f"Timeout expired; exiting.", flush=True) + sys.exit(10) + except OSError as e: + # errno.ESRCH unimportant: sometimes the /tmp/menu.pid is stale + if e.errno == errno.ESRCH: + print(f"no such process which is ok.") + else: + print(f"Unexpected OSError {e}") + except Exception as e: + print(f"Unexpected exception {e}") + + this_pid = psutil.Process() + with open(pid_path, "w") as f: + f.write(str(this_pid.pid)) + return this_pid.pid + + +def setup_signal_handlers(): + + # raises SystemExit(0) for controlled shutdown if run under systemd + # /bin/kill -s TERM $(cat /tmp/menu.pid) + def handler(signum, stack): + sys.exit(0) + + signal.signal(signal.SIGTERM, handler) + signal.signal(signal.SIGINT, handler) + + +if __name__ == "__main__": + + def int_handler(signum, stack): + print(f"Caught {signum}", flush=True) + sys.exit(0) + + def term_handler(signum, stack): + print(f"\nCaught SIGTERM...simulating slow exit in 3.", end="", flush=True) + for s in range(2, 0, -1): + print(s, end=".", flush=True) + time.sleep(1) + sys.exit(0) + + signal.signal(signal.SIGTERM, term_handler) + signal.signal(signal.SIGINT, int_handler) + + try: + mypid = stop_doppelgänger() + input(f"This pid={mypid}.\nPress any key to quit...") + finally: + print("Goodbye") diff --git a/sw/pyproject.toml b/sw/pyproject.toml new file mode 100644 index 0000000..c0d713e --- /dev/null +++ b/sw/pyproject.toml @@ -0,0 +1,21 @@ +[tool.black] +line-length = 88 +target-version = ['py37'] +include = '\.pyi?$' +exclude = ''' +( + /( + \.eggs # exclude a few common directories in the + | \.git # root of the project + | \.hg + | \.mypy_cache + | \.tox + | \.venv + | _build + | build + | dist + )/ + | foo.py # also separately exclude a file named foo.py in + # the root of the project +) +''' diff --git a/sw/requirements.txt b/sw/requirements.txt deleted file mode 100644 index a518a9b..0000000 --- a/sw/requirements.txt +++ /dev/null @@ -1,8 +0,0 @@ -numpy==1.16.2 -opencv-python-headless==4.1.0.25 -picamera==1.13 -requests==2.21.0 -dacite==1.5.0 -RPi.GPIO==0.7.0 -wheel==0.35.1 -setuptools==50.1.0 diff --git a/sw/run_simple.py b/sw/run_simple.py new file mode 100644 index 0000000..d4d5770 --- /dev/null +++ b/sw/run_simple.py @@ -0,0 +1,65 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +import argparse + +from env import MoabEnv +from hat import Hat, Icon +from controllers import pid_controller, brain_controller, joystick_controller + + +CONTROLLERS = { + "PID": pid_controller, + "Brain": brain_controller, + "Joystick": joystick_controller, +} + +ICONS = { + "PID": Icon.DOT, + "Brain": Icon.DOT, + "Joystick": Icon.DOT, +} + + +def main(controller_name, frequency, debug, max_angle, port): + icon = ICONS[controller_name] + + # Pass all arguments, if a controller doesn't need it, it will ignore it (**kwargs) + controller_fn = CONTROLLERS[controller_name] + controller = controller_fn( + frequency=frequency, + max_angle=max_angle, + end_point="http://localhost:" + str(port), + ) + + with MoabEnv(frequency, debug) as env: + state = env.reset(text=controller_name, icon=ICONS[controller_name]) + while True: + action, info = controller(state) + state = env.step(action) + print(state, action) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "-c", + "--controller", + default="PID", + choices=list(CONTROLLERS.keys()), + help=f"""Select what type of action to take. + Options are: {CONTROLLERS.keys()} + """, + ) + parser.add_argument("-d", "--debug", action="store_true") + parser.add_argument("-f", "--frequency", default="30", type=int) + parser.add_argument("-ma", "--max_angle", default="16", type=float) + parser.add_argument("-p", "--port", default=5000, type=int) + args, _ = parser.parse_known_args() + main( + args.controller, + args.frequency, + args.debug, + args.max_angle, + args.port, + ) diff --git a/sw/setup b/sw/setup deleted file mode 100755 index ae504c0..0000000 --- a/sw/setup +++ /dev/null @@ -1,44 +0,0 @@ -#!/bin/bash - -# Copyright (c) Microsoft Corporation. -# Licensed under the MIT License. - -set -eo pipefail - -println() { printf '%s\n' "$*"; } -die() { ret=$?; printf "%s\n" "$@" >&2; exit "$ret"; } - -# change directories to the folder hosting this script -readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" - -usage() { -cat <<-HERE - Usage: $0 [tag=\$MOAB_TAG] - - Builds a Dockerfile called "moab/control:tag", where - tag is the first parameter. It defaults to - the environment variable MOAB_TAG. - - Example: - $0 3.0 - MOAB_TAG=3.0 $0 - -HERE -exit 3 -} - -TAG=${1:-${MOAB_TAG:-undefined}} -[[ $TAG = "undefined" ]] && usage - -println "Making docker image: moab/control:$TAG" - -# Python < 3.8 leaves __pycache__ folders *everywhere*. -# Since we run as sudo in dev-mode, they're not possible to delete in this non-sudo script. -# And we can't Docker RUN COPY . these files into the image with them there, so: -find . -name '__pycache__' -print > /dev/null || die "Run before building Dockerfile: sudo ./pyclean.sh" - -export DOCKER_BUILDKIT=1 -docker build -t moab/control:"$TAG" . -sha=$(docker images -q moab/control:"$TAG") -docker tag "$sha" moab/control:latest - diff --git a/sw/bin/packages b/sw/setup/packages.sh similarity index 64% rename from sw/bin/packages rename to sw/setup/packages.sh index 173d8b4..84ce356 100755 --- a/sw/bin/packages +++ b/sw/setup/packages.sh @@ -1,5 +1,4 @@ #!/bin/bash -# vim:ft=sh ts=4 sw=4 et # Copyright (c) Microsoft Corporation. # Licensed under the MIT License. @@ -9,19 +8,26 @@ set -euo pipefail die() { ret=$?; printf "%s\n", "$@" >&2; exit "$ret"; } [[ $EUID -eq 0 ]] || die "Must run $0 as root" -export DEBIAN_FRONTEND=noninteractive +# change directories to the folder hosting this script +readonly _D="$(dirname "$(readlink -f "$0")")" && cd "$_D" -# Setup to pull binary wheels for RPi4; never got it to work. Use -i for pip3 instead -echo "[global]" > /etc/pip.conf -echo "extra-index-url=https://www.piwheels.org/simple" >> /etc/pip.conf +function info { + if tput colors &> /dev/null; then + local color=$(tput smso)$(tput setaf 2) # inverse, green + local reset=$(tput sgr0) + printf "${color}○ %s ${reset}\n" "$1" + else + printf '%s\n' "$1" + fi +} -# libmoab (C) and pymoab wrapper (cython) -pymoab=( - #build-essential - vim-tiny +info "Installing apt-get packages (root)" + +numpy=( + nginx ) -echo "• installing: make tools" -apt-get install -qq --no-install-recommends ${pymoab[*]} +echo "• installing: nginx" +apt-get install -qq --no-install-recommends ${numpy[*]} # numpy https://www.piwheels.org/project/numpy/ numpy=( @@ -51,12 +57,7 @@ opencv=( libswscale5 libtiff5 libwebp6 + libffi-dev ) echo "• installing: opencv" apt-get install -qq --no-install-recommends ${opencv[*]} - -# Consider at end of Dockerfile -# apt autoremove build-essential cython3 cpp-8 gcc-8 - - - diff --git a/sw/setup/requirements.txt b/sw/setup/requirements.txt new file mode 100644 index 0000000..a1d4227 --- /dev/null +++ b/sw/setup/requirements.txt @@ -0,0 +1,17 @@ +numpy==1.20.1 +opencv-python-headless==4.1.0.25 +picamera==1.13 +requests==2.25.1 +dacite==1.6.0 +RPi.GPIO==0.7.0 +wheel==0.35.1 +setuptools==50.1.0 +spidev==3.5 +Flask==1.1.2 +inotify==0.2.10 +gunicorn==20.0.4 +pyserial==3.5 +click==7.1.2 +black==20.8b1 +psutil==5.8.0 +pyyaml==5.4.1 \ No newline at end of file diff --git a/sw/stream/base_camera.py b/sw/stream/base_camera.py new file mode 100644 index 0000000..e58d583 --- /dev/null +++ b/sw/stream/base_camera.py @@ -0,0 +1,106 @@ +import time +import logging +import threading + +try: + from greenlet import getcurrent as get_ident +except ImportError: + try: + from thread import get_ident + except ImportError: + from _thread import get_ident + + +class CameraEvent(object): + """An Event-like class that signals all active clients when a new frame is + available. + """ + def __init__(self): + self.events = {} + + def wait(self): + """Invoked from each client's thread to wait for the next frame.""" + ident = get_ident() + if ident not in self.events: + # this is a new client + # add an entry for it in the self.events dict + # each entry has two elements, a threading.Event() and a timestamp + self.events[ident] = [threading.Event(), time.time()] + return self.events[ident][0].wait() + + def set(self): + """Invoked by the camera thread when a new frame is available.""" + now = time.time() + remove = None + for ident, event in self.events.items(): + if not event[0].isSet(): + # if this client's event is not set, then set it + # also update the last set timestamp to now + event[0].set() + event[1] = now + else: + # if the client's event is already set, it means the client + # did not process a previous frame + # if the event stays set for more than 5 seconds, then assume + # the client is gone and remove it + if now - event[1] > 5: + remove = ident + if remove: + del self.events[remove] + + def clear(self): + """Invoked from each client's thread after a frame was processed.""" + self.events[get_ident()][0].clear() + + +class BaseCamera(object): + thread = None # background thread that reads frames from camera + frame = None # current frame is stored here by background thread + last_access = 0 # time of last client access to the camera + event = CameraEvent() + + def __init__(self): + """Start the background camera thread if it isn't running yet.""" + if BaseCamera.thread is None: + BaseCamera.last_access = time.time() + + # start background frame thread + BaseCamera.thread = threading.Thread(target=self._thread) + BaseCamera.thread.start() + + # wait until frames are available + while self.get_frame() is None: + time.sleep(0) + + def get_frame(self): + """Return the current camera frame.""" + BaseCamera.last_access = time.time() + + # wait for a signal from the camera thread + BaseCamera.event.wait() + BaseCamera.event.clear() + + return BaseCamera.frame + + @staticmethod + def frames(): + """"Generator that returns frames from the camera.""" + raise RuntimeError('Must be implemented by subclasses.') + + @classmethod + def _thread(cls): + """Camera background thread.""" + logging.info('Starting camera thread') + frames_iterator = cls.frames() + for frame in frames_iterator: + BaseCamera.frame = frame + BaseCamera.event.set() # send signal to clients + time.sleep(0) + + # if there hasn't been any clients asking for frames in + # the last 10 seconds then stop the thread + if time.time() - BaseCamera.last_access > 10: + frames_iterator.close() + logging.info('Stopping camera thread due to inactivity.') + break + BaseCamera.thread = None diff --git a/sw/stream/camera_file.py b/sw/stream/camera_file.py new file mode 100644 index 0000000..54aa367 --- /dev/null +++ b/sw/stream/camera_file.py @@ -0,0 +1,24 @@ +import os +import pathlib +import inotify.adapters +import inotify.constants +from base_camera import BaseCamera + +class CameraFile(BaseCamera): + + @staticmethod + def frames(): + filename = os.getenv('MOABFRAME', '/tmp/camera/frame.jpg') + dirname = os.path.dirname(filename) + + pathlib.Path(dirname).mkdir(parents=True, exist_ok=True) + + i = inotify.adapters.Inotify() + + # inotify works on folder level, so extract folder from filename + i.add_watch(dirname, inotify.constants.IN_CLOSE_WRITE) + + # filesystem event generator blocks until a change is detected + for event in i.event_gen(yield_nones=False): + with open(filename, 'rb') as f: + yield f.read() diff --git a/sw/stream/camera_opencv.py b/sw/stream/camera_opencv.py new file mode 100644 index 0000000..f255f4c --- /dev/null +++ b/sw/stream/camera_opencv.py @@ -0,0 +1,42 @@ +import os +import cv2 +from base_camera import BaseCamera + + +class CameraOpenCV(BaseCamera): + + @staticmethod + def frames(): + camera = cv2.VideoCapture(0) + + # Ask opencv to capture in the native aspect ratio of 4:3 + # AND capture on a 4-bit boundary + w = 384 + h = 288 + + # Our final "destination" rectangle is 256x256 + d = 256 + + x = int((w / 2 - d / 2)) + y = int((h / 2 - d / 2)) + + # x += -12 + # y += 4 + + camera.set(cv2.CAP_PROP_FRAME_WIDTH, w) + camera.set(cv2.CAP_PROP_FRAME_HEIGHT, h) + camera.set(cv2.CAP_PROP_FPS, 30) + + camera.set(cv2.CAP_PROP_BRIGHTNESS, 60) + camera.set(cv2.CAP_PROP_CONTRAST, 100) + + if not camera.isOpened(): + raise RuntimeError('Could not start camera.') + + while True: + # read current frame + _, img = camera.read() + + # encode as a jpeg image and return it + cropped = img[y:y+d, x:x+d] + yield cv2.imencode('.jpg', cropped)[1].tobytes() diff --git a/sw/stream/launch.sh b/sw/stream/launch.sh new file mode 100755 index 0000000..aee781c --- /dev/null +++ b/sw/stream/launch.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env bash +/home/pi/.local/bin/gunicorn stream:app \ + --workers 2 \ + --bind unix:/tmp/web.sock \ + --timeout 120 \ + --log-level=info \ + --capture-output \ + --error-logfile='/tmp/gunicorn.error.log' \ + --access-logfile='/tmp/gunicorn.access.log' \ diff --git a/sw/stream/readme.md b/sw/stream/readme.md new file mode 100644 index 0000000..38d1db8 --- /dev/null +++ b/sw/stream/readme.md @@ -0,0 +1,6 @@ +pip3 install --user requirements.txt +python3 app.py + +-or- + +gunicorn --threads 5 --works 1 --bind 0.0.0.0:8080 app:app diff --git a/sw/stream/static/file.html b/sw/stream/static/file.html new file mode 100644 index 0000000..83469b3 --- /dev/null +++ b/sw/stream/static/file.html @@ -0,0 +1,26 @@ + + + + + + + MOAB + + + + + + + + +
+

Live Moab Camera View

+

Ensure Moab is running. If you don't see an image, hit refresh.

+
+ + + +
+
+ + diff --git a/sw/stream/static/icons/android-chrome-192x192.png b/sw/stream/static/icons/android-chrome-192x192.png new file mode 100644 index 0000000..29ff3ad Binary files /dev/null and b/sw/stream/static/icons/android-chrome-192x192.png differ diff --git a/sw/stream/static/icons/android-chrome-512x512.png b/sw/stream/static/icons/android-chrome-512x512.png new file mode 100644 index 0000000..811ebd4 Binary files /dev/null and b/sw/stream/static/icons/android-chrome-512x512.png differ diff --git a/sw/stream/static/icons/apple-touch-icon.png b/sw/stream/static/icons/apple-touch-icon.png new file mode 100644 index 0000000..1d46346 Binary files /dev/null and b/sw/stream/static/icons/apple-touch-icon.png differ diff --git a/sw/stream/static/icons/favicon-16x16.png b/sw/stream/static/icons/favicon-16x16.png new file mode 100644 index 0000000..391d90a Binary files /dev/null and b/sw/stream/static/icons/favicon-16x16.png differ diff --git a/sw/stream/static/icons/favicon-32x32.png b/sw/stream/static/icons/favicon-32x32.png new file mode 100644 index 0000000..9d67ecf Binary files /dev/null and b/sw/stream/static/icons/favicon-32x32.png differ diff --git a/sw/stream/static/icons/favicon.ico b/sw/stream/static/icons/favicon.ico new file mode 100644 index 0000000..16947fa Binary files /dev/null and b/sw/stream/static/icons/favicon.ico differ diff --git a/sw/stream/static/icons/favicon_io.zip b/sw/stream/static/icons/favicon_io.zip new file mode 100644 index 0000000..f9f8aaf Binary files /dev/null and b/sw/stream/static/icons/favicon_io.zip differ diff --git a/sw/stream/static/icons/site.webmanifest b/sw/stream/static/icons/site.webmanifest new file mode 100644 index 0000000..e7310e1 --- /dev/null +++ b/sw/stream/static/icons/site.webmanifest @@ -0,0 +1 @@ +{"name":"","short_name":"","icons":[{"src":"/icons/android-chrome-192x192.png","sizes":"192x192","type":"image/png"},{"src":"/icons/android-chrome-512x512.png","sizes":"512x512","type":"image/png"}],"theme_color":"#ffffff","background_color":"#ffffff","display":"standalone"} diff --git a/sw/stream/static/index.html b/sw/stream/static/index.html new file mode 100644 index 0000000..42ef9cc --- /dev/null +++ b/sw/stream/static/index.html @@ -0,0 +1,26 @@ + + + + + + + MOAB + + + + + + + + +
+

Moab Camera View

+

(Refresh if you don't see an image)

+
+ + + +
+
+ + diff --git a/sw/stream/static/opencv.html b/sw/stream/static/opencv.html new file mode 100644 index 0000000..96268c3 --- /dev/null +++ b/sw/stream/static/opencv.html @@ -0,0 +1,25 @@ + + + + + + + MOAB + + + + + + + + +
+

opencv.html

+
+ +
+
+
+
+ + diff --git a/sw/stream/static/readme.md b/sw/stream/static/readme.md new file mode 100644 index 0000000..37445af --- /dev/null +++ b/sw/stream/static/readme.md @@ -0,0 +1,21 @@ +# Quick html web server on Raspberry Pi + +I wanted to test these pages in three browsers (Edge, Firefox and +Safari) without hitting refresh, i.e., auto-load when the static folder +changes. + +Install node via npm to get the `live-server` app: + +```bash +curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.35.3/install.sh | bash +nvm install node +npm i -g live-server +live-server + +``` +Now in your browsers, open one of these: + +``` +http://moab:8080/grid.html +http://moab.local:8080/grid.html +``` diff --git a/sw/stream/static/styles.css b/sw/stream/static/styles.css new file mode 100644 index 0000000..6053ca5 --- /dev/null +++ b/sw/stream/static/styles.css @@ -0,0 +1,86 @@ + + +* { box-sizing: border-box; } + +body, h1, h2, p { margin: 0; } + +body { + --canvasColor: #f9f9f9; + --canvasColor: #eeeeee; + --backgroundColor: #fff; + --foregroundColor: #111; + --primaryColor: #ff9557; + --secondaryColor: #ffcc67; + --accentColor: #4e5166; + + min-height: 100vh; + background-color: #f9f9f9; + line-height: 1.5; + text-align:center; +} + +main { + width: 90%; + margin: 3em auto 0; +} + +img { + max-width: 100%; + display: block; +} + +html { + font-family: Avenir, Helvetica; + font-size: 100%; +} + +.lines { + width: fit-content; + height: fit-content; + position: relative; + background-image: linear-gradient(#00f, #00f); + background-size: 20px 100%; + background-repeat: no-repeat; + background-position: center center; + + filter: brightness(0.8); +} + +img { + opacity: 0.9; +} + +.container { + display: grid; + grid-template-columns: 1fr max-content 1fr; + grid-template-rows: 1fr; +} + +.container img{ + grid-column: 2; + grid-row: 1; +} + +.container hr{ + grid-column: 2; + grid-row: 1; + z-index: 1; + + height:100%; + width:100%; + align-self: center; + justify-self: center; + + background-image: linear-gradient(#a00, #a00); + background-repeat: no-repeat; + background-position: center center; + opacity: 0.5; +} + +.horizontal { + background-size: 100% 3px; +} + +.vertical { + background-size: 3px 100%; +} diff --git a/sw/stream/stream.py b/sw/stream/stream.py new file mode 100755 index 0000000..28f030e --- /dev/null +++ b/sw/stream/stream.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 + +import os +import socket +import logging +from flask import Flask, render_template, Response, url_for, redirect +from camera_file import CameraFile +from camera_opencv import CameraOpenCV + +app = Flask(__name__, static_url_path='', static_folder='static', template_folder='static') + +if __name__ != '__main__': + gunicorn_logger = logging.getLogger('gunicorn.error') + app.logger.handlers = gunicorn_logger.handlers + app.logger.setLevel(gunicorn_logger.level) + +@app.route('/') +def default(): + return render_template('index.html') + +def gen(camera): + while True: + frame = camera.get_frame() + yield (b'--frame\r\n' + b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n') + + +@app.route('/file_mjpeg') +def video_mjpeg(): + return Response(gen(CameraFile()), + mimetype='multipart/x-mixed-replace; boundary=frame') + +@app.route('/opencv_mjpeg') +def opencv_mjpeg(): + return Response(gen(CameraOpenCV()), + mimetype='multipart/x-mixed-replace; boundary=frame') + + +def getHostIP(): + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + s.connect(('1.1.1.1', 1)) + local_ip = s.getsockname()[0] + return local_ip + +if __name__ == '__main__': + port = int(os.getenv('PORT', 8000)) + hostname = socket.gethostname() + + ip = getHostIP() + app.logger.info(f" • Home http://{ip}:{port}/index.html") + # print(f" • OpenCV View http://{ip}:{port}/opencv.html") + app.run(host=ip, port=port, threaded=True, debug=True) + + diff --git a/sw/test_app.py b/sw/test_app.py new file mode 100644 index 0000000..4663c96 --- /dev/null +++ b/sw/test_app.py @@ -0,0 +1,28 @@ +# A single global App dictionary to hold the command line parameters + + +class App: + __hidden = {"debug": False, "port": 3306} + + def print(): + print(App.__hidden) + + @staticmethod + def config(debug, port): + App.__hidden["debug"] = debug + App.__hidden["port"] = port + + @staticmethod + def get(name): + return App.__hidden[name] + + @staticmethod + def debug(): + return App.__hidden["debug"] + + +if __name__ == "__main__": + # from app import App + + print(App.debug()) + print(App.get["debug"]) diff --git a/sw/test_display.py b/sw/test_display.py new file mode 100644 index 0000000..e3fcaa7 --- /dev/null +++ b/sw/test_display.py @@ -0,0 +1,38 @@ +from hat import Hat, Icon, PowerIcon + +with Hat() as hat: + hat.display_string_icon("DOT", Icon.DOT) + input("Confirm: • DOT") + + hat.display_string_icon("X Mark", Icon.X) + input("Confirm: × Mark") + + hat.display_power_symbol("POWER", PowerIcon.POWER) + input("Confirm: ⏻ POWER") + + hat.display_power_symbol("TOGGLE", PowerIcon.TOGGLE_POWER) + input("Confirm: ⏼ TOGGLE") + + hat.display_power_symbol("ON", PowerIcon.POWER_ON) + input("Confirm: ⏽ ON") + + hat.display_power_symbol("OFF", PowerIcon.POWER_OFF) + input("Confirm: ⭘ OFF") + + hat.display_power_symbol("SLEEP", PowerIcon.SLEEP_MODE) + input("Confirm: ⏾ SLEEP") + + menus = { + 0: "§ Berkeley\nCalifornia", + 1: "Albany\nKansas City\nBerkeley", + 2: "Vancouver, Canada...Albany, NY\nKansas City, MO...Berkeley, CA", + } + + hat.display_long_string(menus[0]) + input("Confirm: 2 lines, not scrolling") + + hat.display_long_string(menus[1]) + input("Confirm: 4 lines, vertical scroll") + + hat.display_long_string(menus[2]) + input("Confirm: 2 lines, horizontal scroll") diff --git a/sw/test_hat.py b/sw/test_hat.py new file mode 100644 index 0000000..e2793e6 --- /dev/null +++ b/sw/test_hat.py @@ -0,0 +1,21 @@ +# Copyright (c) Microsoft Corporation. +# Licensed under the MIT License. + +from hat import Hat +from time import sleep + + +def test_display(): + with Hat() as hat: + hat.enable_servos() + sleep(0.5) + + angles = [(0, 0), (0, 15), (0, -15), (0, 0), (15, 0), (-15, 0), (0, 0)] + + for angle in angles: + hat.set_angles(angle[0], angle[1]) + sleep(0.5) + + +if __name__ == "__main__": + print(test_display()) diff --git a/sw/test_hue.py b/sw/test_hue.py new file mode 100644 index 0000000..2fca3b7 --- /dev/null +++ b/sw/test_hue.py @@ -0,0 +1,31 @@ +import numpy as np +import cv2 + +cam = cv2.VideoCapture(0) + +w = 384 +h = 288 +d = 32 + +x = int((w / 2 - d / 2)) +y = int((h / 2 - d / 2)) + +x += -12 +y += 4 + +cam.set(cv2.CAP_PROP_FRAME_WIDTH, w) +cam.set(cv2.CAP_PROP_FRAME_HEIGHT, h) +cam.set(cv2.CAP_PROP_FPS, 30) + +cam.set(cv2.CAP_PROP_BRIGHTNESS, 60) +cam.set(cv2.CAP_PROP_CONTRAST, 100) + +_, img = cam.read() +hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + +cropped = hsv[y : y + d, x : x + d] +cv2.imwrite("/tmp/cropped.jpg", cropped, [cv2.IMWRITE_JPEG_QUALITY, 90]) +cv2.imwrite("/tmp/img.jpg", img, [cv2.IMWRITE_JPEG_QUALITY, 90]) +cv2.imwrite("/tmp/hsv.jpg", hsv, [cv2.IMWRITE_JPEG_QUALITY, 90]) + +# m = np.array(cropped) diff --git a/sw/test_level.py b/sw/test_level.py new file mode 100644 index 0000000..4078380 --- /dev/null +++ b/sw/test_level.py @@ -0,0 +1,8 @@ +from hat import Hat + +with Hat() as hat: + hat.enable_servos() + hat.set_angles(0, 0) + + input("Hit ENTER to stop...") + hat.go_down() diff --git a/sw/test_psutil.py b/sw/test_psutil.py new file mode 100644 index 0000000..14db30b --- /dev/null +++ b/sw/test_psutil.py @@ -0,0 +1,15 @@ +import psutil +import time + +with open("/tmp/menu.pid", "r") as f: + other_pid = int(f.read()) + +p = psutil.Process(other_pid) +p.send_signal(psutil.signal.SIGINT) +# p.send_signal(psutil.signal.SIGTERM) + +try: + p.wait(timeout=10) + print("finished, all good") +except TimeoutExpired as exp: + print("out of time") diff --git a/sw/test_sleep.py b/sw/test_sleep.py new file mode 100644 index 0000000..4adbf4f --- /dev/null +++ b/sw/test_sleep.py @@ -0,0 +1,5 @@ +from hat import Hat, Icon, PowerIcon + +with Hat() as hat: + + hat.display_power_symbol("GOODBYE", PowerIcon.SLEEP_MODE)